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Model collections #246

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f7cad42
Added doc_ricketts_description package and launch file
crvogt Mar 22, 2022
adf086d
Removed debugging file
crvogt Mar 22, 2022
d2e5585
Add gazebo plugins
crvogt Mar 23, 2022
ef14b50
Added initial thrusters file
crvogt Mar 23, 2022
2822fbd
Moved all to one file for testing
crvogt Mar 23, 2022
ee8a650
File cleanup
crvogt Mar 23, 2022
d99f72e
Modified virgil launch file
crvogt Mar 23, 2022
3365821
Position ROV in camera space
crvogt Mar 23, 2022
05438e9
Changed mesh names
crvogt Mar 24, 2022
e21469e
Adding collection for UUVs
bsb808 Mar 24, 2022
5d59694
glider collection
bsb808 Mar 24, 2022
fb373b9
scaling glider meshes to match physical dimensions
bsb808 Mar 25, 2022
490b4fa
Adding a world with softer light for videos and stills
bsb808 Mar 25, 2022
0e319e8
Using darker workd with glider collection for highlight video
bsb808 Mar 25, 2022
c4e430e
fix hybrid_glider_whoi propeller
woensug-choi Apr 7, 2022
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97 changes: 97 additions & 0 deletions examples/dave_robot_launch/launch/glider_collection.launch
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<?xml version="1.0"?>
<launch>
<!--
<arg name="namespace" default="rexrov"/>
<arg name="set_timeout" default="false"/>
<arg name="timeout" default="0.0"/>
<arg name="velocity_control" default="true"/> -->
<arg name="world_name"
default="$(find dave_worlds)/worlds/dave_ocean_waves_darker.world"/>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>

<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="true"/>
</include>


<!-- use ned frame north east down -->
<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

<!-- world models -->
<node name="publish_world_models"
pkg="uuv_assistants"
type="publish_world_models.py"
output="screen">
<rosparam subst_value="true">
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]
</rosparam>
</node>

<!-- timeout -->
<!-- <group if="$(arg set_timeout)">
<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
<arg name="timeout" value="$(arg timeout)"/>
</include>
</group> -->

<!-- wave glider : glider_waves -->
<include file="$(find glider_description)/launch/upload_glider_wave.launch">
<arg name="namespace" value="glider_wave"/>
<arg name="x" value="30"/>
<arg name="y" value="30"/>
<arg name="z" value="0.2"/>
</include>

<!-- standard glider : glider_slocum -->
<include file="$(find glider_description)/launch/upload_glider_slocum.launch">
<arg name="namespace" value="glider_slocum"/>
<arg name="x" value="30"/>
<arg name="y" value="30"/>
<arg name="z" value="-7"/>
<arg name="yaw" value="0"/>
<arg name="pitch" value="0.4"/>
</include>


<!-- hybrid glider : glider_hybrid_whoi -->
<include file="$(find glider_description)/launch/upload_glider_hybrid_whoi.launch">
<arg name="namespace" value="glider_hybrid_whoi"/>
<arg name="x" value="30"/>
<arg name="y" value="32"/>
<arg name="z" value="-7"/>
<arg name="yaw" value="0"/>
<arg name="pitch" value="0.3"/>
</include>

</launch>
73 changes: 73 additions & 0 deletions examples/dave_robot_launch/launch/uuv_collection.launch
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<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<arg name="world_name" default="$(find dave_worlds)/worlds/dave_ocean_waves_darker.world"/>
<arg name="joy_id" default="0"/>

<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="false"/>
</include>

<!-- use ned frame north east down -->
<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

<!-- Smilodon -->
<include file="$(find smilodon_description)/launch/upload_smilodon.launch"/>
<node name="spawn_smilodon" pkg="gazebo_ros" type="spawn_model"
respawn="false" output="screen"
args="-urdf -x 10 -y 0 -z -93
-R 0 -P 0 -Y 0
-model smilodon -param /smilodon/smilodon"/>

<!-- Virgil -->
<include file="$(find virgil_description)/launch/upload_virgil.launch"/>
<node name="spawn_virgil" pkg="gazebo_ros" type="spawn_model"
respawn="false" output="screen"
args="-urdf -x 10 -y 3.37 -z -93.8
-R 0 -P 0 -Y 1.571
-model virgil -param /virgil/virgil"/>

<!-- REXROV robot with predator arm -->
<include file="$(find rexrov_description)/launch/upload_rexrov_predator.launch">
<arg name="namespace" value="rexrov"/>
<arg name="x" value="10"/>
<arg name="y" value="6"/>
<arg name="z" value="-93"/>
<arg name="yaw" value="0"/>
</include>

<!-- Acceleration control -->
<include file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
<arg name="uuv_name" value="rexrov" />
<arg name="model_name" value="rexrov" />
<arg name="joy_id" value="$(arg joy_id)"/>
</include>

<!-- joint control for manipulator -->
<include file="$(find predator_control)/launch/joint_control.launch">
<arg name="uuv_name" value="rexrov"/>
</include>

<!-- Caldus -->
<include file="$(find caldus_description)/launch/upload_caldus.launch"/>
<node name="spawn_caldus" pkg="gazebo_ros" type="spawn_model"
respawn="false" output="screen"
args="-urdf -x 10 -y 8 -z -93 -R 0 -P 0 -Y 0 -model caldus -param caldus/caldus"/>

<!-- Caracara -->
<include file="$(find caracara_description)/launch/upload_caracara.launch"/>
<node name="spawn_caracara" pkg="gazebo_ros" type="spawn_model"
respawn="false" output="screen"
args="-urdf -x 10 -y 10 -z -93
-R 0 -P 0 -Y 0
-model caracara -param /caracara/caracara"/>

</launch>
86 changes: 86 additions & 0 deletions examples/dave_robot_launch/launch/virgil.launch
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<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<arg name="world_name" default="$(find dave_worlds)/worlds/dave_ocean_waves.world"/>
<arg name="namespace" default="virgil"/>
<arg name="velocity_control" default="false"/>
<arg name="joy_id" default="0"/>
<arg name="debug" default="false"/>
<arg name="verbose" default="false"/>
<arg name="x" default="4"/>
<arg name="y" default="4"/>
<arg name="z" default="-93"/>
<arg name="roll" default="0"/>
<arg name="pitch" default="0"/>
<arg name="yaw" default="0"/>

<!-- Use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="$(arg verbose)"/>
</include>

<!-- Use NED frame north east down -->
<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

<!-- World models -->
<!-- <node name="publish_world_models"
pkg="uuv_assistants"
type="publish_world_models.py"
output="screen">
<rosparam subst_value="true">
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]
</rosparam>
</node> -->

<include file="$(find virgil_description)/launch/upload_virgil.launch"/>

<include file="$(find dave_nodes)/launch/joy_thrusterop.launch">
<arg name="joy_id" value="$(arg joy_id)"/>
<arg name="namespace" value="$(arg namespace)"/>
</include>

<!-- Acceleration control -->
<!-- <include file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
<arg name="uuv_name" value="virgil" />
<arg name="model_name" value="virgil" />
<arg name="joy_id" value="$(arg joy_id)"/>
</include> -->

<node name="spawn_virgil" pkg="gazebo_ros" type="spawn_model"
respawn="false" output="screen"
args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg namespace) -param /$(arg namespace)/virgil"/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
<remap from="robot_description" to="/$(arg namespace)/virgil"/>
</node>
</launch>
36 changes: 18 additions & 18 deletions models/dave_worlds/worlds/dave_ocean_models.world
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Expand Up @@ -134,111 +134,111 @@
<!-- Add some models as examples -->
<include>
<name>torpedo_mk46</name>
<pose>13 -1 -94 0 0 0</pose>
<pose>13 -0.75 -94.7 0 0 0</pose>
<uri>model://torpedo_mk46</uri>
</include>

<include>
<name>torpedo_mk48</name>
<pose>13 -1.5 -94 0 0 0</pose>
<pose>13 -1.5 -94.7 0 0 0</pose>
<uri>model://torpedo_mk48</uri>
</include>

<include>
<name>sonobuoy</name>
<pose>13 -2 -94 0 0 0</pose>
<pose>13 -2.3 -94.7 0 0 0</pose>
<uri>model://sonobuoy</uri>
</include>

<include>
<name>flight_data_recorder</name>
<pose>13 -3 -94 0 0 0</pose>
<pose>13 -3 -94.7 0 0 0</pose>
<uri>model://flight_data_recorder</uri>
</include>

<include>
<name>uxo_a</name>
<pose>13 -4 -94 0 0 0</pose>
<pose>13 -4 -94.7 0 0 0</pose>
<uri>model://uxo_a</uri>
</include>

<include>
<name>uxo_b</name>
<pose>13 -5 -94 0 0 0</pose>
<pose>13 -5 -94.7 0 0 0</pose>
<uri>model://uxo_b</uri>
</include>

<include>
<name>uxo_c</name>
<pose>13 -6 -94 0 0 0</pose>
<pose>13 -6 -94.7 0 0 0</pose>
<uri>model://uxo_c</uri>
</include>

<include>
<name>hardhat_standard</name>
<pose>13 0 -94 0 0 0</pose>
<pose>13 0 -94.7 0 0 0</pose>
<uri>model://hardhat_standard</uri>
</include>

<include>
<name>hardhat_ribbed</name>
<pose>13 1 -94 0 0 0</pose>
<pose>13 1 -94.7 0 0 0</pose>
<uri>model://hardhat_ribbed</uri>
</include>

<include>
<name>hardhat_superribbed</name>
<pose>13 2 -94 0 0 0</pose>
<pose>13 2 -94.7 0 0 0</pose>
<uri>model://hardhat_superribbed</uri>
</include>

<include>
<name>hardhat_octagonal</name>
<pose>13 3 -94 0 0 0</pose>
<pose>13 3 -94.7 0 0 0</pose>
<uri>model://hardhat_octagonal</uri>
</include>

<include>
<name>mbari_mars</name>
<pose>13 6 -94 0 0 0</pose>
<pose>13 7 -94.7 0 0 0</pose>
<uri>model://mbari_mars</uri>
</include>

<include>
<pose>13 -7 -94 0 0 0</pose>
<pose>13 -7 -94.7 0 0 0</pose>
<!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
<!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
<uri>model://sunken_vase</uri>
</include>

<!-- Pending model fix upstream -->
<!--include>
<pose>13 -8 -94 0 0 0</pose>
<pose>13 -8 -94.7 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
</include-->

<include>
<pose>13 -9 -94 0 0 0</pose>
<pose>13 -9 -94.7 0 0 0</pose>
<!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
<!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
<uri>model://niskin</uri>
</include>

<include>
<pose>13 -12 -94 0 0 0</pose>
<pose>13 -12 -94.7 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
</include>

<!-- Still pending
<include>
<name>airplane_wreck</name>
<pose>20 -11 -94 0 0 0</pose>
<pose>20 -11 -94.7 0 0 0</pose>
<uri>model://airplane_wreck</uri>
</include>
-->

<include>
<pose>35 -10 -94 0 0 0</pose>
<pose>35 -10 -94.7 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
</include>

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