Model submission for the CERBERUS ANYmal C platform sensor configurat…

…ions 1 and 2 by CERBERUS (#727) * add ignition gazebo plugin * add structure for anymal_c * update launch files * add model * add color for stl parts, add lights * adjust specification * add more data * update specifications with data links * add pluging and noise * fix todos * add visualization * update battery time * add sensor config 2 with breadcrumbs * change order of authors * adjust specifications * adjust text * add brighter picutre * change perspective * add optical frame publisher * recompile plugin with dome release * remove format specifier * add comment to clarify forward direction * add lens properties
osrf · Jan 20, 2021 · ef8d960 · ef8d960
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diff --git a/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/CMakeLists.txt b/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/CMakeLists.txt
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+cmake_minimum_required(VERSION 2.8.3)
+project(cerberus_anymal_c_ignition_gazebo_plugin_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(FILES lib/libAnymalCControlPlugin1.so
+  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/LICENSE b/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2020, Robotic Systems Lab - ETH Zürich
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/README.md b/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/README.md
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+# CERBERUS ANYmal C Ignition Gazebo Plugin
+This package contains an Ignition Gazebo Plugin that can be used to control the join positions of a virtual model for the CERBERUS ANYmal C, with any sensor configuration.
+
+**Authors & Maintainers**:
+
+*  Samuel Zimmermann
+*  Marco Tranzatto
+*  Timon Homberger
+
+**Affiliation:** [Robotic Systems Lab - ETH Zurich](https://rsl.ethz.ch/the-lab.html)
+
+## License
+This software is released under a [BSD 3-Clause license](LICENSE).
diff --git a/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/lib/libAnymalCControlPlugin1.so b/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/lib/libAnymalCControlPlugin1.so
diff --git a/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/package.xml b/submitted_models/cerberus_anymal_c_ignition_gazebo_plugin_1/package.xml
@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>cerberus_anymal_c_ignition_gazebo_plugin_1</name>
+  <version>2.0.0</version>
+  <description>The cerberus_anymal_c_ignition_gazebo_plugin package</description>
+
+  <author email="zsamuel@leggedrobotics.com">Samuel Zimmermann</author>
+  <author email="timon.homberger@mavt.ethz.ch">Timon Homberger</author>
+  <author email="marcot@ethz.ch">Marco Tranzatto</author>
+  <maintainer email="zsamuel@leggedrobotics.com">Samuel Zimemrmann</maintainer>
+
+  <license>BSD-3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+</package>
diff --git a/submitted_models/cerberus_anymal_c_sensor_config_1/CMakeLists.txt b/submitted_models/cerberus_anymal_c_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(cerberus_anymal_c_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/submitted_models/cerberus_anymal_c_sensor_config_1/LICENSE b/submitted_models/cerberus_anymal_c_sensor_config_1/LICENSE
@@ -0,0 +1,29 @@
+Copyright 2020, ANYbotics AG.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions
+are met:
+
+1. Redistributions of source code must retain the above copyright
+   notice, this list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright
+   notice, this list of conditions and the following disclaimer in
+   the documentation and/or other materials provided with the
+   distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived
+   from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/submitted_models/cerberus_anymal_c_sensor_config_1/README.md b/submitted_models/cerberus_anymal_c_sensor_config_1/README.md
@@ -0,0 +1,77 @@
+# CERBERUS ANYmal C Sensor Config 1
+This package contains a virtual model validation for the CERBERUS ANYmal C with Sensor Configuration 1. Please see the [specifications.md](specifications.md) file for more information.
+
+**Authors & Maintainers**:
+
+*  Samuel Zimmermann
+*  Marco Tranzatto
+*  Timon Homberger
+
+**Affiliation:** [Robotic Systems Lab - ETH Zurich](https://rsl.ethz.ch/the-lab.html)
+
+[![CERBERUS ANYmal](doc/anymal_c.png)](doc/anymal_c.png)
+
+## License
+This software is released under a [BSD 3-Clause license](LICENSE).
+
+## Publications
+If you use this work in an academic context, please cite the following publications:
+
+> Joonho Lee,  Jemin Hwangbo,  Lorenz Wellhausen,  Vladlen Koltun and Marco Hutter
+> **"Learning quadrupedal locomotion over challenging terrain"**,
+> in Science Robotics, 21.10, 2020 ([DOI](https://robotics.sciencemag.org/content/5/47/eabc5986))
+
+    @article{Leeeabc5986,
+  	    author = {Lee, Joonho and Hwangbo, Jemin and Wellhausen, Lorenz and Koltun, Vladlen and Hutter, Marco},
+      	title = {Learning quadrupedal locomotion over challenging terrain},
+      	volume = {5},
+      	number = {47},
+      	elocation-id = {eabc5986},
+      	year = {2020},
+      	doi = {10.1126/scirobotics.abc5986},
+      	publisher = {Science Robotics},
+      	URL = {https://robotics.sciencemag.org/content/5/47/eabc5986},
+      	eprint = {https://robotics.sciencemag.org/content/5/47/eabc5986.full.pdf},
+      	journal = {Science Robotics}
+    }
+
+> C. D. Bellicoso,  M. Bjelonic,  L. Wellhausen,  K. Holtmann,  F. Günther,  M. Tranzatto,  P. Fankhauser and  M. Hutter
+> **"Advances in real‐world applications for legged robots“**,
+> in Journal of Field Robotics, 35.8, 2018. ([DOI](https://doi.org/10.1002/rob.21839))
+
+    @article{bellicoso2018advances,
+        title={Advances in real-world applications for legged robots},
+        author={Bellicoso, C Dario and Bjelonic, Marko and Wellhausen, Lorenz and Holtmann, Kai and G{\"u}nther, Fabian and Tranzatto, Marco and Fankhauser, Peter and Hutter, Marco},
+        journal={Journal of Field Robotics},
+        volume={35},
+        number={8},
+        pages={1311--1326},
+        year={2018},
+        publisher={Wiley Online Library}
+    }
+
+> M. Hutter, C. Gehring, A. Lauber, F. Gunther, C. D. Bellicoso, V. Tsounis, P. Fankhauser, R. Diethelm, S. Bachmann, M. Bloesch, H. Kolvenbach, M. Bjelonic, L. Isler and K. Meyer
+> **"ANYmal - toward legged robots for harsh environments“**,
+> in Advanced Robotics, 31.17, 2017. ([DOI](https://doi.org/10.1080/01691864.2017.1378591))
+
+    @article{anymal2017,
+        title={ANYmal-toward legged robots for harsh environments},
+        author={Hutter, Marco and Gehring, Christian and Lauber, Andreas and Gunther, Fabian and Bellicoso, Carmine Dario and Tsounis, Vassilios and Fankhauser, P{\'e}ter and Diethelm, Remo and Bachmann, Samuel and Bl{\"o}sch, Michael and Kolvenbach, Hendrik and Bjelonic, Marko and Isler, Linus and Meyer, Konrad},
+        journal={Advanced Robotics},
+        volume={31},
+        number={17},
+        pages={918--931},
+        year={2017},
+        publisher={Taylor \& Francis}
+    }
+
+> ANYbotics,
+> **"ANYmal – Autonomous Legged Robot“**,
+> [https://www.anybotics.com/anymal](https://www.anybotics.com/anymal) (accessed: 30.11.2020)
+
+    @misc{anymal,
+        author = {ANYbotics},
+        title = {{ANYmal - Autonomous Legged Robot}},
+        howpublished = {\url{https://www.anybotics.com/anymal}},
+        note = {Accessed: 2020-11-30}
+    }
diff --git a/submitted_models/cerberus_anymal_c_sensor_config_1/doc/anymal_c.png b/submitted_models/cerberus_anymal_c_sensor_config_1/doc/anymal_c.png
diff --git a/submitted_models/cerberus_anymal_c_sensor_config_1/launch/description.launch b/submitted_models/cerberus_anymal_c_sensor_config_1/launch/description.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find cerberus_anymal_c_sensor_config_1)/urdf/robot_from_sdf.xacro' name:=$(arg name)"/>
+</launch>
diff --git a/submitted_models/cerberus_anymal_c_sensor_config_1/launch/example.ign b/submitted_models/cerberus_anymal_c_sensor_config_1/launch/example.ign
@@ -0,0 +1,169 @@
+<?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>