diff --git a/examples/dave_robot_launch/launch/glider_collection.launch b/examples/dave_robot_launch/launch/glider_collection.launch new file mode 100644 index 00000000..d964ed7b --- /dev/null +++ b/examples/dave_robot_launch/launch/glider_collection.launch @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + meshes: + heightmap: + mesh: package://uuv_gazebo_worlds/models/sand_heightmap/meshes/heightmap.dae + model: sand_heightmap + seafloor: + plane: [2000, 2000, 0.1] + pose: + position: [0, 0, -100] + north: + plane: [0.1, 2000, 100] + pose: + position: [1000, 0, -50] + south: + plane: [0.1, 2000, 100] + pose: + position: [-1000, 0, -50] + west: + plane: [2000, 0.1, 100] + pose: + position: [0, -1000, -50] + east: + plane: [2000, 0.1, 100] + pose: + position: [0, 1000, -50] + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/dave_robot_launch/launch/uuv_collection.launch b/examples/dave_robot_launch/launch/uuv_collection.launch new file mode 100644 index 00000000..442f19eb --- /dev/null +++ b/examples/dave_robot_launch/launch/uuv_collection.launch @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/dave_robot_launch/launch/virgil.launch b/examples/dave_robot_launch/launch/virgil.launch new file mode 100644 index 00000000..a8fd8b03 --- /dev/null +++ b/examples/dave_robot_launch/launch/virgil.launch @@ -0,0 +1,86 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world index 4685e04c..7da87831 100644 --- a/models/dave_worlds/worlds/dave_ocean_models.world +++ b/models/dave_worlds/worlds/dave_ocean_models.world @@ -134,78 +134,78 @@ torpedo_mk46 - 13 -1 -94 0 0 0 + 13 -0.75 -94.7 0 0 0 model://torpedo_mk46 torpedo_mk48 - 13 -1.5 -94 0 0 0 + 13 -1.5 -94.7 0 0 0 model://torpedo_mk48 sonobuoy - 13 -2 -94 0 0 0 + 13 -2.3 -94.7 0 0 0 model://sonobuoy flight_data_recorder - 13 -3 -94 0 0 0 + 13 -3 -94.7 0 0 0 model://flight_data_recorder uxo_a - 13 -4 -94 0 0 0 + 13 -4 -94.7 0 0 0 model://uxo_a uxo_b - 13 -5 -94 0 0 0 + 13 -5 -94.7 0 0 0 model://uxo_b uxo_c - 13 -6 -94 0 0 0 + 13 -6 -94.7 0 0 0 model://uxo_c hardhat_standard - 13 0 -94 0 0 0 + 13 0 -94.7 0 0 0 model://hardhat_standard hardhat_ribbed - 13 1 -94 0 0 0 + 13 1 -94.7 0 0 0 model://hardhat_ribbed hardhat_superribbed - 13 2 -94 0 0 0 + 13 2 -94.7 0 0 0 model://hardhat_superribbed hardhat_octagonal - 13 3 -94 0 0 0 + 13 3 -94.7 0 0 0 model://hardhat_octagonal mbari_mars - 13 6 -94 0 0 0 + 13 7 -94.7 0 0 0 model://mbari_mars - 13 -7 -94 0 0 0 + 13 -7 -94.7 0 0 0 model://sunken_vase @@ -213,32 +213,32 @@ - 13 -9 -94 0 0 0 + 13 -9 -94.7 0 0 0 model://niskin - 13 -12 -94 0 0 0 + 13 -12 -94.7 0 0 0 https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish - 35 -10 -94 0 0 0 + 35 -10 -94.7 0 0 0 https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship diff --git a/models/dave_worlds/worlds/dave_ocean_waves_darker.world b/models/dave_worlds/worlds/dave_ocean_waves_darker.world new file mode 100644 index 00000000..8844e830 --- /dev/null +++ b/models/dave_worlds/worlds/dave_ocean_waves_darker.world @@ -0,0 +1,140 @@ + + + + + + + + 0.002 + 1 + 500 + + + 0.01 0.01 0.01 1.0 + + + 12 + + + 1 + + + + + 56.71897669633431 + 3.515625 + + + + + model://sun + + + + + + -100 500 -20 0 0 0 + 0.8 0.8 0.8 1 + 1 1 1 1 + -1 -1 0 + false + + + + -150 -130 50 0 0 0 + 0.6 0.6 0.6 1 + 0.2 0.2 0.2 1 + 0.5 0.5 -1 + false + + + + + model://ned_frame + 0 0 0 0 0 0 + + + + + model://ocean + 0 0 0 0 0 0 + + + + + model://sand_heightmap + 0 0 -95 0 0 0 + + + + hydrodynamics + + current_velocity + + 0 + 0 + 5 + 0.0 + 0.0 + + + + 0 + -3.141592653589793238 + 3.141592653589793238 + 0.0 + 0.0 + + + + 0 + -3.141592653589793238 + 3.141592653589793238 + 0.0 + 0.0 + + + + + + + + + + 9.0 -3.0 -87.0 0.0 0.7 2.2 + orbit + perspective + + + + diff --git a/urdf/robots/glider_description/urdf/glider_hybrid_whoi.xacro b/urdf/robots/glider_description/urdf/glider_hybrid_whoi.xacro index 963bae41..5e77417a 100644 --- a/urdf/robots/glider_description/urdf/glider_hybrid_whoi.xacro +++ b/urdf/robots/glider_description/urdf/glider_hybrid_whoi.xacro @@ -39,19 +39,19 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + FirstOrder + 0.0 + + + Basic + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${namespace}/thruster_${thruster_id} + ${namespace}/thruster_${thruster_id}_joint + ${thruster_id} + + + + + false + + + + + + + + + + + + + + + + + + + + + + ${namespace}/thruster_${thruster_id} + ${namespace}/thruster_${thruster_id}_joint + ${thruster_id} + + + + + false + @@ -171,17 +275,19 @@ --> - - - - - - - - - - + diff --git a/urdf/robots/glider_description/urdf/glider_slocum.xacro b/urdf/robots/glider_description/urdf/glider_slocum.xacro index 8f5dcf14..eabd1b74 100644 --- a/urdf/robots/glider_description/urdf/glider_slocum.xacro +++ b/urdf/robots/glider_description/urdf/glider_slocum.xacro @@ -44,13 +44,13 @@ - + - + diff --git a/urdf/robots/virgil_description/CMakeLists.txt b/urdf/robots/virgil_description/CMakeLists.txt new file mode 100644 index 00000000..0f9bf327 --- /dev/null +++ b/urdf/robots/virgil_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.1.1) +project(virgil_description) + +find_package(catkin REQUIRED) + +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + + diff --git a/urdf/robots/virgil_description/launch/upload_virgil.launch b/urdf/robots/virgil_description/launch/upload_virgil.launch new file mode 100644 index 00000000..7479de74 --- /dev/null +++ b/urdf/robots/virgil_description/launch/upload_virgil.launch @@ -0,0 +1,6 @@ + + + + + + diff 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+</COLLADA> diff --git a/urdf/robots/virgil_description/meshes/virgil_diffuse.png b/urdf/robots/virgil_description/meshes/virgil_diffuse.png new file mode 100755 index 00000000..a1e388b3 Binary files /dev/null and b/urdf/robots/virgil_description/meshes/virgil_diffuse.png differ diff --git a/urdf/robots/virgil_description/package.xml b/urdf/robots/virgil_description/package.xml new file mode 100644 index 00000000..440a0792 --- /dev/null +++ b/urdf/robots/virgil_description/package.xml @@ -0,0 +1,14 @@ +<?xml version="1.0"?> +<package format="2"> + <name>virgil_description</name> + <version>3.1.1</version> + <description>The virgil package</description> + <author email="bbingham@nps.edu">Brian Bingham</author> + <maintainer email="dtdavi1@nps.edu">dtd</maintainer> + <license>Apache2</license> + <author email="dtdavi1@nps.edu">dtd</author> --> + <buildtool_depend>catkin</buildtool_depend> + <export> + <!-- Other tools can request additional information be placed here --> + </export> +</package> diff --git a/urdf/robots/virgil_description/urdf/virgil.xacro b/urdf/robots/virgil_description/urdf/virgil.xacro new file mode 100644 index 00000000..866bc815 --- /dev/null +++ b/urdf/robots/virgil_description/urdf/virgil.xacro @@ -0,0 +1,145 @@ +<?xml version="1.0"?> + + +<robot name="virgil" xmlns:xacro="https://www.ros.org/wiki/xacro"> + <xacro:arg name="debug" default="false"/> + <xacro:arg name="namespace" default="virgil"/> + + <!-- "Dummy" base link to eliminate root link inertia warning --> + <link name="$(arg namespace)/base_link"/> + + <link name="$(arg namespace)/virgil_link"> + <!-- Inertia values based on uniform mass distribution --> + <inertial> + <origin xyz="0 0 0" rpy="0 0 0"/> + <mass value="4762.7"/> + <inertia + ixx="7116.41" ixy="0.0" ixz="0.0" + iyy="6637.07" iyz="0.0" + izz="3134.17"/> + </inertial> + <visual> + <origin xyz="0 0 0" rpy="0 0 0"/> + <geometry> + <mesh filename="package://virgil_description/meshes/virgil.dae" scale="1 1 1"/> + </geometry> + </visual> + <collision> + <origin xyz="0 0 0" rpy="0 0 0"/> + <geometry> + <mesh filename="package://virgil_description/meshes/virgil.dae" scale="1 1 1"/> + </geometry> + </collision> + </link> + + <joint name="$(arg namespace)/virgil_base_joint" type="fixed"> + <origin xyz="0 0 0" rpy="0 0 0"/> + <parent link="$(arg namespace)/base_link"/> + <child link="$(arg namespace)/virgil_link"/> + </joint> + + <gazebo> + <plugin name="uuv_plgin" filename="libuuv_underwater_object_ros_plugin.so"> + <!-- Hydro parameters for vehicle --> + <fluid_density>1028.0</fluid_density> + <flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic> + <debug>false</debug> + + <link name="$(arg namespace)/base_link"> + <neutrally_buoyant>1</neutrally_buoyant> + <!-- See eNovus technical specifications --> + <volume>1.8382</volume> <!-- This is a guess (similar size to Smilodon but heavier) --> + <box> + <width>1.83</width> + <length>3.66</length> + <height>2.13</height> + </box> + <!-- Center of buoyancy is a guess, using same value as RexRov --> + <center_of_buoyancy>0.0 0.0 0.3</center_of_buoyancy> + <hydrodynamic_model> + <type>fossen</type> + <!-- Everything else in the model is pulled straight from Berg2012 + (which means it's not even close for this vehicle) --> + <!-- Added mass: see p.28 in Berg2012 --> + <added_mass> + 779.79 -6.8773 -103.32 8.5426 -165.54 -7.8033 + -6.8773 1222 51.29 409.44 -5.8488 62.726 + -103.32 51.29 3659.9 6.1112 -386.42 10.774 + 8.5426 409.44 6.1112 534.9 -10.027 21.019 + -165.54 -5.8488 -386.42 -10.027 842.69 -1.1162 + -7.8033 62.726 10.775 21.019 -1.1162 224.32 + </added_mass> + <!-- Linear damping: see p.31 in Berg2012 --> + <linear_damping> + -74.82 -69.48 -728.4 -268.8 -309.77 -105 + </linear_damping> + <!-- Non-linear damping: see p.30 in Berg2012 --> + <quadratic_damping> + -748.22 -992.53 -1821.01 -672 -774.44 -523.27 + </quadratic_damping> + </hydrodynamic_model> + </link> + </plugin> + </gazebo> + + <!-- Default joint state publisher --> + <gazebo> + <plugin name="uuv_joint_state_publisher" filename="libuuv_joint_state_publisher.so"> + <robotNamespace>$(arg namespace)</robotNamespace> + <updateRate>50</updateRate> + </plugin> + </gazebo> + +<!-- <gazebo> + <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> + <robotNamespace>$(arg namespace)</robotNamespace> + <robotParam>$(arg namespace)/virgil</robotParam> + </plugin> + </gazebo> --> + + <!-- <xacro:include filename="$(find virgil_description)/urdf/virgil.gazebo.xacro"/> --> + <!-- <xacro:include filename="$(find virgil_description)/urdf/virgil.actuators.xacro"/> --> + + <!-- <xacro:virgil_gazebo namespace="$(arg namespace)"/> --> + + <xacro:property name="prop_mesh_file" value="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"/> + <xacro:include filename="$(find uuv_descriptions)/urdf/common.urdf.xacro"/> + <xacro:include filename="$(find uuv_gazebo_ros_plugins)/urdf/thruster_snippets.xacro"/> + + <xacro:macro name="thruster_macro" params="thruster_id mesh_file *origin"> + <xacro:thruster_module_first_order_basic_fcn_macro namespace="$(arg namespace)" thruster_id="${thruster_id}" mesh_filename="${mesh_file}" dyn_time_constant="0.05" rotor_constant="0.00031"> + <xacro:insert_block name="origin"/> + </xacro:thruster_module_first_order_basic_fcn_macro> + </xacro:macro> + + <!-- Port-Aft RL--> + <xacro:thruster_macro thruster_id="0" mesh_file="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"> + <origin xyz="0.53491 1.51341 1.18597" rpy="1.5708 0.0 0.610865"/> + </xacro:thruster_macro> + <!-- Starboard-Aft RR--> + <xacro:thruster_macro thruster_id="1" mesh_file="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"> + <origin xyz="-0.536834 1.51248 1.18592" rpy="1.5708 0.0 -0.610865"/> + </xacro:thruster_macro> + <!-- Port-Forward FL--> + <xacro:thruster_macro thruster_id="2" mesh_file="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"> + <origin xyz="0.539848 -1.28724 1.18875" rpy="1.5708 0.0 -0.610865"/> + </xacro:thruster_macro> + <!-- Starboard-Forward FR--> + <xacro:thruster_macro thruster_id="3" mesh_file="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"> + <origin xyz="-0.536692 -1.28841 1.1888" rpy="1.5708 0.0 -2.53073"/> + </xacro:thruster_macro> + <!-- Port-Forward-Vertical TL--> + <xacro:thruster_macro thruster_id="4" mesh_file="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"> + <origin xyz="0.706649 -0.761326 1.8604" rpy="0.0 -0.174533 0.0"/> + </xacro:thruster_macro> + <!-- Starboard-Forward-Vertical TR--> + <xacro:thruster_macro thruster_id="5" mesh_file="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"> + <origin xyz="-0.70968 -0.761276 1.85086" rpy="0.0 0.174533 0.0"/> + </xacro:thruster_macro> + <!-- Aft-Vertical (central)--> + <xacro:thruster_macro thruster_id="6" mesh_file="file://$(find eca_a9_description)/mesh/eca_a9_propeller.dae"> + <origin xyz="2.54822e-05 1.63582 1.78479" rpy="0.0 0.0 0.0"/> + </xacro:thruster_macro> +</robot> + +