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Fix issue #690 #706

Merged
merged 11 commits into from
Jul 27, 2023
Merged

Fix issue #690 #706

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7f00977
Avoid high intensity sporadic forces.
caguero Jul 15, 2023
4733c7d
Merge branch 'main' into caguero/issue_690
M1chaelM Jul 17, 2023
e69ba25
Remove crop and tweak teleop scale.
caguero Jul 19, 2023
4fb57bc
Merge branch 'caguero/issue_690' of github.com:osrf/vrx into caguero/…
caguero Jul 19, 2023
9d2ae7b
Tweaks
caguero Jul 19, 2023
8cb6af1
Tweaks
caguero Jul 19, 2023
8706afa
Move the extra links to [un]lock the WAM-V out of the model and into …
caguero Jul 21, 2023
552fc38
Merge branch 'main' into caguero/issue_690
caguero Jul 25, 2023
44e4a5d
Merge branch 'main' into caguero/issue_690
caguero Jul 26, 2023
5c282ea
Restore scale.
caguero Jul 26, 2023
a2907fe
Merge branch 'caguero/issue_690' of github.com:osrf/vrx into caguero/…
caguero Jul 26, 2023
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15 changes: 15 additions & 0 deletions vrx_gz/models/articulated_platform/model.config
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@@ -0,0 +1,15 @@
<?xml version="1.0"?>
<model>
<name>platform</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Carlos Agüero</name>
<email>caguero@openrobotics.org</email>
</author>

<description>
A platform to lock/release vehicles.
</description>
</model>
31 changes: 31 additions & 0 deletions vrx_gz/models/articulated_platform/model.sdf
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@@ -0,0 +1,31 @@
<?xml version="1.0"?>
<sdf version="1.6">
<model name="articulated_platform">
<static>false</static>
<link name="dummy_upper"/>
<link name="dummy_lower"/>

<joint name="platform_pivot_joint" type="universal">
<parent>dummy_lower</parent>
<child>dummy_upper</child>
<axis>
<xyz>1 0 0</xyz>
</axis>
<axis2>
<xyz>0 1 0</xyz>
</axis2>
</joint>

<joint name="world_joint" type="prismatic">
<parent>world</parent>
<child>dummy_lower</child>
<axis>
<limit>
<lower>-3</lower>
<upper>3</upper>
</limit>
<xyz>0 0 1</xyz>
</axis>
</joint>
</model>
</sdf>
16 changes: 8 additions & 8 deletions vrx_gz/models/platform/model.sdf
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@@ -1,12 +1,12 @@
<?xml version="1.0"?>
<sdf version="1.6">
<model name="platform">
<static>false</static>
<link name="dummy_base"/>
<model name="platform">
<static>false</static>
<link name="dummy_upper"/>

<joint name="world_joint" type="fixed">
<parent>world</parent>
<child>dummy_base</child>
</joint>
</model>
<joint name="world_joint" type="fixed">
<parent>world</parent>
<child>dummy_upper</child>
</joint>
</model>
</sdf>
3 changes: 0 additions & 3 deletions vrx_gz/src/Surface.cc
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Expand Up @@ -261,9 +261,6 @@ void Surface::PreUpdate(const sim::UpdateInfo &_info,

// Debug output:
// gzdbg << bpnt.X() << "," << bpnt.Y() << "," << bpnt.Z() << std::endl;
// gzdbg << "-" << std::endl;
// gzdbg << bpntW.X() << "," << bpntW.Y() << "," << bpntW.Z() << std::endl;
// gzdbg << "X: " << X << std::endl;
// gzdbg << "depth: " << depth << std::endl;
// gzdbg << "dz: " << dz << std::endl;
// gzdbg << "kDdz: " << kDdz << std::endl;
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3 changes: 2 additions & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_perception0_task.sdf
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Expand Up @@ -353,8 +353,9 @@
</include>

<include>
<pose>-532 162 -1 0 0 0</pose>
<name>platform</name>
<uri>platform</uri>
<uri>articulated_platform</uri>
</include>

<!-- The posts for securing the WAM-V -->
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3 changes: 2 additions & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_perception1_task.sdf
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Expand Up @@ -353,8 +353,9 @@
</include>

<include>
<pose>-532 162 -1 0 0 0</pose>
<name>platform</name>
<uri>platform</uri>
<uri>articulated_platform</uri>
</include>

<!-- The posts for securing the WAM-V -->
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3 changes: 2 additions & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_perception2_task.sdf
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Expand Up @@ -353,8 +353,9 @@
</include>

<include>
<pose>-532 162 -1 0 0 0</pose>
<name>platform</name>
<uri>platform</uri>
<uri>articulated_platform</uri>
</include>

<!-- The posts for securing the WAM-V -->
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3 changes: 2 additions & 1 deletion vrx_gz/worlds/perception_task.sdf
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Expand Up @@ -353,8 +353,9 @@
</include>

<include>
<pose>-532 162 -1 0 0 0</pose>
<name>platform</name>
<uri>platform</uri>
<uri>articulated_platform</uri>
</include>

<!-- The posts for securing the WAM-V -->
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18 changes: 10 additions & 8 deletions vrx_urdf/wamv_gazebo/urdf/dynamics/wamv_gazebo_dynamics_plugin.xacro
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Expand Up @@ -46,15 +46,17 @@
<yDotV>0.0</yDotV>
<nDotR>0.0</nDotR>
<!-- Linear and quadratic drag -->
<xU>51.3</xU>
<xUU>72.4</xUU>
<yV>40.0</yV>
<yVV>0.0</yVV>
<xU>100.0</xU>
<xUU>150.0</xUU>
<yV>100.0</yV>
<yVV>100.0</yVV>
<zW>500.0</zW>
<kP>100.0</kP>
<mQ>100.0</mQ>
<nR>400.0</nR>
<nRR>0.0</nRR>
<kP>300.0</kP>
<kPP>600.0</kPP>
<mQ>900.0</mQ>
<mQQ>900.0</mQQ>
<nR>800.0</nR>
<nRR>800.0</nRR>
</plugin>

</gazebo>
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69 changes: 10 additions & 59 deletions vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro
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Expand Up @@ -69,65 +69,16 @@
</xacro:if>
</xacro:unless>

<!-- === Decide if we lock the robot to the world === -->
<xacro:if value="$(arg locked)">
<gazebo>
<link name="wamv_external_link">
<inertial>
<mass>0.001</mass>
<inertia>
<ixx>0.00000004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00000004</iyy>
<iyz>0</iyz>
<izz>0.00000004</izz>
</inertia>
</inertial>
</link>
<link name="wamv_external_link_base">
<inertial>
<mass>0.001</mass>
<inertia>
<ixx>0.00000004</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00000004</iyy>
<iyz>0</iyz>
<izz>0.00000004</izz>
</inertia>
</inertial>
</link>
<joint name="wamv_external_pivot_joint" type="universal">
<parent>wamv_external_link</parent>
<child>$(arg namespace)/base_link</child>
<axis>
<xyz>1 0 0</xyz>
</axis>
<axis2>
<xyz>0 1 0</xyz>
</axis2>
</joint>
<joint name="wamv_external_riser" type="prismatic">
<parent>wamv_external_link_base</parent>
<child>wamv_external_link</child>
<axis>
<limit>
<lower>-3</lower>
<upper>3</upper>
</limit>
<xyz>0 0 1</xyz>
</axis>
</joint>
<plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
<parent_link>wamv_external_link_base</parent_link>
<child_model>platform</child_model>
<child_link>dummy_base</child_link>
<topic>/vrx/release</topic>
<suppress_child_warning>true</suppress_child_warning>
</plugin>
</gazebo>
</xacro:if>
<!-- === [Un]lock the robot to the world === -->
<gazebo>
<plugin filename="gz-sim-detachable-joint-system" name="gz::sim::systems::DetachableJoint">
<parent_link>$(arg namespace)/base_link</parent_link>
<child_model>platform</child_model>
<child_link>dummy_upper</child_link>
<topic>/vrx/release</topic>
<suppress_child_warning>true</suppress_child_warning>
</plugin>
</gazebo>

<!-- === TF === -->
<!-- Publish robot state information -->
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