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Merged
merged 19 commits into from
Apr 14, 2022
Merged

Proper tracks model: more robots #1048

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2c6dc8c
Absolem: fix bad merge.
peci1 Jun 20, 2021
b6803aa
Implement more plausible model of tracks.
peci1 Jun 20, 2021
c0ee4ff
Merge upstream thermal cam settings for MARV SC3
peci1 Aug 16, 2021
c547f68
Merge branch 'final_event' into proper-tracks
peci1 Aug 16, 2021
c2f67ab
Merge branch 'master' into proper-tracks
peci1 Nov 15, 2021
0a298b2
Update with latest changes.
peci1 Nov 15, 2021
bbbbe39
Removed empty wheel slip plugin.
peci1 Nov 16, 2021
3aa0dea
Merge branch 'master' into proper-tracks
peci1 Nov 19, 2021
23bec12
Use power_draining_topic to start battery drain for tracked vehicles.
peci1 Jan 5, 2022
e1792d1
Merge pull request #2 from peci1/proper-tracks-battery-hotfix
peci1 Jan 5, 2022
56cb9e3
CCN Marmotte: Implement proper tracks.
peci1 Nov 18, 2021
54db40c
MARBLE_HD2: Implement proper tracks + little fixes.
peci1 Nov 18, 2021
e6387a4
CSIRO_DTR: Implemented proper tracks model.
peci1 Nov 18, 2021
ee74ae4
CSIRO_OZBOT_ATR: Implemented proper track model.
peci1 Nov 18, 2021
cf7d523
CORO_HD2: Implemented proper tracks model.
peci1 Nov 19, 2021
9946f0f
Fixed battery drain of tracked vehicles.
peci1 Jan 5, 2022
a92a3c6
Fixed CORO_HD2 textures in SDF.
peci1 Jan 5, 2022
1b85d78
Merge branch 'master' into proper-tracks-more-models
peci1 Feb 1, 2022
bb5e6d0
Changed ATR friction params.
peci1 Feb 1, 2022
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2 changes: 1 addition & 1 deletion submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt
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Expand Up @@ -5,7 +5,7 @@ find_package(catkin REQUIRED)

catkin_package()

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

install(FILES model.sdf model.config
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19 changes: 13 additions & 6 deletions submitted_models/coro_hd2_sensor_config_1/launch/example.ign
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Expand Up @@ -6,16 +6,17 @@
-->

<%
require_relative 'spawner'
#require_relative 'spawner'
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@azeey azeey Jan 28, 2022

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Is #require_relative 'spawner' not working?

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@peci1 peci1 Feb 1, 2022

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It does for coro_hd2_sc1, but not when this file is transitively included from coro_hd2_sc2

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@azeey azeey Mar 4, 2022

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Got it.

_base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
load File.join(_base_dir, "launch", "spawner.rb")
# Modify these as needed
$enableGroundTruth = true
$headless = false
$headless = local_variables.include?(:headless) ? :headless : false
%>

<%
unless local_variables.include?(:robotName)
raise "missing parameters. robotName is a required parameter"
end
Expand All @@ -35,9 +36,11 @@

<!-- Start ROS first. This is a bit hacky for now. -->
<!-- Make sure to source /opt/ros/melodic/setup.bash -->
<% if local_variables.include?(:ros) and ros %>
<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>
<% end %>

<plugin name="ignition::launch::GazeboServer"
filename="libignition-launch-gazebo.so">
Expand Down Expand Up @@ -163,9 +166,13 @@
</executable_wrapper>
<%end%>

<plugin name="ignition::launch::GazeboFactory" filename="libignition-launch-gazebo-factory.so">
<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
<plugin name="ignition::launch::GazeboFactory"
filename="ignition-launch-gazebo-factory">
<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
</plugin>
<%= rosExecutables(robotName, $worldName) %>
<% if local_variables.include?(:ros) and ros %>
<%= rosExecutables(robotName, $worldName) %>
<% end %>

</ignition>

84 changes: 15 additions & 69 deletions submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
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Expand Up @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<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>front_middle_left_wheel_joint</left_joint>
<left_joint>rear_middle_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>front_middle_right_wheel_joint</right_joint>
<right_joint>rear_middle_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>#{0.525}</wheel_separation>
<wheel_radius>0.129</wheel_radius>
<!-- Tracked vehicle controller -->
<plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
<left_track><link>left_track</link></left_track>
<right_track><link>right_track</link></right_track>
<tracks_separation>#{0.525}</tracks_separation>
<tracks_height>0.258</tracks_height>
<steering_efficiency>0.5</steering_efficiency>
<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>
<linear_velocity>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-3</min_acceleration>
<max_acceleration>3</max_acceleration>
</linear_velocity>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
Expand All @@ -54,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>9.9</power_load>
<start_on_motion>true</start_on_motion>
<power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
<power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
</plugin>
<!-- Gas Sensor plugin -->
<plugin filename="libGasEmitterDetectorPlugin.so"
Expand All @@ -62,58 +60,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<update_rate>10</update_rate>
<type>gas</type>
</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>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="front_middle_left_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="rear_middle_left_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="rear_left_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="front_right_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="front_middle_right_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="rear_middle_right_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="rear_right_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
</plugin>
</include>
</sdf>
</spawn>
Expand Down
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