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Azeey/marsupial #424

Merged
merged 14 commits into from
May 20, 2020
+4,851 −3,140
Merged

Azeey/marsupial #424

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b9f1a6d
Add marsupial robots for cave_circuit
azeey Apr 14, 2020
5f7298a
Update example command
azeey Apr 15, 2020
d964ab7
Apply spawnWorldYaw to marsupial offsets
azeey May 6, 2020
dd0fee3
Merge branch 'cave_feature_release1' into marsupial
azeey May 6, 2020
b154dd0
Add marsupial vehicle support to cloudsim
azeey May 6, 2020
f01b995
Update cloudsim_bridge and json2docker
azeey May 7, 2020
860beee
Suppress DetachableJoint missing child warning
azeey May 11, 2020
6654157
Merge branch 'cave_feature_release1' into marsupial
azeey May 11, 2020
a46ba19
Added platform
May 19, 2020
4889d0f
Fix platform position
May 19, 2020
fc5b0de
Combined spawn
May 20, 2020
fdca16e
Merged
May 20, 2020
f13f1a1
Update submitted models
May 20, 2020
f5deda3
Merge cave_circuit.ign to urban_circuit.ign, tunnel_circuit_practice.…
May 20, 2020
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10 changes: 9 additions & 1 deletion docker/json2docker.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -183,6 +183,13 @@
robotStr += "robotName#{index+1}:=#{robot['name']} robotConfig#{index+1}:=#{robot['type']} "
end

marsupialChildren = []
submission['marsupials'].each_with_index do |(parent, child), index|
robotStr += "marsupial#{index+1}:=#{parent}:#{child} "
marsupialChildren.append(child)
end


# Set where the output is going
if options['run']
output = Tempfile.new()
Expand Down Expand Up @@ -225,10 +232,11 @@

# Output bridge and solution definitions
submission['robots'].each_with_index do |robot, index|
marsupialStr = "marsupial:=true" if marsupialChildren.include? robot['name']
output.puts <<EOF
bridge#{index+1}:
image: #{options['bridge_image']}
command: circuit:=#{submission['circuit']} worldName:=#{submission['world']} robotName1:=#{robot['name']} robotConfig1:=#{robot['type']}
command: circuit:=#{submission['circuit']} worldName:=#{submission['world']} robotName1:=#{robot['name']} robotConfig1:=#{robot['type']} #{marsupialStr}
networks:
relay_net#{index+1}:
ipv4_address: 172.#{29+index}.1.1
Expand Down
5 changes: 2 additions & 3 deletions submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -54,7 +53,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

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5 changes: 2 additions & 3 deletions submitted_models/costar_husky_sensor_config_2/launch/spawner.rb
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@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -70,7 +69,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

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5 changes: 2 additions & 3 deletions submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -54,7 +53,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/explorer_x1_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -70,7 +69,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,6 +1,5 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
"<plugin name=\"ignition::launch::GazeboFactory\"\n"\
" filename=\"libignition-launch-gazebo-factory.so\">\n"\
"<spawn name=\"#{_name}\">\n"\
" <name>#{_name}</name>\n"\
" <allow_renaming>false</allow_renaming>\n"\
" <pose>#{_x} #{_y} #{_z+0.063494} #{_roll} #{_pitch} #{_yaw}</pose>\n"\
Expand Down Expand Up @@ -53,7 +52,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
" </plugin>\n"\
" </include>\n"\
" </sdf>\n"\
"</plugin>\n"\
"</spawn>\n"\
end

def rosExecutables(_name, _worldName)
Expand Down
5 changes: 2 additions & 3 deletions submitted_models/sophisticated_engineering_x2_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -58,7 +57,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)

</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/sophisticated_engineering_x4_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -224,7 +223,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)

</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
if _config == "6"
lidar3d=1
end
<plugin name=\"ignition::launch::GazeboFactory\"
filename=\"libignition-launch-gazebo-factory.so\">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -68,7 +67,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/ssci_x4_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
topScan=1
bottomScan=1
rgbdCam=1
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -244,7 +243,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/ssci_x4_sensor_config_2/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
bottomScan=1
rgbdCam=1
end
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -239,7 +238,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/x1_sensor_config_6/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -54,7 +53,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/x2_sensor_config_7/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z+0.063494} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -54,7 +53,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/x3_sensor_config_5/launch/spawner.rb
View file
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -171,7 +170,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
5 changes: 2 additions & 3 deletions submitted_models/x4_sensor_config_6/launch/spawner.rb
View file
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -220,7 +219,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
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