Submitted models/robotika x2 sensor config 2 #380

nkoenig · 2020-04-09T22:40:41Z

Model submission of X2 sensor configuration 2 for Robotika
Add breadcrumbs to robotika_x2 to match default x2 configuration.

‌

…tep, copy of config 1)

https://bitbucket.org/osrf/subt/wiki/commits/59de1122004f17fe2e7bda400a195867725367f5 https://bitbucket.org/osrf/subt/commits/0d3e2cf2fe976d4d490ea76a75f200fb9817baa3

…s/robotika_x2_sensor_config_2 (pull request #430) Submitted models/robotika x2 sensor config 2

caguero

I made a few suggestions and with them I was able to test it locally, deploy breadcrumbs and visualize your sensor information.

caguero · 2020-06-12T17:51:51Z

submitted_models/robotika_x2_sensor_config_2/launch/spawner.rb

+  "      <right_joint>rear_right_wheel_joint</right_joint>\n"\
+  "      <wheel_separation>#{0.33559 * 1.23}</wheel_separation>\n"\
+  "      <wheel_radius>0.098</wheel_radius>\n"\
+  "      <topic>/model/#{_name}/cmd_vel_relay</topic>\n"\


Please, consider adding this block to limit the maximum velocities and accelerations:

" <min_velocity>-2</min_velocity>\n"\ " <max_velocity>2</max_velocity>\n"\ " <min_acceleration>-6</min_acceleration>\n"\ " <max_acceleration>6</max_acceleration>\n"\

These parameters have been introduced here. You should also add it to the same file under robotica_x2_sensor_config_1.

caguero · 2020-06-12T17:55:35Z

submitted_models/robotika_x2_sensor_config_2/launch/spawner.rb

@@ -0,0 +1,113 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  "<plugin name=\"ignition::launch::GazeboFactory\"\n"\


Please replace this line with "<spawn name=\"#{_name}\">\n"\

caguero · 2020-06-12T17:57:44Z

submitted_models/robotika_x2_sensor_config_2/launch/spawner.rb

+  "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
+  "      <publish_collision_pose>false</publish_collision_pose>\n"\
+  "      <publish_visual_pose>false</publish_visual_pose>\n"\
+  "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\


Please, add the following block with parameters added since this pull request:

" <use_pose_vector_msg>true</use_pose_vector_msg>\n"\ " <static_publisher>true</static_publisher>\n"\ " <static_update_frequency>1</static_update_frequency>\n"\

caguero · 2020-06-12T17:58:30Z

submitted_models/robotika_x2_sensor_config_2/launch/spawner.rb

+  "    </plugin>\n"\
+  "  </include>\n"\
+  "  </sdf>\n"\
+  "</plugin>\n"\


Remember to replace this line with </spawn>\n"\

caguero · 2020-06-12T18:00:02Z

submitted_models/robotika_x2_sensor_config_2/launch/vehicle_topics.launch

+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">


Please, update the arguments from #402:

args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">

caguero · 2020-06-12T18:00:48Z

submitted_models/robotika_x2_sensor_config_2/launch/vehicle_topics.launch

+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@geometry_msgs/TransformStamped[ignition.msgs.Pose">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>


Consider to add the following node:

<node pkg="ros_ign_bridge" type="parameter_bridge" name="ros_ign_bridge_pose_static" args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V"> <remap from="/model/$(arg name)/pose_static" to="pose_static"/> </node>

caguero · 2020-06-12T18:02:01Z

submitted_models/robotika_x2_sensor_config_2/launch/vehicle_topics.launch

+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>


Consider to add the next node, otherwise you won't be able to deploy breadcrumbs:

<node pkg="ros_ign_bridge" type="parameter_bridge" name="ros_ign_bridge_breadcrumbs" args="/model/$(arg name)/breadcrumb/deploy@std_msgs/Empty]ignition.msgs.Empty"> <remap from="/model/$(arg name)/breadcrumb/deploy" to="breadcrumb/deploy"/> </node>

Signed-off-by: Carlos Aguero <caguero@openrobotics.org>

caguero · 2020-06-18T14:53:06Z

I went ahead and made all the changes in b061be5.

m3d · 2020-06-18T15:05:22Z

@caguero thanks a lot - we are really not sure what to change to align with the latest X2 with breadcrumbs receivers. I know that it evolved ... thanks Martin (like the speeds used to be 2m/s)

caguero · 2020-06-18T15:10:22Z

@caguero thanks a lot - we are really not sure what to change to align with the latest X2 with breadcrumbs receivers. I know that it evolved ... thanks Martin (like the speeds used to be 2m/s)

No problem, feel free to do your own testing in case something is not working as expected.

m3d · 2020-06-18T15:42:55Z

OK, thanks. I added changes to the old config 1 (both are robots X2) as you suggested (#468)

)

angelacmaio · 2020-06-23T00:39:52Z

As noted in this post, we did not provide a sensor configuration submission window for Cave Circuit in order to focus on new robot models. This PR is being declined because other competitors are also prohibited from submitting new sensor configurations for the Cave Circuit.

zbynekwinkler · 2020-06-25T07:45:21Z

This PR is being declined because other competitors are also prohibited from submitting new sensor configurations for the Cave Circuit.

The original announcement did not state that modifications are prohibited, only that new robots will have a priority over modifications of existing robots. It would really help if the communication was clearer since many people actually wasted their time on something that could have been cleared months ago.

m3d · 2020-07-31T15:41:37Z

Is there plan (yours) to add breadcrumbs also for "robotika X2" model from your side? I noticed that you extended Freyja and Kloubak K2 models as config2 (thanks for that), but this PR was rejected.
thanks
Martin/Robotika Team

angelacmaio · 2020-07-31T16:53:42Z

We have added breadcrumbs to the new Systems robot platforms but do not plan to add more sensor configurations for X1-X4 platforms for the Cave Circuit.

zbynekwinkler · 2020-07-31T17:12:19Z

Can we request change of the plan? We would like to have breadcrumbs on ROBOTIKA_X2 and SSCI_X2.

md and others added 6 commits March 29, 2020 13:55

Model submission of X2 sensor configuration 2 for Robotika (initial s…

fdc00f0

…tep, copy of config 1)

Add breadcrumbs to robotika_x2 to match default x2 configuration.

fc71622

https://bitbucket.org/osrf/subt/wiki/commits/59de1122004f17fe2e7bda400a195867725367f5 https://bitbucket.org/osrf/subt/commits/0d3e2cf2fe976d4d490ea76a75f200fb9817baa3

Fix renames from config_1 to config_2

490caee

Robotika X2 - fix camera center

aba0634

Branch for pull request #430

15df396

Merged in robotikacz/subt_robotika_x2_sensor_config_2/submitted_model…

30e2cc0

…s/robotika_x2_sensor_config_2 (pull request #430) Submitted models/robotika x2 sensor config 2

caguero self-requested a review June 12, 2020 13:59

Merge branch 'master' into model_pr_430

2f0781f

caguero suggested changes Jun 12, 2020

View reviewed changes

nkoenig changed the base branch from master to cave_feature_release3 June 15, 2020 14:57

robotika_x2_sensor_config_2 changes

b061be5

Signed-off-by: Carlos Aguero <caguero@openrobotics.org>

caguero approved these changes Jun 18, 2020

View reviewed changes

Fix robotika_x2_sensor_config_1 speed limits for original X2 robot (#468

9692cdf

)

angelacmaio closed this Jun 23, 2020

angelacmaio mentioned this pull request Jun 24, 2020

Modification of existing vehicle ROBOTIKA_X2_SENSOR_CONFIG_1 #370

Closed

nkoenig deleted the model_pr_430 branch December 10, 2020 22:32

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Submitted models/robotika x2 sensor config 2 #380

Submitted models/robotika x2 sensor config 2 #380

nkoenig commented Apr 9, 2020

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caguero commented Jun 18, 2020

m3d commented Jun 18, 2020

caguero commented Jun 18, 2020

m3d commented Jun 18, 2020

angelacmaio commented Jun 23, 2020

zbynekwinkler commented Jun 25, 2020

m3d commented Jul 31, 2020

angelacmaio commented Jul 31, 2020

zbynekwinkler commented Jul 31, 2020

		@@ -0,0 +1,113 @@
		def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
		"<plugin name=\"ignition::launch::GazeboFactory\"\n"\

Submitted models/robotika x2 sensor config 2 #380

Submitted models/robotika x2 sensor config 2 #380

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caguero commented Jun 18, 2020

m3d commented Jun 18, 2020

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angelacmaio commented Jun 23, 2020

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