osrf · olov-andersson · Aug 22, 2021 · Aug 22, 2021 · Aug 22, 2021 · Aug 22, 2021
diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/CMakeLists.txt b/submitted_models/cerberus_kolibri_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,17 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+find_package(ignition-cmake2 REQUIRED)
+project(KolibriController)
+
+find_package(ignition-plugin1 REQUIRED COMPONENTS register)
+find_package(ignition-transport8 QUIET REQUIRED OPTIONAL_COMPONENTS log)
+
+set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+find_package(ignition-gazebo4 REQUIRED)
+add_library(KolibriController SHARED voliro_controller_plugin/kolibri_controller.cc )
+set_property(TARGET KolibriController PROPERTY CXX_STANDARD 17)
+target_link_libraries(KolibriController
+  PRIVATE ignition-plugin${IGN_PLUGIN_VER}::ignition-plugin${IGN_PLUGIN_VER}
+  PRIVATE ignition-gazebo4::ignition-gazebo4)
+
+install(FILES ../../../../devel/lib/libKolibriController.so
+  DESTINATION lib)
diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/README.md b/submitted_models/cerberus_kolibri_sensor_config_1/README.md
@@ -0,0 +1,17 @@
+# darpa_virtual_model_submit
+Simulation model for the Kolibri Mapping OMAV submitted to the DARPA SubT Challenge for team CERBERUS. 
+
+## workspace setup
+Follow these step to setup the DARPA Subt Virtual Environment: 
+
+https://github.com/osrf/subt/wiki/Catkin%20System%20Setup
+
+Needs to be slightly adjusted for 20.04.
+
+## launch the simulation
+ign launch -v 4 competition.ign circuit:=tunnel worldName:=tunnel_circuit_practice_01 robotName1:=kolibri robotConfig1:=CERBERUS_KOLIBRI_SENSOR_CONFIG_1 localModel:=true 
+
+
+rostopic pub -r 10 /kolibri/cmd_vel geometry_msgs/Twist  '{linear:  {x: 0.0, y: 0.0, z: 1.0}, angular: {x: 0.0,y: 0.0,z: 1.0}}'
+
+
diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/launch/description.launch b/submitted_models/cerberus_kolibri_sensor_config_1/launch/description.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="kolibri" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find cerberus_kolibri_sensor_config_1)/urdf/x3_from_sdf.xacro' name:=$(arg name)"/>
+</launch>
diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/launch/example.ign b/submitted_models/cerberus_kolibri_sensor_config_1/launch/example.ign
@@ -0,0 +1,170 @@
+<?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, $worldName) %>
+
+</ignition>
+
diff --git a/submitted_models/cerberus_kolibri_sensor_config_1/launch/spawner.rb b/submitted_models/cerberus_kolibri_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,72 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+      <name>#{_name}</name>
+      <allow_renaming>false</allow_renaming>
+      <pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
+      <world>#{_worldName}</world>
+      <is_performer>true</is_performer>
+      <sdf version='1.6'>
+      <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>false</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>60</static_update_frequency>
+      </plugin>
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>false</publish_link_pose>
+        <publish_sensor_pose>false</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>false</static_publisher>
+      </plugin>
+      <!-- Gas Detector 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-linearbatteryplugin-system.so"
+      name="ignition::gazebo::systems::LinearBatteryPlugin">
+      <battery_name>linear_battery</battery_name>
+      <voltage>22.2</voltage>
+      <open_circuit_voltage_constant_coef>22.2</open_circuit_voltage_constant_coef>
+      <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+      <initial_charge>90.0</initial_charge>
+      <capacity>90.0</capacity>
+      <resistance>0.061523</resistance>
+      <smooth_current_tau>1.9499</smooth_current_tau>
+      <!-- <power_load>117</power_load> # for 5 mins -->
+      <power_load>0.58</power_load>
+      <start_on_motion>true</start_on_motion>
+    </plugin>
+
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+    <executable name='kolibri_description'>
+      <command>roslaunch --wait cerberus_kolibri_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+    </executable>
+    <executable name='kolibri_ros_ign_bridge'>
+      <command>roslaunch --wait cerberus_kolibri_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} uav:=1 laser_scan:=0 top_scan:=1 bottom_scan:=1 rgbd_cam:=1    </command>
+  </executable>
+  HEREDOC
+end