From a628f78c7904932bb01c9ab278f917c976d67b18 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Fri, 24 Jul 2020 09:28:40 -0700 Subject: [PATCH 1/4] Limit velocity and acceleration on costar husky Signed-off-by: Nate Koenig --- .../costar_husky_sensor_config_1/launch/spawner.rb | 4 ++++ .../costar_husky_sensor_config_2/launch/spawner.rb | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb b/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb index 490da6ab..ae2b09a3 100644 --- a/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb +++ b/submitted_models/costar_husky_sensor_config_1/launch/spawner.rb @@ -20,6 +20,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{0.45649 * 1.5} 0.1651 /model/#{_name}/cmd_vel_relay + -1 + 1 + -3 + 3 #{0.45649 * 1.5} 0.1651 /model/#{_name}/cmd_vel_relay + -1 + 1 + -3 + 3 Date: Fri, 24 Jul 2020 14:51:22 -0400 Subject: [PATCH 2/4] clarify limits in specifications.md --- .../specifications.md | 9 ++++--- .../specifications.md | 2 +- .../specifications.md | 13 +++++++--- .../specifications.md | 10 ++++--- .../specifications.md | 26 ++++++++++++++----- .../specifications.md | 26 ++++++++++++++----- .../specifications.md | 24 +++++++++++------ .../{specification.md => specifications.md} | 19 +++++++++----- .../{specification.md => specifications.md} | 12 ++++----- 9 files changed, 97 insertions(+), 44 deletions(-) rename submitted_models/robotika_freyja_sensor_config_1/{specification.md => specifications.md} (80%) rename submitted_models/robotika_kloubak_sensor_config_1/{specification.md => specifications.md} (86%) diff --git a/submitted_models/cerberus_anymal_b_sensor_config_1/specifications.md b/submitted_models/cerberus_anymal_b_sensor_config_1/specifications.md index d50b8e6d..5a86f49a 100644 --- a/submitted_models/cerberus_anymal_b_sensor_config_1/specifications.md +++ b/submitted_models/cerberus_anymal_b_sensor_config_1/specifications.md @@ -1,5 +1,5 @@ # ANYmal -This specifications.md file is a description and proof of virtual model validation for the CERBERUS ANYmal B with Sensor Configuration 1. This robot may be launched using a `roslaunch` command with the variable name `cerberus_anymal_b_sensor_config_1`. +This specifications.md file is a description and proof of virtual model validation for the CERBERUS ANYmal B with Sensor Configuration 1. This robot may be launched using a `ign launch` command with the variable name `cerberus_anymal_b_sensor_config_1`. ## Description ANYmal is a highly sophisticated four-legged robot, designed to tackle the challenges of harsh search and rescue operations, inspections, and other surveillance duties. @@ -11,7 +11,7 @@ To be able to control this robot model you need a few additional packages. Pleas ## Usage Instructions The vehicle can be launched with the following command: ``` -ign launch -v 4 competition.ign robotName1:=anymal_b robotConfig1:=CERBERUS_ANYMAL_B_SENSOR_CONFIG_1 localModel:=true +ign launch -v 4 competition.ign robotName1:=anymal_b robotConfig1:=CERBERUS_ANYMAL_B_SENSOR_CONFIG_1 ``` In another terminal you can source the "anymal_locomotion_ws" workspace (see [Dependencies](#markdown-header-dependencies)) to start the locomotion controller node: @@ -52,6 +52,7 @@ This ANYmal with sensor configuration 1 includes the following sensors. The spec * Depth Camera - Intel Realsense D435, modeled by `rgbd_camera` plugin * Color Camera - FLIR Blackfly S Model ##BFS-U3-16S2C-CS , modeled by `camera` plugin * Synchronization Board - Autonomous Systems Lab, ETH Zurich - VersaVIS, there is not (yet) an Ignition-Gazebo plugin +* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2. ### Control This ANYmal is controlled by the custom `cerberus_anymal_b_control_1` package, available in the repository [cerberus_anymal_locomotion](https://github.com/leggedrobotics/cerberus_anymal_locomotion). @@ -59,7 +60,7 @@ This ANYmal is controlled by the custom `cerberus_anymal_b_control_1` package, a This controller makes the robot moving at a fixed velocity, in any direction. The input twist is used only to determine the orientation of movement. The bearing angle between X-axis and the orientation specified by the linear part of the twist vector indicates the direction of motion; The positive or negative value of the yaw rate of the twist vector sets the direction of rotation around the Z-axis. ### Motion Characteristics -Based on the tests specified in the DARPA SubT Challenge, this vehicle has the following motion constraint characteristics. +Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics. * _x_ velocity range from -0.45 m/s to 0.45 m/s * _y_ velocity range from -0.45 m/s to 0.45 m/s @@ -80,6 +81,8 @@ The following points highlight the differences between the submitted virtual mod * Robosense RS-Bpearl LIDAR is not present in simulation since its Ignition-Gazebo plugin does not exist yet. A downward Intel Realsense is used as a replacement in simulation. * VersaVIS board is used to time synchronize a camera with an IMU for Visual-Inertial Odometry purposes. At the moment there is no plan to develop an Ignition-Gazebo plugin for that and therefore this board is not included in simulation. +* The physical robot carries 4 communication breadcrumbs. 12 breadcrumbs are included in sensor configuration 2, which is standardized to match other available models. + ## ANYmal Validation and Specification Links * [ANYmal specification link](https://researchfeatures.com/2018/05/01/anymal-unique-quadruped-robot-conquering-harsh-environments/#) * [ANYbotics](https://www.anybotics.com/) diff --git a/submitted_models/cerberus_m100_sensor_config_1/specifications.md b/submitted_models/cerberus_m100_sensor_config_1/specifications.md index f06e0d89..d5507811 100644 --- a/submitted_models/cerberus_m100_sensor_config_1/specifications.md +++ b/submitted_models/cerberus_m100_sensor_config_1/specifications.md @@ -46,7 +46,7 @@ This Aerial Scout is controlled by the default twist controller package inside t ### Motion Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation -Guide], this vehicle has the following motion constraint characteristics. +Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics. * _x_ linear velocity range from -3.0 m/s to 3.0 m/s * _y_ linear velocity range from -3.0 m/s to 3.0 m/s * _z_ linear velocity range from -1.8 m/s to 1.8 m/s diff --git a/submitted_models/explorer_ds1_sensor_config_1/specifications.md b/submitted_models/explorer_ds1_sensor_config_1/specifications.md index 799b0103..efc95e24 100644 --- a/submitted_models/explorer_ds1_sensor_config_1/specifications.md +++ b/submitted_models/explorer_ds1_sensor_config_1/specifications.md @@ -3,7 +3,8 @@ DARPA Subterranean Challenge Technology Repository --> # Explorer - DS1 This specifications.md file is a description and proof of virtual model validation for Explorer's robot DS1 with Sensor Configuration 1. This robot may be launched using -a `roslaunch` command with the variable name `explorer_ds1_sensor_config_1`. +an `ign launch ` command with the variable name `explorer_ds1_sensor_config_1`. + ## Description DS1 is quadrotor UAV. It is designed for exploring various environments, such as tunnels, caves and so on. @@ -25,15 +26,19 @@ DS1 is controlled by the open-source teleop_twist_joy package. ## Motion Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation -Guide](https://subtchallenge.com/\), this vehicle has the following motion +Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics: * _x_, _y_, and _z_ velocity range from -4.0 m/s to 4.0 m/s * _x_, _y_, and _z_ acceleration range from -10 m/s2 to 10 m/s2 +The constraints can be found in the following locations within the simulation model package: + +* `spawner.rb`, lines 113-115 + ## Endurance Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation -Guide](https://subtchallenge.com/\), this vehicle has the following +Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following endurance characteristics: * Battery life of 600 seconds @@ -42,7 +47,7 @@ endurance characteristics: Virtual DS1 is a faithful representation of real-world DS1 both in appearance and in physical properties. However, there are few diversions: * It does not model long-range Rajant communication of the real robot. -* It does not model the exact dynamic model (mass and inertial) of real-world DS1, instead it's using the motion parameters of standard X3 UAV model for control perspective. +* It does not model the exact dynamic model (mass, inertia, motion, and endurance characteristics) of real-world DS1, instead it's using the motion parameters of standard X3 UAV model for control perspective until validation data can be provided. # DS1 Validation and Specification Links diff --git a/submitted_models/explorer_r2_sensor_config_1/specifications.md b/submitted_models/explorer_r2_sensor_config_1/specifications.md index cda35c05..c4dff584 100644 --- a/submitted_models/explorer_r2_sensor_config_1/specifications.md +++ b/submitted_models/explorer_r2_sensor_config_1/specifications.md @@ -19,6 +19,7 @@ The following specific sensors are declared payloads of this vehicle: * 4x RGBD camera — intel realsense depth d435i, modeled by `rgbd_camera` plugin. * 1x 3D medium range lidar — Velodyne-16, modeled by `gpu_lidar` plugin. * 1x IMU — Xsense MTI-100, modeled by `imu` plugins. +* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2. ## Control R2 is controlled by the open-source teleop_twist_joy package. @@ -28,7 +29,7 @@ Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/\), this vehicle has the following motion constraint characteristics: -* _x_ velocity range from -2.0 m/s to 2.0 m/s +* _x_ velocity range from ~~-2.0 m/s to 2.0 m/s~~, currently modeled as -1.0 m/s to 1.0 m/s until validation data can be provided * _x_ acceleration range from -10 m/s2 to 10 m/s2 * Turning radius of 0.6 m * Rotation angle between two parts of the robot is limited to -30-30 degree @@ -41,18 +42,21 @@ package: * Other wheels — just below Left front wheel in the same file. * Rotation angle limit — model.sdf, line 547 to 550 * Spring coefficients — model.sdf, line 554 and 555 +* `diff_drive` controller limits in `spawner.rb`, lines 23-26 ## Endurance Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation -Guide](https://subtchallenge.com/\), this vehicle has the following +Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following endurance characteristics: -* Battery life of 5400 seconds +* Battery life of ~~5400 seconds~~, currently modeled as 1 hour until validation data can be provided ## Diversions from Physical Hardware of R2 Virtual R2 is a faithful representation of real-world R2 both in appearance and in physical properties. However, there are few diversions: +* The endurance and motion characteristics above are approximated to match existing models until model validation data can be provided. * It does not model long-range Rajant wireless network of the real robot. +* The physical robot has 9 communication breadcrumbs. 12 breadcrumbs are included in sensor configuration 2, which is standardized to match other available models. # R2 Validation and Specification Links diff --git a/submitted_models/marble_hd2_sensor_config_1/specifications.md b/submitted_models/marble_hd2_sensor_config_1/specifications.md index ceea80c9..7eea1baf 100644 --- a/submitted_models/marble_hd2_sensor_config_1/specifications.md +++ b/submitted_models/marble_hd2_sensor_config_1/specifications.md @@ -43,25 +43,38 @@ The following specific sensors are declared payloads of this vehicle: * Microstrain IMU: 3DM-GX5-25, modeled by imu_sensor plugin. Notes on modeling of the IMU are included in the model.sdf file. (located under the 3D lidar, installed at same x,y location as 3D lidar) - RPLidar S1 Planar Lidar (under the 3D lidar), modeled by gpu_ray plugin - Vividia HTI-301 LWIR Camera (not modeled because thermal camera not yet supported in simulator) - located on the turret next to the D435i and light. +* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2. ### Control This MARBLE HD2 is controlled by the DiffDrive plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis. We add additional pseudo-wheels where the HD2's treads are to better approximate a track vehicle. Currently, we are not aware of a track-vehicle plugin for ignition-gazebo. A TrackedVehicle plugin does exist in gazebo8+, but it is not straightforward to port to ignition-gazebo. We hope to work with other SubT teams and possibly experts among the ignition-gazebo developers to address this in the future. -### Motion CharacteristicsBased on the tests specified in the DARPA SubT Challenge [Model PreparationGuide](https://subtchallenge.com/\), this vehicle has the following motion constraint characteristics. +### Motion Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics: + +* _x_ velocity range from -1.0 m/s to 1.0 m/s +* _x_ acceleration range from -3.0 m/s2 to 3.0 m/s2 + +The constraints can be found in the following locations within the simulation model package: + +* `spawner.rb`, lines 27-30 This configuration has roughly the same motion characteristics as the COSTAR/MARBLE husky vehicles, except it also has a pan/tilt mechanism which has additional motion characteristics. We have included a test script in this folder (test_gimbal.sh) which sends pan and tilt commands using ROS topics. This script assumes you have named your vehicle X1. At this time, we assume that the motion characteristics are the same as the COSTAR husky which has already been modeled. We were unable to perform additional validation tests due to COVID-19 restrictions. ### Endurance Characteristics -This configuration has an endurance of approximately 2 hours. We plan to carry out the endurance test characterization but have been prevented from doing so due to the coronavirus measures preventing us from visiting the lab space while preparing these models for simulation. +This configuration has an endurance of approximately 2 hours, but we have limited the model in simulation to have a 1 hour endurance. We plan to carry out the endurance test characterization but have been prevented from doing so due to the coronavirus measures preventing us from visiting the lab space while preparing these models for simulation. ### Diversions from Physical Hardware of MARBLE HD2 Computers were installed in the payload area of the husky and these have been roughly modeled (the rail and computer bay are shown in the model.sdf model). The MARBLE vehicle uses an AMD Ryzen processor (32-core) with 64 GB of RAM. It has a cooling system as well which makes up part of the black bay seen in the sdf model. -## X4 Validation and Specification Links +The endurance and motion characteristics above are approximated to match existing models until model validation data can be provided. + +The physical robot has 3 communication breadcrumbs. 12 breadcrumbs are included in sensor configuration 2, which is standardized to match other available models. + +## Validation and Specification Links * Vehicle Links: - * https://clearpathrobotics.com/husky-unmanned-ground-vehicle-robot/ + * https://www.superdroidrobots.com/shop/item.aspx/hd2-treaded-atr-tank-robot-platform/789/ * Sensor specification links: * Trossen ScorpionX MX-64 Robot Turret - https://www.trossenrobotics.com/p/ScorpionX-RX-64-robot-turret.aspx @@ -70,7 +83,7 @@ Computers were installed in the payload area of the husky and these have been ro * RPLidar S1 Planar Lidar - https://www.slamtec.com/en/Lidar/S1Spec * Vividia HTI-301 LWIR Camera - https://www.oasisscientific.com/store/p504/Vividia_HTi_HT-301_Thermal_Imaging_Camera_for_Android_Phone_and_Tablet_with_IR_Resolution_384x288.html * IMU: Microstrain 3DM-GX5-25 - datasheet: https://www.microstrain.com/sites/default/files/applications/files/3dm-gx5-25_datasheet_8400-0093_rev_n.pdf - * Explanation of sensor parameter derivations: + ~~* Explanation of sensor parameter derivations: We derived the stddev terms as follows: accelerometer noise density = 0.00002 g/sqrt(Hz) @@ -78,7 +91,8 @@ Computers were installed in the payload area of the husky and these have been ro gyro noise density = 0.005 deg/s/sqrt(Hz) => convert to rad/sec => 8.72664e-5 radians - Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU). + Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU). ~~ + - IMU model is standardized to match other available models. * \ * \ diff --git a/submitted_models/marble_husky_sensor_config_1/specifications.md b/submitted_models/marble_husky_sensor_config_1/specifications.md index 58a6c7e0..0c750648 100644 --- a/submitted_models/marble_husky_sensor_config_1/specifications.md +++ b/submitted_models/marble_husky_sensor_config_1/specifications.md @@ -43,23 +43,36 @@ The following specific sensors are declared payloads of this vehicle: * Microstrain IMU: 3DM-GX5-25, modeled by imu_sensor plugin. Notes on modeling of the IMU are included in the model.sdf file. (located under the 3D lidar, installed at same x,y location as 3D lidar) - RPLidar S1 Planar Lidar (under the 3D lidar), modeled by gpu_ray plugin - Vividia HTI-301 LWIR Camera (not modeled because thermal camera not yet supported in simulator) - located on the turret next to the D435i and light. +* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2. ### Control This MARBLE Husky is controlled by the DiffDrive plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis. -### Motion CharacteristicsBased on the tests specified in the DARPA SubT Challenge [Model PreparationGuide](https://subtchallenge.com/\), this vehicle has the following motion constraint characteristics. +### Motion Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics: + +* _x_ velocity range from -1.0 m/s to 1.0 m/s +* _x_ acceleration range from -3.0 m/s2 to 3.0 m/s2 + +The constraints can be found in the following locations within the simulation model package: + +* `spawner.rb`, lines 23-26 This configuration has the same motion characteristics as the COSTAR husky, except it also has a pan/tilt mechanism which has additional motion characteristics. We have included a test script in this folder (test_gimbal.sh) which sends pan and tilt commands using ROS topics. This script assumes you have named your vehicle X1. The motion characteristics are the same as the COSTAR husky which has already been modeled. We were unable to perform additional validation tests due to COVID-19 restrictions. ### Endurance Characteristics -This configuration has an endurance of approximately 4 hours, but we have limited the model in simulation to have a 2 hour endurance. We plan to carry out the endurance test characterization but have been prevented from doing so due to the coronavirus measures preventing us from visiting the lab space while preparing these models for simulation. +This configuration has an endurance of approximately 4 hours, but we have limited the model in simulation to have a 1 hour endurance. We plan to carry out the endurance test characterization but have been prevented from doing so due to the coronavirus measures preventing us from visiting the lab space while preparing these models for simulation. ### Diversions from Physical Hardware of MARBLE Husky -Computers were installed in the payload area of the husky and these have been roughly modeled (the rail and computer bay are shown in the model.sdf model). The MARBLE vehicle uses an AMD Ryzen processor (32-core) with 64 GB of RAM. It has a cooling system as well. +Computers were installed in the payload area of the husky and these have been roughly modeled (the rail and computer bay are shown in the model.sdf model). The MARBLE vehicle uses an AMD Ryzen processor (32-core) with 64 GB of RAM. It has a cooling system as well. + +The endurance and motion characteristics above are approximated to match existing models until model validation data can be provided. + +The physical robot has 3 communication breadcrumbs. 12 breadcrumbs are included in sensor configuration 2, which is standardized to match other available models. -## X4 Validation and Specification Links +## Validation and Specification Links * Vehicle Links: * https://clearpathrobotics.com/husky-unmanned-ground-vehicle-robot/ @@ -70,7 +83,7 @@ Computers were installed in the payload area of the husky and these have been ro * RPLidar S1 Planar Lidar - https://www.slamtec.com/en/Lidar/S1Spec * Vividia HTI-301 LWIR Camera - https://www.oasisscientific.com/store/p504/Vividia_HTi_HT-301_Thermal_Imaging_Camera_for_Android_Phone_and_Tablet_with_IR_Resolution_384x288.html * IMU: Microstrain 3DM-GX5-25 - datasheet: https://www.microstrain.com/sites/default/files/applications/files/3dm-gx5-25_datasheet_8400-0093_rev_n.pdf - * Explanation of sensor parameter derivations: + ~~* Explanation of sensor parameter derivations: We derived the stddev terms as follows: accelerometer noise density = 0.00002 g/sqrt(Hz) @@ -78,7 +91,8 @@ Computers were installed in the payload area of the husky and these have been ro gyro noise density = 0.005 deg/s/sqrt(Hz) => convert to rad/sec => 8.72664e-5 radians - Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU). + Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU). ~~ + - IMU model is standardized to match other available models. * \ * \ diff --git a/submitted_models/marble_qav500_sensor_config_1/specifications.md b/submitted_models/marble_qav500_sensor_config_1/specifications.md index 46eb1a9a..27690d9f 100644 --- a/submitted_models/marble_qav500_sensor_config_1/specifications.md +++ b/submitted_models/marble_qav500_sensor_config_1/specifications.md @@ -32,26 +32,33 @@ The following specific sensors are declared payloads of this vehicle: ### Control This vehicle is controlled by the Twist ROS topic cmd_vel -### Motion CharacteristicsBased on the tests specified in the DARPA SubT Challenge [Model PreparationGuide](https://subtchallenge.com/\), this vehicle has the following motion constraint characteristics. +### Motion Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics: -This configuration has the similar motion characteristics as the X4 vehicle due to the size, except it also has different mass characteristics. More detailed characteristics are not available due to the coroavirus crisis. +* _x_, _y_, and _z_ velocity range from -4.0 m/s to 4.0 m/s +* _x_ and _y_ acceleration range from -5.0 m/s2 to 5.0 m/s2 +* _z_ acceleration range from -3.0 m/s2 to 3.0 m/s2 + +This configuration has the similar motion characteristics as the X4 vehicle due to the size, except it also has different mass characteristics. More detailed characteristics are not available due to the coronavirus crisis. ### Endurance Characteristics -This configuration has an endurance of approximately 12 minutes or 720 seconds We plan to carry out the endurance test characterization but have been prevented from doing so due to the coronavirus measures preventing us from visiting the lab space while preparing these models for simulation. +This configuration has an endurance of approximately 12 minutes or 720 seconds, but we have limited the model in simulation to have 10 minute endurance. We plan to carry out the endurance test characterization but have been prevented from doing so due to the coronavirus measures preventing us from visiting the lab space while preparing these models for simulation. -### Diversions from Physical Hardware of \ +### Diversions from Physical Hardware of MARBLE QAV500 Computers were installed in the payload area of the QAV500 and these have been roughly modeled. The MARBLE vehicle uses an Intel Nuc with Core i7-8650U processor. -## X4 Validation and Specification Links +The endurance and motion characteristics above are approximated to match existing models until model validation data can be provided. + +## Validation and Specification Links * Vehicle Links: - * https://clearpathrobotics.com/husky-unmanned-ground-vehicle-robot/ + * https://www.getfpv.com/qav500-v2-fpv-quadcopter.html * Sensor specification links: * D435i RGBD Camera - https://www.intelrealsense.com/depth-camera-d435i/ * Ouster 3D Lidar (64 Channel) - https://ouster.com/products/os1-lidar-sensor/ * Picoflexx TOF camera (depth image and point cloud) - https://pmdtec.com/picofamily/wp-content/uploads/2018/03/PMD_DevKit_Brief_CB_pico_flexx_CE_V0218-1.pdf * IMU: Microstrain 3DM-GX5-15 - datasheet: https://www.microstrain.com/sites/default/files/applications/files/3dm-gx5-15_datasheet_8400-0094_rev_m.pdf - * Explanation of sensor parameter derivations: + ~~* Explanation of sensor parameter derivations: We derived the stddev terms as follows: accelerometer noise density = 0.00002 g/sqrt(Hz) @@ -59,7 +66,8 @@ Computers were installed in the payload area of the QAV500 and these have been r gyro noise density = 0.005 deg/s/sqrt(Hz) => convert to rad/sec => 8.72664e-5 radians - Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU). + Other terms are difficult to extract from datasheet, so we used similar terms to previous IMU models proposed (of similar or worse quality) such as the ADIS 16448 (which has worse performance than this IMU).~~ + - IMU model is standardized to match other available models. * \ * \ diff --git a/submitted_models/robotika_freyja_sensor_config_1/specification.md b/submitted_models/robotika_freyja_sensor_config_1/specifications.md similarity index 80% rename from submitted_models/robotika_freyja_sensor_config_1/specification.md rename to submitted_models/robotika_freyja_sensor_config_1/specifications.md index 3186c75c..910ba7be 100644 --- a/submitted_models/robotika_freyja_sensor_config_1/specification.md +++ b/submitted_models/robotika_freyja_sensor_config_1/specifications.md @@ -3,7 +3,8 @@ DARPA Subterranean Challenge Technology Repository --> # Robotika - Freyja This specifications.md file is a description and proof of virtual model validation for Robotika's robot Freyja with Sensor Configuration 1. This robot may be launched using -a `roslaunch` command with the variable name `robotika_freyja_sensor_config_1`. +a `ign launch` command with the variable name `robotika_freyja_sensor_config_1`. + ## Description Freyja is a four-wheel all-terrain ground vehicle. With weight under 30 kg and its medium size, Freyja can be transported by a single person as a check-in baggage on an @@ -34,11 +35,14 @@ plugins. * Wheel odometry - wheel encoders modelled by `pose-publisher` plugin. * Gas sensor — Winsen MH-Z19B, modeled by GasEmitterDetector plugin. +* 6 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2. + ## Control Freyja is controlled by the open-source Osgar framework or by custom Erro framework. + ## Motion Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation -Guide](https://subtchallenge.com/\), this vehicle has the following motion +Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics: * _x_ velocity range from -2.5 m/s to 2.5 m/s @@ -50,19 +54,20 @@ package: * Front left wheel maximum velocity and torque — model.sdf, lines 1415 and 1417 * Other wheels — just below Front Left wheel in the same file. +* Velocity and acceleration limits applied to the `diff_drive` plugin in the `spawner.rb` file, lines 23-26 ## Endurance Characteristics -Based on the tests specified in the DARPA SubT Challenge [Model Preparation -Guide](https://subtchallenge.com/\), this vehicle has the following -endurance characteristics: - -* Battery life of 14400 seconds +This vehicle has a battery life of 14400 seconds, but the model has been limited to have 1 hour endurance until endurance validation data can be provided. ## Diversions from Physical Hardware of Freyja Virtual Freyja is a faithful representation of real-world Freya both in appearance and in physical properties. It does not model long-range low-bandwidth (LoRa) mesh communication of the real robot. +The endurance characteristic above is approximated to match existing models until endurance validation data can be provided. + +The physical robot has 0 communication breadcrumbs. 6 breadcrumbs are included in sensor configuration 2 which is standardized to match other available models. + # Freyja Validation and Specification Links * https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html diff --git a/submitted_models/robotika_kloubak_sensor_config_1/specification.md b/submitted_models/robotika_kloubak_sensor_config_1/specifications.md similarity index 86% rename from submitted_models/robotika_kloubak_sensor_config_1/specification.md rename to submitted_models/robotika_kloubak_sensor_config_1/specifications.md index c9bbaadc..e45a83cd 100644 --- a/submitted_models/robotika_kloubak_sensor_config_1/specification.md +++ b/submitted_models/robotika_kloubak_sensor_config_1/specifications.md @@ -23,6 +23,7 @@ The following specific sensors are declared payloads of this vehicle: * 2x Magnetometers — LORD Sensing 3DM-GX5, modeled by `magnetometer` plugins. * Altimeter — Infineon DPS310, modeled by `air_pressure` plugin. * Wheel odometry - wheel encoders modelled by `pose-publisher` plugin. +* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2. ## Control Kloubak is controlled by the open-source Osgar framework. The robot Kloubak consists of the front and rear differential @@ -47,7 +48,7 @@ Movement in a circle (described above), rotation of individual axles and axle di ## Motion Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation -Guide](https://subtchallenge.com/\), this vehicle has the following motion +Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics: * _x_ velocity range from -2.5 m/s to 2.5 m/s @@ -59,13 +60,10 @@ package: * Front left wheel maximum velocity and torque — model.sdf, lines 1015 and 1017 * Other wheels — just below Front Left wheel in the same file. +* Velocity and acceleration limits applied to the `diff_drive` plugin in the `spawner.rb` file, lines 22-25 and 36-39 ## Endurance Characteristics -Based on the tests specified in the DARPA SubT Challenge [Model Preparation -Guide](https://subtchallenge.com/\), this vehicle has the following -endurance characteristics: - -* Battery life of 5400 seconds +This vehicle has battery life of 5400 seconds, but the model has been limited to have 1 hour endurance until endurance validation data can be provided. ## Diversions from Physical Hardware of Kloubak Virtual Kloubak is a faithful representation of real-world Kloubak both in appearance and @@ -75,6 +73,8 @@ in physical properties. However, there are few diversions: * It does not model realsense tracking cameras t265. * It does not model angle sensor in the main joint and the second IMU or lookupTransform() between /${robot_name}/chassis_front and /${robot_name}/chassis_back can be used instead. * Real robot can be controlled in a "FRONT" mode as well. In this mode only front or rear wheels are driven. Other wheels are passive. +* The endurance characteristic above is approximated to match existing models until endurance validation data can be provided. +* The physical robot has 0 communication breadcrumbs. 12 breadcrumbs are included in sensor configuration 2 which is standardized to match other available models. # Kloubak Validation and Specification Links From 186b6d6e410eb2ba74a521ac573257c2063c0756 Mon Sep 17 00:00:00 2001 From: Angela Maio Date: Fri, 24 Jul 2020 15:00:07 -0400 Subject: [PATCH 3/4] add limits to remaining submitted configs --- .../explorer_x1_sensor_config_1/launch/spawner.rb | 4 ++++ .../explorer_x1_sensor_config_2/launch/spawner.rb | 4 ++++ .../robotika_x2_sensor_config_1/launch/spawner.rb | 4 ++++ .../launch/spawner.rb | 4 ++++ submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb | 4 ++++ submitted_models/x1_sensor_config_6/launch/spawner.rb | 4 ++++ submitted_models/x2_sensor_config_7/launch/spawner.rb | 4 ++++ 7 files changed, 28 insertions(+) diff --git a/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb b/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb index 351c32fd..7412187a 100644 --- a/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb +++ b/submitted_models/explorer_x1_sensor_config_1/launch/spawner.rb @@ -20,6 +20,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{0.45649 * 1.5} 0.1651 /model/#{_name}/cmd_vel_relay + -1 + 1 + -3 + 3 #{0.45649 * 1.5} 0.1651 /model/#{_name}/cmd_vel_relay + -1 + 1 + -3 + 3 #{0.33559 * 1.23}\n"\ " 0.098\n"\ " /model/#{_name}/cmd_vel_relay\n"\ + " -2 + " 2 + " -6 + " 6 " \n"\ " \n"\ " #{0.33559 * 1.23} 0.098 /model/#{_name}/cmd_vel_relay + -2 + 2 + -6 + 6 diff --git a/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb b/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb index ce375aed..82174cb5 100755 --- a/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ssci_x2_sensor_config_1/launch/spawner.rb @@ -34,6 +34,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{0.33559 * 1.23} 0.098 /model/#{_name}/cmd_vel_relay + -2 + 2 + -6 + 6 #{0.45649 * 1.5} 0.1651 /model/#{_name}/cmd_vel_relay + -1 + 1 + -3 + 3 #{0.33559 * 1.23} 0.098 /model/#{_name}/cmd_vel_relay + -2 + 2 + -6 + 6 Date: Wed, 5 Aug 2020 12:11:18 -0400 Subject: [PATCH 4/4] remove diversion since data was provided --- submitted_models/explorer_ds1_sensor_config_1/specifications.md | 1 - 1 file changed, 1 deletion(-) diff --git a/submitted_models/explorer_ds1_sensor_config_1/specifications.md b/submitted_models/explorer_ds1_sensor_config_1/specifications.md index 8b262285..bd7c0a82 100644 --- a/submitted_models/explorer_ds1_sensor_config_1/specifications.md +++ b/submitted_models/explorer_ds1_sensor_config_1/specifications.md @@ -48,7 +48,6 @@ endurance characteristics: Virtual DS1 is a faithful representation of real-world DS1 both in appearance and in physical properties. However, there are few diversions: * It does not model long-range Rajant communication of the real robot. -* It does not model the exact dynamic model (mass, inertia, motion, and endurance characteristics) of real-world DS1, instead it's using the motion parameters of standard X3 UAV model for control perspective until validation data can be provided. # DS1 Validation and Specification Links