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Adding team base #411

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merged 4 commits into from
May 11, 2020
Merged

Adding team base #411

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7baee30
Adding team base
May 1, 2020
240a57d
One team base only
May 1, 2020
3225249
Updates based on review
May 6, 2020
c94f34e
Missed one pose publisher
May 6, 2020
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43 changes: 43 additions & 0 deletions subt_ign/launch/cave_circuit.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@
spawnWorldYaw = 0
guiCameraPose = "-6.3 -4.2 3.6 0 0.268 0.304"

teamBaseSpawned = false

# Check if robotNameX and robotConfigX exists
spawnRowSize = 4
spawnColSize = 5
Expand Down Expand Up @@ -1038,6 +1040,38 @@
" <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
"</executable>\n"
end

def spawnTeamBase(_x, _y, _z, _yaw)
"<plugin name=\"ignition::launch::GazeboFactory\"\n"\
" filename=\"libignition-launch-gazebo-factory.so\">\n"\
" <name>TeamBase</name>\n"\
" <allow_renaming>false</allow_renaming>\n"\
" <world>#{$worldName}</world>\n"\
" <is_performer>false</is_performer>\n"\
" <sdf version='1.6'>\n"\
" <model name='TeamBase'>\n"\
" <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>\n"\
" <static>true</static>\n"\
" <link name='link'>\n"\
" <pose>0 0 0.05 0 0 0</pose>\n"\
" <visual name='visual'>\n"\
" <geometry>\n"\
" <box>\n"\
" <size>.1 .1 .1</size>\n"\
" </box>\n"\
" </geometry>\n"\
" </visual>\n"\
" </link>\n"\
" </model>\n"\
" </sdf>\n"\
"</plugin>\n"\
"<executable name='teambase_description'>\n"\
" <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"\
"<executable name='teambase_ros_ign_bridge'>\n"\
" <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"
end
%>

<%
Expand Down Expand Up @@ -1073,6 +1107,15 @@
%>
<%= spawnX4(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<%
elsif (name.downcase == "teambase" || name.downcase == "team_base") &&
(config.downcase == "teambase" || config.downcase == "team_base")
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
%>
<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<%
end
else
# Try a team-submitted vehicle.
package = config.downcase
Expand Down
22 changes: 21 additions & 1 deletion subt_ign/launch/cloudsim_bridge.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -41,6 +41,8 @@
%>

<%
teamBaseSpawned = false

# Check if robotNameX and robotConfigX exists
maxRobotCount = 20
robotNames = []
Expand Down Expand Up @@ -174,6 +176,15 @@
" <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
"</executable>\n"
end

def spawnTeamBase(_x, _y, _z, _yaw)
"<executable name='teambase_description'>\n"\
" <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"\
"<executable name='teambase_ros_ign_bridge'>\n"\
" <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"
end
%>

<%
Expand All @@ -189,7 +200,16 @@
<%= spawnX3(robotNames[i], robotConfigs[i][-1]) %>
<% elsif robotConfigs[i][1] == "4" and (robotConfigN == "1" or robotConfigN == "2" or robotConfigN == "3" or robotConfigN == "4" or robotConfigN == "5") %>
<%= spawnX4(robotNames[i], robotConfigs[i][-1]) %>
<% else
<%
elsif (name.downcase == "teambase" || name.downcase == "team_base") &&
(config.downcase == "teambase" || config.downcase == "team_base")
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
%>
<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<% end
else
# Try a team-submitted vehicle.
package = config.downcase
installDir = `rospack find #{package}`.chomp
Expand Down
37 changes: 37 additions & 0 deletions subt_ign/launch/cloudsim_sim.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,8 @@
guiCameraPose = "-6.3 -4.2 3.6 0 0.268 0.304"
end

teamBaseSpawned = false

# Check if robotNameX and robotConfigX exists
spawnRowSize = 4
spawnColSize = 5
Expand Down Expand Up @@ -1038,6 +1040,32 @@
" </sdf>\n"\
"</plugin>\n"
end

def spawnTeamBase(_x, _y, _z, _yaw)
"<plugin name=\"ignition::launch::GazeboFactory\"\n"\
" filename=\"libignition-launch-gazebo-factory.so\">\n"\
" <name>TeamBase</name>\n"\
" <allow_renaming>false</allow_renaming>\n"\
" <world>#{$worldName}</world>\n"\
" <is_performer>false</is_performer>\n"\
" <sdf version='1.6'>\n"\
" <model name='TeamBase'>\n"\
" <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>\n"\
" <static>true</static>\n"\
" <link name='link'>\n"\
" <pose>0 0 0.05 0 0 0</pose>\n"\
" <visual name='visual'>\n"\
" <geometry>\n"\
" <box>\n"\
" <size>.1 .1 .1</size>\n"\
" </box>\n"\
" </geometry>\n"\
" </visual>\n"\
" </link>\n"\
" </model>\n"\
" </sdf>\n"\
"</plugin>\n"
end
%>

<%
Expand Down Expand Up @@ -1073,6 +1101,15 @@
%>
<%= spawnX4(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<%
elsif (name.downcase == "teambase" || name.downcase == "team_base") &&
(config.downcase == "teambase" || config.downcase == "team_base")
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
%>
<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<%
end
else
# Try a team-submitted vehicle.
package = config.downcase
Expand Down
43 changes: 43 additions & 0 deletions subt_ign/launch/competition.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,8 @@
%>

<%
teamBaseSpawned = false

# Check if robotNameX and robotConfigX exists
spawnRowSize = 4
spawnColSize = 5
Expand Down Expand Up @@ -946,6 +948,38 @@
" <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
"</executable>\n"
end

def spawnTeamBase(_x, _y, _z, _yaw)
"<plugin name=\"ignition::launch::GazeboFactory\"\n"\
" filename=\"libignition-launch-gazebo-factory.so\">\n"\
" <name>TeamBase</name>\n"\
" <allow_renaming>false</allow_renaming>\n"\
" <world>#{$worldName}</world>\n"\
" <is_performer>false</is_performer>\n"\
" <sdf version='1.6'>\n"\
" <model name='TeamBase'>\n"\
" <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>\n"\
" <static>true</static>\n"\
" <link name='link'>\n"\
" <pose>0 0 0.05 0 0 0</pose>\n"\
" <visual name='visual'>\n"\
" <geometry>\n"\
" <box>\n"\
" <size>.1 .1 .1</size>\n"\
" </box>\n"\
" </geometry>\n"\
" </visual>\n"\
" </link>\n"\
" </model>\n"\
" </sdf>\n"\
"</plugin>\n"\
"<executable name='teambase_description'>\n"\
" <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"\
"<executable name='teambase_ros_ign_bridge'>\n"\
" <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"
end
%>

<%
Expand Down Expand Up @@ -975,6 +1009,15 @@
%>
<%= spawnX4(name, robotConfigN, posX, posY) %>
<%
elsif (name.downcase == "teambase" || name.downcase == "team_base") &&
(config.downcase == "teambase" || config.downcase == "team_base")
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
%>
<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<%
end
else
# Try a team-submitted vehicle.
package = config.downcase
Expand Down
43 changes: 43 additions & 0 deletions subt_ign/launch/tunnel_circuit_practice.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@
%>

<%
teamBaseSpawned = false

# Check if robotNameX and robotConfigX exists
spawnRowSize = 4
spawnColSize = 5
Expand Down Expand Up @@ -938,6 +940,38 @@
" <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
"</executable>\n"
end

def spawnTeamBase(_x, _y, _z, _yaw)
"<plugin name=\"ignition::launch::GazeboFactory\"\n"\
" filename=\"libignition-launch-gazebo-factory.so\">\n"\
" <name>TeamBase</name>\n"\
" <allow_renaming>false</allow_renaming>\n"\
" <world>#{$worldName}</world>\n"\
" <is_performer>false</is_performer>\n"\
" <sdf version='1.6'>\n"\
" <model name='TeamBase'>\n"\
" <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>\n"\
" <static>true</static>\n"\
" <link name='link'>\n"\
" <pose>0 0 0.05 0 0 0</pose>\n"\
" <visual name='visual'>\n"\
" <geometry>\n"\
" <box>\n"\
" <size>.1 .1 .1</size>\n"\
" </box>\n"\
" </geometry>\n"\
" </visual>\n"\
" </link>\n"\
" </model>\n"\
" </sdf>\n"\
"</plugin>\n"\
"<executable name='teambase_description'>\n"\
" <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"\
"<executable name='teambase_ros_ign_bridge'>\n"\
" <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"
end
%>

<%
Expand Down Expand Up @@ -967,6 +1001,15 @@
%>
<%= spawnX4(name, robotConfigN, posX, posY) %>
<%
elsif (name.downcase == "teambase" || name.downcase == "team_base") &&
(config.downcase == "teambase" || config.downcase == "team_base")
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
%>
<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<%
end
else
# Try a team-submitted vehicle.
package = config.downcase
Expand Down
43 changes: 43 additions & 0 deletions subt_ign/launch/urban_circuit.ign
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,8 @@
spawnWorldZPos = 7.5
spawnWorldYaw = 0

teamBaseSpawned = false

# Check if robotNameX and robotConfigX exists
spawnRowSize = 4
spawnColSize = 5
Expand Down Expand Up @@ -999,6 +1001,38 @@
" <command>roslaunch --wait subt_ros vehicle_topics.launch world_name:=#{$worldName} name:=#{_name} uav:=#{uav} laser_scan:=#{laserScan} stereo_cam:=#{stereoCam} rgbd_cam:=#{rgbdCam}</command>\n"\
"</executable>\n"
end

def spawnTeamBase(_x, _y, _z, _yaw)
"<plugin name=\"ignition::launch::GazeboFactory\"\n"\
" filename=\"libignition-launch-gazebo-factory.so\">\n"\
" <name>TeamBase</name>\n"\
" <allow_renaming>false</allow_renaming>\n"\
" <world>#{$worldName}</world>\n"\
" <is_performer>false</is_performer>\n"\
" <sdf version='1.6'>\n"\
" <model name='TeamBase'>\n"\
" <pose>#{_x} #{_y} #{_z} 0 0 #{_yaw}</pose>\n"\
" <static>true</static>\n"\
" <link name='link'>\n"\
" <pose>0 0 0.05 0 0 0</pose>\n"\
" <visual name='visual'>\n"\
" <geometry>\n"\
" <box>\n"\
" <size>.1 .1 .1</size>\n"\
" </box>\n"\
" </geometry>\n"\
" </visual>\n"\
" </link>\n"\
" </model>\n"\
" </sdf>\n"\
"</plugin>\n"\
"<executable name='teambase_description'>\n"\
" <command>roslaunch --wait subt_ros teambase_description.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"\
"<executable name='teambase_ros_ign_bridge'>\n"\
" <command>roslaunch --wait subt_ros teambase_topics.launch world_name:=#{$worldName}</command>\n"\
"</executable>\n"
end
%>

<%
Expand Down Expand Up @@ -1034,6 +1068,15 @@
%>
<%= spawnX4(name, robotConfigN, posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<%
elsif (name.downcase == "teambase" || name.downcase == "team_base") &&
(config.downcase == "teambase" || config.downcase == "team_base")
robotSpawned += 1
if !teamBaseSpawned
teamBaseSpawned = true
%>
<%= spawnTeamBase(posX, posY, spawnWorldZPos, spawnWorldYaw) %>
<%
end
else
# Try a team-submitted vehicle.
package = config.downcase
Expand Down
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