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Adding breadcrumbs to models #398

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merged 8 commits into from
May 5, 2020
Merged

Adding breadcrumbs to models #398

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8525667
Adding breadcrumbs to x1 config 7 & 8
Apr 16, 2020
c4d4001
Added additional breadcrumbs
Apr 16, 2020
5f7697a
Prevent breadcrumb topics
Apr 23, 2020
db2aa77
Merge branch 'master' into breadcrumb_models
nkoenig Apr 23, 2020
fe173a8
Added breadcrumb handling to more launch files
Apr 23, 2020
5e01ced
Merge branch 'breadcrumb_models' of github.com:osrf/subt into breadcr…
Apr 23, 2020
8841390
Apply patch
Apr 28, 2020
a1a886b
Adjust spawn location of the breadcrumbs
Apr 28, 2020
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10 changes: 8 additions & 2 deletions docker/download_models.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -21,12 +21,18 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 3" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 4" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 5" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 6" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 7" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 8" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 1" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 2" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 3" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 4" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 5" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 6" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 7" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 8" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 9" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X3 UAV Config 1" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X3 UAV Config 2" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X3 UAV Config 3" -v 4
Expand All @@ -36,16 +42,16 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X4 UAV Config 3" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X4 UAV Config 4" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X4 UAV Config 5" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X1 Config 6" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X2 Config 7" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X3 UAV Config 5" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/X4 UAV Config 6" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SSCI_X2_SENSOR_CONFIG_1" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SSCI_X4_SENSOR_CONFIG_1" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SSCI_X4_SENSOR_CONFIG_2" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/ROBOTIKA_X2_SENSOR_CONFIG_1" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/EXPLORER_X1_SENSOR_CONFIG_1" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/EXPLORER_X1_SENSOR_CONFIG_2" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/COSTAR_HUSKY_SENSOR_CONFIG_1" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/COSTAR_HUSKY_SENSOR_CONFIG_2" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SOPHISTICATED_ENGINEERING_X2_SENSOR_CONFIG_1" -v 4
ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/SOPHISTICATED_ENGINEERING_X4_SENSOR_CONFIG_1" -v 4

Expand Down
13 changes: 13 additions & 0 deletions submitted_models/costar_husky_sensor_config_2/CMakeLists.txt
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@@ -0,0 +1,13 @@
cmake_minimum_required(VERSION 2.8.3)
project(costar_husky_sensor_config_2)

find_package(catkin REQUIRED)

catkin_package()

install(DIRECTORY launch meshes materials urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(FILES model.sdf model.config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

6 changes: 6 additions & 0 deletions submitted_models/costar_husky_sensor_config_2/launch/description.launch
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@@ -0,0 +1,6 @@
<?xml version="1.0"?>
<launch>
<arg name="name" doc="Name of Vehicle"/>
<param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find costar_husky_sensor_config_2)/urdf/robot_from_sdf.xacro' name:=$(arg name)"/>
</launch>

170 changes: 170 additions & 0 deletions submitted_models/costar_husky_sensor_config_2/launch/example.ign
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<?xml version="1.0"?>
<!-- Usage: ign launch path/to/example.ign robotName:=<X1>

Parameters:
robotName: Name to be assigned to model
-->

<%
require_relative 'spawner'

# Modify these as needed
$enableGroundTruth = true
$headless = local_variables.include?(:headless) ? :headless : false

%>

<%

unless local_variables.include?(:robotName)
raise "missing parameters. robotName is a required parameter"
end

# This assumes that this launch file is in a directory below the model
modelURI = File.expand_path("../", File.dirname(__FILE__))
$worldName = 'example'
worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")

%>

<ignition version='1.0'>
<env>
<name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
<value>$LD_LIBRARY_PATH</value>
</env>

<!-- Start ROS first. This is a bit hacky for now. -->
<!-- Make sure to source /opt/ros/melodic/setup.bash -->
<executable name='ros'>
<command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
</executable>

<plugin name="ignition::launch::GazeboServer"
filename="libignition-launch-gazebo.so">
<world_file><%= worldFile %></world_file>
<run>true</run>
<levels>false</levels>
<record>
<enabled>false</enabled>
</record>

<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-physics-system.so"
name="ignition::gazebo::systems::Physics">
</plugin>

<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-sensors-system.so"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-user-commands-system.so"
name="ignition::gazebo::systems::UserCommands">
</plugin>
<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-scene-broadcaster-system.so"
name="ignition::gazebo::systems::SceneBroadcaster">
</plugin>
<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-imu-system.so"
name="ignition::gazebo::systems::Imu">
</plugin>

<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-magnetometer-system.so"
name="ignition::gazebo::systems::Magnetometer">
</plugin>

<plugin entity_name="<%= $worldName %>"
entity_type="world"
filename="libignition-gazebo-air-pressure-system.so"
name="ignition::gazebo::systems::AirPressure">
</plugin>
</plugin>

<%if !$headless %>
<executable_wrapper>
<plugin name="ignition::launch::GazeboGui"
filename="libignition-launch-gazebogui.so">
<world_name><%= $worldName %></world_name>
<window_title>SubT Simulator</window_title>
<window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
<plugin filename="GzScene3D" name="3D View">
<ignition-gui>
<title>3D View</title>
<property type="bool" key="showTitleBar">false</property>
<property type="string" key="state">docked</property>
</ignition-gui>

<engine>ogre2</engine>
<scene>scene</scene>
<ambient_light>0.2 0.2 0.1</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
<service>/world/<%= $worldName %>/scene/info</service>
<pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
<scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
<deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
</plugin>
<plugin filename="WorldControl" name="World control">
<ignition-gui>
<title>World control</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">72</property>
<property type="double" key="width">121</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="left" target="left"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<play_pause>true</play_pause>
<step>true</step>
<start_paused>true</start_paused>
<service>/world/<%= $worldName %>/control</service>
<stats_topic>/world/<%= $worldName %>/stats</stats_topic>

</plugin>

<plugin filename="WorldStats" name="World stats">
<ignition-gui>
<title>World stats</title>
<property type="bool" key="showTitleBar">false</property>
<property type="bool" key="resizable">false</property>
<property type="double" key="height">110</property>
<property type="double" key="width">290</property>
<property type="double" key="z">1</property>

<property type="string" key="state">floating</property>
<anchors target="3D View">
<line own="right" target="right"/>
<line own="bottom" target="bottom"/>
</anchors>
</ignition-gui>

<sim_time>true</sim_time>
<real_time>true</real_time>
<real_time_factor>true</real_time_factor>
<iterations>true</iterations>
<topic>/world/<%= $worldName %>/stats</topic>
</plugin>
</plugin>
</executable_wrapper>
<%end%>

<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
<%= rosExecutables(robotName, $worldName) %>

</ignition>

85 changes: 85 additions & 0 deletions submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
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def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
<include>
<name>#{_name}</name>
<uri>#{_modelURI}</uri>
<!-- Diff drive -->
<plugin filename="libignition-gazebo-diff-drive-system.so"
name="ignition::gazebo::systems::DiffDrive">
<left_joint>front_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>#{0.45649 * 1.5}</wheel_separation>
<wheel_radius>0.1651</wheel_radius>
<topic>/model/#{_name}/cmd_vel_relay</topic>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
<battery_name>linear_battery</battery_name>
<voltage>12.694</voltage>
<open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
<initial_charge>78.4</initial_charge>
<capacity>78.4</capacity>
<resistance>0.061523</resistance>
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>6.6</power_load>
<start_on_motion>true</start_on_motion>
</plugin>
<!-- Gas Sensor plugin -->"
<plugin filename="libGasEmitterDetectorPlugin.so"
name="subt::GasDetector">
<topic>/model/#{_name}/gas_detected</topic>
<update_rate>10</update_rate>
<type>gas</type>
</plugin>
<plugin filename="libignition-gazebo-breadcrumbs-system.so"
name="ignition::gazebo::systems::Breadcrumbs">
<topic>/model/#{_name}/breadcrumb/deploy</topic>
<max_deployments>12</max_deployments>"
<breadcrumb>"
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
<pose>-1.2 0 0 0 0 0</pose>
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<include>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Breadcrumb Node</uri>
</include>
</model>
</sdf>
</breadcrumb>
</plugin>
</include>
</sdf>
</plugin>
HEREDOC
end

def rosExecutables(_name, _worldName)
<<-HEREDOC
<executable name='robot_description'>
<command>roslaunch --wait costar_husky_sensor_config_2 description.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
<executable name='topics'>
<command>roslaunch --wait costar_husky_sensor_config_2 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
HEREDOC
end
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