From ff6f74e4c226882146aa098f064efb9393dd50d3 Mon Sep 17 00:00:00 2001 From: jmackay2 <1.732mackay@gmail.com> Date: Mon, 13 Nov 2023 02:09:33 -0500 Subject: [PATCH 1/6] Remove unused props from tailsitter (#1015) Co-authored-by: jmackay2 --- models/tailsitter/meshes/propeller_ccw.dae | 63 ---------------------- models/tailsitter/meshes/propeller_cw.dae | 63 ---------------------- 2 files changed, 126 deletions(-) delete mode 100644 models/tailsitter/meshes/propeller_ccw.dae delete mode 100644 models/tailsitter/meshes/propeller_cw.dae diff --git a/models/tailsitter/meshes/propeller_ccw.dae b/models/tailsitter/meshes/propeller_ccw.dae deleted file mode 100644 index 1f2679e429..0000000000 --- a/models/tailsitter/meshes/propeller_ccw.dae +++ /dev/null @@ -1,63 +0,0 @@ - - - - - VCGLab - VCGLib | MeshLab - - Y_UP - Fr. Dez 19 16:06:25 2014 - Fr. 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- - - - - - - - - - - - - - - - - - - From 33ac87a37676fb597de110e926bbf0a080169ffe Mon Sep 17 00:00:00 2001 From: Daniel Honies Date: Tue, 14 Nov 2023 14:45:12 +0800 Subject: [PATCH 2/6] Fix opencv aruco version bug (#1017) * Fix opencv aruco version bug * add backwards compability for opencv * remove comments * Update build_test_macos.yml to macOS-latest update * Update build_test_macos.yml to macOS 13 --- .github/workflows/build_test_macos.yml | 2 +- include/gazebo_aruco_plugin.h | 7 +++++++ src/gazebo_aruco_plugin.cpp | 10 ++++++++-- 3 files changed, 16 insertions(+), 3 deletions(-) diff --git a/.github/workflows/build_test_macos.yml b/.github/workflows/build_test_macos.yml index 99cd92985e..8954032e79 100644 --- a/.github/workflows/build_test_macos.yml +++ b/.github/workflows/build_test_macos.yml @@ -13,7 +13,7 @@ jobs: runs-on: ${{ matrix.os }} strategy: matrix: - os: [macos-11.0] + os: [macos-13] steps: - uses: actions/checkout@v1 - name: submodule update diff --git a/include/gazebo_aruco_plugin.h b/include/gazebo_aruco_plugin.h index 9e0249de97..57a07c325e 100644 --- a/include/gazebo_aruco_plugin.h +++ b/include/gazebo_aruco_plugin.h @@ -38,8 +38,15 @@ #include "TargetRelative.pb.h" #include + #include +// Check for OpenCV version 4.7 or later +#if CV_VERSION_MAJOR >= 4 && CV_VERSION_MINOR >= 7 +#include +#else #include +#endif + #include #include diff --git a/src/gazebo_aruco_plugin.cpp b/src/gazebo_aruco_plugin.cpp index 27b6b1cff0..eacacb37eb 100644 --- a/src/gazebo_aruco_plugin.cpp +++ b/src/gazebo_aruco_plugin.cpp @@ -166,8 +166,14 @@ void arucoMarkerPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr _sdf) //init marker detection this->markerLength_mm = 6.f/8 * 1000 * box_length; int dict_id = 0; - this->marker_dict = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(dict_id)); - this->detectorParams = cv::aruco::DetectorParameters::create(); + // Check for OpenCV version 4.7 or later + #if CV_VERSION_MAJOR >= 4 && CV_VERSION_MINOR >= 7 + this->marker_dict = makePtr(cv::aruco::getPredefinedDictionary(cv::aruco::DICT_4X4_50)); + this->detectorParams = makePtr(cv::aruco::DetectorParameters()); + #else + this->marker_dict = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(dict_id)); + this->detectorParams = cv::aruco::DetectorParameters::create(); + #endif } ///////////////////////////////////////////////// From da7206e057703cc645770f02437013358b71e1c0 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Thu, 29 Feb 2024 19:56:20 -0800 Subject: [PATCH 3/6] Camera: Add support for video capture and range zoom (#1031) * Add support for video capture and range zoom * Use MAV_RESULT_DENIED for bad params --- include/gazebo_camera_manager_plugin.h | 8 ++- src/gazebo_camera_manager_plugin.cpp | 82 ++++++++++++++++++++++++-- 2 files changed, 83 insertions(+), 7 deletions(-) diff --git a/include/gazebo_camera_manager_plugin.h b/include/gazebo_camera_manager_plugin.h index ae11378368..edebe7ec46 100644 --- a/include/gazebo_camera_manager_plugin.h +++ b/include/gazebo_camera_manager_plugin.h @@ -31,6 +31,7 @@ #include #include #include +#include namespace gazebo { @@ -61,6 +62,8 @@ class GAZEBO_VISIBLE CameraManagerPlugin : public SensorPlugin void _handle_storage_info(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); void _handle_take_photo(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); void _handle_stop_take_photo(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_start_video_capture(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); + void _handle_stop_video_capture(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); void _handle_request_camera_settings(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); void _handle_request_video_stream_information(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); void _handle_request_video_stream_status(const mavlink_message_t *pMsg, struct sockaddr* srcaddr); @@ -90,7 +93,8 @@ class GAZEBO_VISIBLE CameraManagerPlugin : public SensorPlugin enum { CAPTURE_DISABLED, CAPTURE_SINGLE, - CAPTURE_ELAPSED + CAPTURE_ELAPSED, + CAPTURE_VIDEO }; int _captureMode{CAPTURE_DISABLED}; @@ -117,6 +121,8 @@ class GAZEBO_VISIBLE CameraManagerPlugin : public SensorPlugin int _systemID{1}; int _componentID{MAV_COMP_ID_CAMERA}; int _mavlinkCamPort{14530}; + + std::chrono::time_point _start_video_capture_time; }; } /* namespace gazebo */ diff --git a/src/gazebo_camera_manager_plugin.cpp b/src/gazebo_camera_manager_plugin.cpp index 22b91397c4..f52a795651 100644 --- a/src/gazebo_camera_manager_plugin.cpp +++ b/src/gazebo_camera_manager_plugin.cpp @@ -313,6 +313,12 @@ void CameraManagerPlugin::_handle_message(mavlink_message_t *msg, struct sockadd case MAV_CMD_IMAGE_STOP_CAPTURE: _handle_stop_take_photo(msg, srcaddr); break; + case MAV_CMD_VIDEO_START_CAPTURE: + _handle_start_video_capture(msg, srcaddr); + break; + case MAV_CMD_VIDEO_STOP_CAPTURE: + _handle_stop_video_capture(msg, srcaddr); + break; case MAV_CMD_REQUEST_CAMERA_INFORMATION: _handle_camera_info(msg, srcaddr); break; @@ -335,7 +341,6 @@ void CameraManagerPlugin::_handle_message(mavlink_message_t *msg, struct sockadd _handle_set_camera_mode(msg, srcaddr); break; case MAV_CMD_SET_CAMERA_ZOOM: - //Control the Zoom of the camera _handle_camera_zoom(msg, srcaddr); break; case MAV_CMD_RESET_CAMERA_SETTINGS: @@ -524,7 +529,7 @@ void CameraManagerPlugin::_handle_take_photo(const mavlink_message_t *pMsg, stru } else { gzerr << "Bad Start Capture argments: " << cmd.param2 << " " << cmd.param3 << endl; _send_cmd_ack(pMsg->sysid, pMsg->compid, - MAV_CMD_IMAGE_START_CAPTURE, MAV_RESULT_UNSUPPORTED, srcaddr); + MAV_CMD_IMAGE_START_CAPTURE, MAV_RESULT_DENIED, srcaddr); } } @@ -540,6 +545,55 @@ void CameraManagerPlugin::_handle_stop_take_photo(const mavlink_message_t *pMsg, MAV_CMD_IMAGE_STOP_CAPTURE, MAV_RESULT_ACCEPTED, srcaddr); } +void CameraManagerPlugin::_handle_start_video_capture(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + gzdbg << "Handle Start Video Capture" << endl; + + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + std::lock_guard guard(_captureMutex); + + if (_captureMode != CAPTURE_DISABLED) { + // We are already capturing + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_VIDEO_START_CAPTURE, MAV_RESULT_TEMPORARILY_REJECTED, srcaddr); + return; + } + + if (cmd.param1 != 0 || cmd.param2 != 0) { + gzerr << "VIDEO_START_CAPTURE: param1 and param2 must be 0\n"; + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_VIDEO_START_CAPTURE, MAV_RESULT_DENIED, srcaddr); + return; + } + + _captureMode = CAPTURE_VIDEO; + _start_video_capture_time = std::chrono::high_resolution_clock::now(); + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_VIDEO_START_CAPTURE, MAV_RESULT_ACCEPTED, srcaddr); +} + +void CameraManagerPlugin::_handle_stop_video_capture(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) +{ + gzdbg << "Handle Stop Video Capture" << endl; + + mavlink_command_long_t cmd; + mavlink_msg_command_long_decode(pMsg, &cmd); + std::lock_guard guard(_captureMutex); + + if (cmd.param1 != 0) { + gzerr << "VIDEO_STOP_CAPTURE: param1 must be 0\n"; + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_VIDEO_START_CAPTURE, MAV_RESULT_DENIED, srcaddr); + return; + } + + if (_captureMode != CAPTURE_VIDEO) { + // We are not capturing + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_VIDEO_START_CAPTURE, MAV_RESULT_TEMPORARILY_REJECTED, srcaddr); + return; + } + + _captureMode = CAPTURE_DISABLED; + _send_cmd_ack(pMsg->sysid, pMsg->compid, MAV_CMD_VIDEO_STOP_CAPTURE, MAV_RESULT_ACCEPTED, srcaddr); +} + void CameraManagerPlugin::_handle_request_camera_capture_status(const mavlink_message_t *pMsg, struct sockaddr* srcaddr) { mavlink_command_long_t cmd; @@ -712,6 +766,10 @@ void CameraManagerPlugin::_handle_camera_zoom(const mavlink_message_t *pMsg, str if (cmd.param1 == ZOOM_TYPE_CONTINUOUS) { _zoom = std::max(std::min(float(_zoom + 0.1 * cmd.param2), _maxZoom), 1.0f); _zoom_cmd = cmd.param2; + } else if (cmd.param1 == ZOOM_TYPE_RANGE) { + auto zoomRange = std::min(std::max(cmd.param2, 0.0f), 100.0f); + _zoom = 1.0f + (zoomRange / 100.0f) * (_maxZoom - 1.0f); + _camera->SetHFOV(_hfov / _zoom); } else { _zoom = std::max(std::min(float(_zoom + 0.1 * cmd.param2), _maxZoom), 1.0f); _camera->SetHFOV(_hfov / _zoom); @@ -721,9 +779,21 @@ void CameraManagerPlugin::_handle_camera_zoom(const mavlink_message_t *pMsg, str void CameraManagerPlugin::_send_capture_status(struct sockaddr* srcaddr) { _captureMutex.lock(); - int status = _captureMode == CAPTURE_DISABLED ? 0 : (_captureMode == CAPTURE_SINGLE ? 1 : 3); + uint8_t image_status = 0; // idle + uint8_t video_status = 0; // idle + uint32_t recording_time_ms = 0; + if (_captureMode == CAPTURE_SINGLE) { + image_status = 1; // active + } else if (_captureMode == CAPTURE_ELAPSED) { + image_status = 3; // time lapse + } else if (_captureMode == CAPTURE_VIDEO) { + video_status = 1; // active + auto current_time = std::chrono::high_resolution_clock::now(); + recording_time_ms = std::chrono::duration_cast(current_time - _start_video_capture_time).count(); + } float interval = CAPTURE_ELAPSED ? (float)_captureInterval : 0.0f; _captureMutex.unlock(); + gzdbg << "Send capture status" << endl; float available_mib = 0.0f; boost::filesystem::space_info si = boost::filesystem::space("."); @@ -742,10 +812,10 @@ void CameraManagerPlugin::_send_capture_status(struct sockaddr* srcaddr) MAVLINK_COMM_1, &msg, current_time.Double() * 1e3, - status, // image status - 0, // video status (Idle) + image_status, // image status + video_status, // video status interval, // image interval - 0, // recording time in ms + recording_time_ms, // recording time in ms available_mib, // available storage capacity _imageCounter); // total number of images _send_mavlink_message(&msg, srcaddr); From 63b72dc5b813af6661b77e8a9085184f08316c54 Mon Sep 17 00:00:00 2001 From: Julian Oes Date: Mon, 4 Mar 2024 06:11:47 +1300 Subject: [PATCH 4/6] gimbal_controller: send attitude in Earth frame (#1023) We no longer need to swap this based on the yaw lock with the recent flags that have been added to the spec. Signed-off-by: Julian Oes --- src/gazebo_gimbal_controller_plugin.cpp | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/src/gazebo_gimbal_controller_plugin.cpp b/src/gazebo_gimbal_controller_plugin.cpp index 5cc1512942..2836e1890c 100644 --- a/src/gazebo_gimbal_controller_plugin.cpp +++ b/src/gazebo_gimbal_controller_plugin.cpp @@ -695,18 +695,11 @@ void GimbalControllerPlugin::SendGimbalDeviceAttitudeStatus() const uint16_t flags = GIMBAL_DEVICE_FLAGS_ROLL_LOCK | GIMBAL_DEVICE_FLAGS_PITCH_LOCK | - (this->yawLock ? GIMBAL_DEVICE_FLAGS_YAW_LOCK : 0); + (this->yawLock ? GIMBAL_DEVICE_FLAGS_YAW_LOCK : 0) | + GIMBAL_DEVICE_FLAGS_YAW_IN_EARTH_FRAME; auto q = q_ENU_to_NED * this->cameraImuSensor->Orientation() * q_FLU_to_FRD.Inverse(); - if (!this->yawLock) { - // In follow mode we need to transform the absolute camera orientation to an orientation - // relative to the vehicle because that's what the gimbal protocol suggests. - const auto q_vehicle = q_ENU_to_NED * ignition::math::Quaterniond(0.0, 0.0, this->vehicleYawRad) * q_FLU_to_FRD.Inverse(); - const auto e = q.Euler(); - q.Euler(e[0], e[1], e[2] - q_vehicle.Euler()[2]); - } - const float qArr[4] = { static_cast(q.W()), static_cast(q.X()), From f754540e714642fea897445e69a675245bc6306a Mon Sep 17 00:00:00 2001 From: RyosukeMatsushima Date: Mon, 4 Mar 2024 02:21:15 +0900 Subject: [PATCH 5/6] remove unmatched bracket (#1024) --- src/gazebo_mavlink_interface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/gazebo_mavlink_interface.cpp b/src/gazebo_mavlink_interface.cpp index bb323ed0a7..f4750f9b43 100644 --- a/src/gazebo_mavlink_interface.cpp +++ b/src/gazebo_mavlink_interface.cpp @@ -95,7 +95,7 @@ void GazeboMavlinkInterface::CreateSensorSubscription( #if GAZEBO_MAJOR_VERSION >= 9 const auto sensor_orientation = nested_model->RelativePose().Rot(); #else - const auto sensor_orientation = nested_model->GetChild()->GetRelativePose()).Rot(); + const auto sensor_orientation = nested_model->GetChild()->GetRelativePose().Rot(); #endif // One map will be created for each Gazebo message type From 383a68e6517c4e6049e2b9bbaf249d13c4e72aa4 Mon Sep 17 00:00:00 2001 From: Matteo Del Seppia <71389092+matteodelseppia@users.noreply.github.com> Date: Tue, 4 Jun 2024 19:08:54 +0200 Subject: [PATCH 6/6] Fixed uuv_bluerov2_heavy SDF model, adding jinja for multi vehicle simulations (#1042) * Adding IMU link and joint to uuv_bluerov2_heavy Adding the iMU link and joint the uuv_bluerov2_heavy model, since it is currently unusable. * Adding uuv_bluerov2_heavy.sdf.jinja for multi vehicle UUV simulations * Delete models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf Deleting the SDF model in favor of the jinja template --- ...heavy.sdf => uuv_bluerov2_heavy.sdf.jinja} | 99 +++++++++++++------ 1 file changed, 70 insertions(+), 29 deletions(-) rename models/uuv_bluerov2_heavy/{uuv_bluerov2_heavy.sdf => uuv_bluerov2_heavy.sdf.jinja} (90%) diff --git a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf.jinja similarity index 90% rename from models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf rename to models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf.jinja index e99e8199a1..794320870c 100644 --- a/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf +++ b/models/uuv_bluerov2_heavy/uuv_bluerov2_heavy.sdf.jinja @@ -1,6 +1,6 @@ - + 0 0 0 0 0 0 @@ -30,22 +30,59 @@ + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.015 + + 1e-05 + 0 + 0 + 1e-05 + 0 + 1e-05 + + + - - - model://gps - 0 0 0 0 0 0 - gps - - - base_link - gps::link - + + uuv_bluerov2_heavy/imu_link + base_link + + 1 0 0 + + 0 + 0 + 0 + 0 + + + 0 + 0 + + 1 + + + + + + + model://gps + 0 0 0 0 0 0 + gps + + + base_link + gps::link + - + 0.14 -0.10 0 0 1.570796 0.78539815 @@ -526,18 +563,22 @@ /motor_speed/7 0.025 - - - + + + 100 0.0004 6.4e-06 600 /mag - - - + + + + + + + 50 /baro @@ -564,20 +605,20 @@ /mag /baro INADDR_ANY - 14560 - 4560 - 0 - /dev/ttyACM0 - 921600 + {{ mavlink_udp_port }} + {{ mavlink_tcp_port }} + {{ serial_enabled }} + {{ serial_device }} + {{ serial_baudrate }} INADDR_ANY 14550 INADDR_ANY 14540 - false + {{ hil_mode }} false false 0 - 0 + 1 true true /gazebo/command/motor_speed @@ -658,10 +699,10 @@ - - - - base_link + + + + uuv_bluerov2_heavy/imu_link /imu 0.0003394 3.8785e-05