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Model Submission for MARBLE Husky SC6 #920

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merged 9 commits into from
May 20, 2021
Merged

Model Submission for MARBLE Husky SC6 #920

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861865f
Implements vehicle damage based on kinetic energy
May 17, 2021
b3f0f06
Marble Husky SC6 files.
acschang May 18, 2021
0819716
Corrected FLIR Backfly description in model.config.
acschang May 18, 2021
b5a341c
Fixed tof intrinsic parameters.
acschang May 18, 2021
fb85892
Added else
May 19, 2021
651fb04
Added ke_height as sdf parameter
May 20, 2021
90af353
Merge branch 'submitted_models/marble_husky_sensor_config_6_redo' of …
May 20, 2021
8d76b47
Merge branch 'master' into submitted_models/marble_husky_sensor_confi…
May 20, 2021
bcf41a8
Reused meshes and materials. Fix SDF
May 20, 2021
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12 changes: 12 additions & 0 deletions submitted_models/marble_husky_sensor_config_6/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(marble_husky_sensor_config_6)

find_package(catkin REQUIRED)

catkin_package()

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

install(FILES model.sdf model.config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
5 changes: 5 additions & 0 deletions submitted_models/marble_husky_sensor_config_6/launch/description.launch
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<?xml version="1.0"?>
<launch>
<arg name="name" doc="Name of Vehicle"/>
<param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find marble_husky_sensor_config_6)/urdf/robot_from_sdf.xacro' name:=$(arg name)"/>
</launch>
169 changes: 169 additions & 0 deletions submitted_models/marble_husky_sensor_config_6/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>

121 changes: 121 additions & 0 deletions submitted_models/marble_husky_sensor_config_6/launch/spawner.rb
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def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<spawn name='#{_name}'>
<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>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-3</min_acceleration>
<max_acceleration>3</max_acceleration>
</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>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</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>
<disable_physics_time>3.0</disable_physics_time>
<topic_statistics>true</topic_statistics>
<breadcrumb>
<sdf version="1.6">
<model name="#{_name}__breadcrumb__">
<pose>-0.45 0 0 0 0 0</pose>
<include>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node</uri>
</include>
</model>
</sdf>
</breadcrumb>
</plugin>
<!-- Wheel slip -->
<plugin filename="libignition-gazebo-wheel-slip-system.so"
name="ignition::gazebo::systems::WheelSlip">
<wheel link_name="front_left_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="rear_left_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="front_right_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
<wheel link_name="rear_right_wheel_link">
<slip_compliance_lateral>0.172</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>138.767</wheel_normal_force>
<wheel_radius>0.1651</wheel_radius>
</wheel>
</plugin>
</include>
</sdf>
</spawn>
HEREDOC
end

def rosExecutables(_name, _worldName)
<<-HEREDOC
<executable name='robot_description'>
<command>roslaunch --wait marble_husky_sensor_config_6 description.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
<executable name='topics'>
<command>roslaunch --wait marble_husky_sensor_config_6 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
</executable>
HEREDOC
end
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