From fb27cf8b43a42e30218ccb17806e1232b044603f Mon Sep 17 00:00:00 2001 From: Rakesh Vivekanandan Date: Fri, 28 Jun 2024 16:45:26 -0700 Subject: [PATCH 1/7] WIP: added glider_slocum model; TODO: fix buoyancy, battery plugin, and inertial terms --- .../description/glider_slocum/model.config | 12 ++ .../description/glider_slocum/model.sdf | 199 ++++++++++++++++++ .../glider_slocum/COLLISION-Slocum-Glider.dae | 70 ++++++ .../glider_slocum/Slocum-Glider-LeftFin.dae | 110 ++++++++++ .../glider_slocum/Slocum-Glider-Propeller.dae | 115 ++++++++++ .../glider_slocum/Slocum-Glider-RightFin.dae | 110 ++++++++++ .../glider_slocum/Slocum-Glider-TopRudder.dae | 110 ++++++++++ .../meshes/glider_slocum/Slocum-Glider.dae | 110 ++++++++++ .../meshes/glider_slocum/Slocum-Glider.png | Bin 0 -> 807374 bytes .../dave_worlds/worlds/dave_ocean_waves.world | 2 +- 10 files changed, 837 insertions(+), 1 deletion(-) create mode 100644 models/dave_robot_models/description/glider_slocum/model.config create mode 100644 models/dave_robot_models/description/glider_slocum/model.sdf create mode 100644 models/dave_robot_models/meshes/glider_slocum/COLLISION-Slocum-Glider.dae create mode 100644 models/dave_robot_models/meshes/glider_slocum/Slocum-Glider-LeftFin.dae create mode 100644 models/dave_robot_models/meshes/glider_slocum/Slocum-Glider-Propeller.dae create mode 100644 models/dave_robot_models/meshes/glider_slocum/Slocum-Glider-RightFin.dae create mode 100644 models/dave_robot_models/meshes/glider_slocum/Slocum-Glider-TopRudder.dae create mode 100644 models/dave_robot_models/meshes/glider_slocum/Slocum-Glider.dae create mode 100644 models/dave_robot_models/meshes/glider_slocum/Slocum-Glider.png diff --git a/models/dave_robot_models/description/glider_slocum/model.config b/models/dave_robot_models/description/glider_slocum/model.config new file mode 100644 index 00000000..1911a392 --- /dev/null +++ b/models/dave_robot_models/description/glider_slocum/model.config @@ -0,0 +1,12 @@ + + + + glider_slocum + 1.0 + model.sdf + + + Slocum underwater glider + + + diff --git a/models/dave_robot_models/description/glider_slocum/model.sdf b/models/dave_robot_models/description/glider_slocum/model.sdf new file mode 100644 index 00000000..2c9e0a59 --- /dev/null +++ b/models/dave_robot_models/description/glider_slocum/model.sdf @@ -0,0 +1,199 @@ + + + + + false + + + 0 0 0 0 0 0 + 69.25 + + 10 + 0 + 0 + 10 + 0 + 10 + + + + + 0 0 0 0 0 0 + + + 1.0 1.0 1.0 + model://meshes/glider_slocum/Slocum-Glider.dae + + + + + + 0 0 0 0 0 0 + + + 1.0 1.0 1.0 + model://meshes/glider_slocum/COLLISION-Slocum-Glider.dae + + + + + + true + 1000.0 + imu + + + + + + 0 0 0 0 0 0 + + 0 0 0 0 0 0 + 0.001 + + 1e-05 + 0 + 0 + 1e-05 + 0 + 1e-05 + + + + 4.2 + + + + + 0 0 0 0 0 0 + base_link + battery_link + + + + + + + 0 0 0 0 0 0 + + + 1.0 1.0 1.0 + model://meshes/glider_slocum/Slocum-Glider-Propeller.dae + + + + + 0 0 0 0 0 0 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + 0.5 + + + + + 0 0 0 0 0 0 + base_link + 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zq)0Xomf=1elAdUnT|DNl?_BuXrSm_j&%k0C@1b-4UqGw5;WfwqXA|+i(EjOnkB^kg z`TtyN@Q1Y8hc8{+?( zyYp`X06rxJ>vImLPk!!?aQhWirjF(AO` z{6BX;{_ZE-ha(7Z$@xDtIv!RHWTk+SA;7=Cf&fo%KLzLC% - 1000 + 1025 0 1 From 8fbe7d8a60d332b026822e68cc376ac97569f1c2 Mon Sep 17 00:00:00 2001 From: Rakesh Vivekanandan Date: Tue, 2 Jul 2024 09:50:39 -0700 Subject: [PATCH 2/7] changes to battery plugin --- .../description/glider_slocum/model.sdf | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/models/dave_robot_models/description/glider_slocum/model.sdf b/models/dave_robot_models/description/glider_slocum/model.sdf index 2c9e0a59..13c2228c 100644 --- a/models/dave_robot_models/description/glider_slocum/model.sdf +++ b/models/dave_robot_models/description/glider_slocum/model.sdf @@ -70,24 +70,21 @@ battery_link - + From 428846f91d3b66b7288fc26d9941b84a2841cfd4 Mon Sep 17 00:00:00 2001 From: Rakesh Vivekanandan Date: Wed, 3 Jul 2024 13:48:23 -0700 Subject: [PATCH 3/7] Updated: 1. Collision geometry to box 2. Scaled down the meshes 3. Moved the CG down by 0.06m 4. Corrected moments of inertia using the standard formula 5. README file --- examples/dave_robot_launch/README.md | 40 +++++++++---------- .../description/glider_slocum/model.sdf | 22 +++++----- 2 files changed, 31 insertions(+), 31 deletions(-) diff --git a/examples/dave_robot_launch/README.md b/examples/dave_robot_launch/README.md index 7b44ecfa..4ab7f7e2 100644 --- a/examples/dave_robot_launch/README.md +++ b/examples/dave_robot_launch/README.md @@ -1,33 +1,31 @@ ## Examples -### 1. Launching REXROV in an empty world - -To launch the rexrov model in an empty world, follow these steps: +Before launching, ensure to build and source the workspace: -1. Build and source the workspace: +```bash +colcon build && source install/setup.bash +``` - ```bash - colcon build && source install/setup.bash - ``` - -2. Launch the model using the specified launch file: +### 1. Launching REXROV in an empty world - ```bash - ros2 launch dave_robot_launch robot_in_world.launch.py z:=2.0 namespace:=rexrov world_name:=empty.sdf paused:=false - ``` +```bash +ros2 launch dave_robot_launch robot_in_world.launch.py z:=2.0 namespace:=rexrov world_name:=empty.sdf paused:=false +``` ### 2. Launching REXROV in dave_ocean_waves.world -To launch the rexrov model in an underwater world, follow these steps: +```bash +ros2 launch dave_robot_launch robot_in_world.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false +``` -1. Build and source the workspace: +### 3. Launching Slocum Glider in an empty world - ```bash - colcon build && source install/setup.bash - ``` +```bash +ros2 launch dave_robot_launch robot_in_world.launch.py z:=0.2 namespace:=glider_slocum world_name:=empty.sdf paused:=false +``` -2. Launch the model using the specified launch file: +### 4. Launching Slocum Glider in dave_ocean_waves.world - ```bash - ros2 launch dave_robot_launch robot_in_world.launch.py z:=-5 namespace:=rexrov world_name:=dave_ocean_waves paused:=false - ``` +```bash +ros2 launch dave_robot_launch robot_in_world.launch.py z:=-2.5 namespace:=glider_slocum world_name:=dave_ocean_waves paused:=false +``` diff --git a/models/dave_robot_models/description/glider_slocum/model.sdf b/models/dave_robot_models/description/glider_slocum/model.sdf index 13c2228c..223c30a6 100644 --- a/models/dave_robot_models/description/glider_slocum/model.sdf +++ b/models/dave_robot_models/description/glider_slocum/model.sdf @@ -5,15 +5,15 @@ false - 0 0 0 0 0 0 + 0 0 -0.06 0 0 0 69.25 - 10 + 13.193856 0 0 - 10 + 0.418962 0 - 10 + 13.193856 @@ -21,7 +21,7 @@ 0 0 0 0 0 0 - 1.0 1.0 1.0 + 0.5 0.5 0.5 model://meshes/glider_slocum/Slocum-Glider.dae @@ -30,10 +30,13 @@ 0 0 0 0 0 0 - - 1.0 1.0 1.0 + + + 0.22 1.5 0.22 + @@ -46,7 +49,6 @@ - 0 0 0 0 0 0 0 0 0 0 0 0 0.001 @@ -91,7 +93,7 @@ 0 0 0 0 0 0 - 1.0 1.0 1.0 + 0.5 0.5 0.5 model://meshes/glider_slocum/Slocum-Glider-Propeller.dae From 174c238d05211b2c5e8b31fbf89b3fd889e64106 Mon Sep 17 00:00:00 2001 From: Woen-Sug Choi Date: Sat, 6 Jul 2024 14:08:42 +0900 Subject: [PATCH 4/7] initial position mod --- examples/dave_robot_launch/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/dave_robot_launch/README.md b/examples/dave_robot_launch/README.md index 4ab7f7e2..1669f0ed 100644 --- a/examples/dave_robot_launch/README.md +++ b/examples/dave_robot_launch/README.md @@ -27,5 +27,5 @@ ros2 launch dave_robot_launch robot_in_world.launch.py z:=0.2 namespace:=glider_ ### 4. Launching Slocum Glider in dave_ocean_waves.world ```bash -ros2 launch dave_robot_launch robot_in_world.launch.py z:=-2.5 namespace:=glider_slocum world_name:=dave_ocean_waves paused:=false +ros2 launch dave_robot_launch robot_in_world.launch.py x:=4 z:=-1.5 namespace:=glider_slocum world_name:=dave_ocean_waves paused:=false ``` From 731e3dbc819adc8357af1bd0ed05170703752792 Mon Sep 17 00:00:00 2001 From: Rakesh Vivekanandan Date: Fri, 28 Jun 2024 09:34:35 -0700 Subject: [PATCH 5/7] Moved dvl sensor to a dave_sensor_model package, added model.config files, minor refactoring, and updated README files --- examples/dave_demos/README.md | 18 ++-- ...nch.py => object_in_empty_world.launch.py} | 10 +-- .../launch/sensor_in_empty_world.launch.py | 79 ++++++++++++++++++ models/dave_object_models/CMakeLists.txt | 2 +- .../mossy_cinder_block/model.config | 11 +++ .../description/mossy_cinder_block/model.sdf | 2 +- ...odel.launch.py => upload_object.launch.py} | 10 +-- models/dave_object_models/package.xml | 2 +- .../description/rexrov/model.config | 11 +++ models/dave_sensor_models/CMakeLists.txt | 14 ++++ .../nortek_dvl500_300/model.config | 11 +++ .../description/nortek_dvl500_300/model.sdf | 2 +- .../hooks/dave_sensor_models.dsv.in | 1 + .../launch/upload_sensor.launch.py | 53 ++++++++++++ .../meshes/nortek_dvl500_300/DVL500-300m.dae | 0 .../nortek_dvl500_300/tx-DVL500-300m.png | Bin models/dave_sensor_models/package.xml | 14 ++++ 17 files changed, 217 insertions(+), 23 deletions(-) rename examples/dave_demos/launch/{model_in_empty_world.launch.py => object_in_empty_world.launch.py} (90%) create mode 100644 examples/dave_demos/launch/sensor_in_empty_world.launch.py create mode 100644 models/dave_object_models/description/mossy_cinder_block/model.config rename models/dave_object_models/launch/{upload_model.launch.py => upload_object.launch.py} (85%) create mode 100644 models/dave_robot_models/description/rexrov/model.config create mode 100644 models/dave_sensor_models/CMakeLists.txt create mode 100644 models/dave_sensor_models/description/nortek_dvl500_300/model.config rename models/{dave_object_models => dave_sensor_models}/description/nortek_dvl500_300/model.sdf (99%) create mode 100644 models/dave_sensor_models/hooks/dave_sensor_models.dsv.in create mode 100755 models/dave_sensor_models/launch/upload_sensor.launch.py rename models/{dave_object_models => dave_sensor_models}/meshes/nortek_dvl500_300/DVL500-300m.dae (100%) rename models/{dave_object_models => dave_sensor_models}/meshes/nortek_dvl500_300/tx-DVL500-300m.png (100%) create mode 100644 models/dave_sensor_models/package.xml diff --git a/examples/dave_demos/README.md b/examples/dave_demos/README.md index b927c4a2..8f6467bd 100644 --- a/examples/dave_demos/README.md +++ b/examples/dave_demos/README.md @@ -1,6 +1,6 @@ ## Examples -### 1. Launching a Dave Model using Fuel URI +### 1. Launching a Dave Object Model using Fuel URI To launch a Dave model directly from a Fuel URI, follow these steps: @@ -13,25 +13,25 @@ To launch a Dave model directly from a Fuel URI, follow these steps: 2. Launch the model using the specified launch file: ```bash - ros2 launch dave_demos model_in_empty_world.launch.py model_name:='mossy_cinder_block' + ros2 launch dave_demos object_in_empty_world.launch.py object_name:='mossy_cinder_block' ``` This method simplifies the process by pulling the model directly from Fuel, ensuring you always have the latest version without needing to manage local files. -### 2. Launching a Dave Model using Downloaded Model Files +### 2. Launching a Dave Sensor Model using Downloaded Model Files If you prefer to use model files downloaded from Fuel, proceed as follows: -1. Add a hook within the `dave_object_models` package to configure the necessary environment variables for Gazebo model lookup. +1. Add a hook within the `dave_sensor_models` package to configure the necessary environment variables for Gazebo model lookup. ```bash - cd /src/dave/models/dave_object_models + cd /src/dave/models/dave_sensor_models mkdir hooks && cd hooks - touch dave_object_models.dsv.in - echo "prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@" >> dave_object_models.dsv.in + touch dave_sensor_models.dsv.in + echo "prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@" >> dave_sensor_models.dsv.in ``` -2. Append the following line to the CMakeLists.txt file in the `dave_object_models` package: +2. Append the following line to the CMakeLists.txt file in the `dave_sensor_models` package: ```bash ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") @@ -47,7 +47,7 @@ If you prefer to use model files downloaded from Fuel, proceed as follows: 4. Launch the model using the provided launch file: ```bash - ros2 launch dave_demos model_in_empty_world.launch.py model_name:='nortek_dvl500_300' + ros2 launch dave_demos sensor_in_empty_world.launch.py sensor_name:='nortek_dvl500_300' ``` This approach gives you more control over the models you use, allowing for offline use and customization. It's especially useful when working in environments with limited internet connectivity or when specific model versions are required. diff --git a/examples/dave_demos/launch/model_in_empty_world.launch.py b/examples/dave_demos/launch/object_in_empty_world.launch.py similarity index 90% rename from examples/dave_demos/launch/model_in_empty_world.launch.py rename to examples/dave_demos/launch/object_in_empty_world.launch.py index 5365a4b7..4636aab1 100755 --- a/examples/dave_demos/launch/model_in_empty_world.launch.py +++ b/examples/dave_demos/launch/object_in_empty_world.launch.py @@ -8,7 +8,7 @@ def generate_launch_description(): use_sim = LaunchConfiguration("use_sim") - model_name = LaunchConfiguration("model_name") + object_name = LaunchConfiguration("object_name") gazebo_world_file = LaunchConfiguration("gazebo_world_file") # Declare the launch arguments with default values @@ -24,9 +24,9 @@ def generate_launch_description(): description="Flag to indicate whether to use simulation", ), DeclareLaunchArgument( - "model_name", + "object_name", default_value="mossy_cinder_block", - description="Name of the model to load", + description="Name of the object model to load", ), ] @@ -63,13 +63,13 @@ def generate_launch_description(): [ FindPackageShare("dave_object_models"), "launch", - "upload_model.launch.py", + "upload_object.launch.py", ] ) ] ), launch_arguments={ - "model_name": model_name, + "object_name": object_name, "use_sim": use_sim, }.items(), ) diff --git a/examples/dave_demos/launch/sensor_in_empty_world.launch.py b/examples/dave_demos/launch/sensor_in_empty_world.launch.py new file mode 100644 index 00000000..7622a93f --- /dev/null +++ b/examples/dave_demos/launch/sensor_in_empty_world.launch.py @@ -0,0 +1,79 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.conditions import IfCondition +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + use_sim = LaunchConfiguration("use_sim") + sensor_name = LaunchConfiguration("sensor_name") + gazebo_world_file = LaunchConfiguration("gazebo_world_file") + + # Declare the launch arguments with default values + args = [ + DeclareLaunchArgument( + "gazebo_world_file", + default_value="empty.sdf", + description="Gazebo world file to launch", + ), + DeclareLaunchArgument( + "use_sim", + default_value="true", + description="Flag to indicate whether to use simulation", + ), + DeclareLaunchArgument( + "sensor_name", + default_value="nortek_dvl500_300", + description="Name of the model to load", + ), + ] + + # Include the first launch file + gz_sim_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("ros_gz_sim"), + "launch", + "gz_sim.launch.py", + ] + ) + ] + ), + launch_arguments=[ + ( + "gz_args", + [ + "-r ", + gazebo_world_file, + ], + ), + ], + condition=IfCondition(use_sim), + ) + + # Include the second launch file with model name + model_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("dave_sensor_models"), + "launch", + "upload_sensor.launch.py", + ] + ) + ] + ), + launch_arguments={ + "sensor_name": sensor_name, + "use_sim": use_sim, + }.items(), + ) + + include = [gz_sim_launch, model_launch] + + return LaunchDescription(args + include) diff --git a/models/dave_object_models/CMakeLists.txt b/models/dave_object_models/CMakeLists.txt index 49536328..24ec4bcc 100644 --- a/models/dave_object_models/CMakeLists.txt +++ b/models/dave_object_models/CMakeLists.txt @@ -4,7 +4,7 @@ project(dave_object_models) find_package(ament_cmake REQUIRED) install( - DIRECTORY description launch meshes + DIRECTORY description launch DESTINATION share/dave_object_models ) diff --git a/models/dave_object_models/description/mossy_cinder_block/model.config b/models/dave_object_models/description/mossy_cinder_block/model.config new file mode 100644 index 00000000..e7213755 --- /dev/null +++ b/models/dave_object_models/description/mossy_cinder_block/model.config @@ -0,0 +1,11 @@ + + + + mossy_cinder_block + 1.0 + model.sdf + + + A mossy cinder block + + diff --git a/models/dave_object_models/description/mossy_cinder_block/model.sdf b/models/dave_object_models/description/mossy_cinder_block/model.sdf index 080c7a8c..ba8f9471 100644 --- a/models/dave_object_models/description/mossy_cinder_block/model.sdf +++ b/models/dave_object_models/description/mossy_cinder_block/model.sdf @@ -1,5 +1,5 @@ - + mossy_cinder_block 0 0 0 0 0 0 diff --git a/models/dave_object_models/launch/upload_model.launch.py b/models/dave_object_models/launch/upload_object.launch.py similarity index 85% rename from models/dave_object_models/launch/upload_model.launch.py rename to models/dave_object_models/launch/upload_object.launch.py index 3efa3440..2abdf5d8 100755 --- a/models/dave_object_models/launch/upload_model.launch.py +++ b/models/dave_object_models/launch/upload_object.launch.py @@ -8,14 +8,14 @@ def generate_launch_description(): - model_name = LaunchConfiguration("model_name") + object_name = LaunchConfiguration("object_name") use_sim = LaunchConfiguration("use_sim") args = [ DeclareLaunchArgument( - "model_name", + "object_name", default_value="model", - description="Name of the model to load", + description="Name of the object model to load", ), DeclareLaunchArgument( "use_sim", @@ -28,7 +28,7 @@ def generate_launch_description(): [ FindPackageShare("dave_object_models"), "description", - model_name, + object_name, "model.sdf", ] ) @@ -36,7 +36,7 @@ def generate_launch_description(): gz_spawner = Node( package="ros_gz_sim", executable="create", - arguments=["-name", model_name, "-file", description_file], + arguments=["-name", object_name, "-file", description_file], output="both", condition=IfCondition(use_sim), parameters=[{"use_sim_time": use_sim}], diff --git a/models/dave_object_models/package.xml b/models/dave_object_models/package.xml index 5fa646df..3d27c8ac 100644 --- a/models/dave_object_models/package.xml +++ b/models/dave_object_models/package.xml @@ -2,7 +2,7 @@ dave_object_models 0.1.0 - Dave model description files are placed here. + Dave object model description files are placed here. Rakesh Vivekanandan MIT ament_cmake diff --git a/models/dave_robot_models/description/rexrov/model.config b/models/dave_robot_models/description/rexrov/model.config new file mode 100644 index 00000000..36816fda --- /dev/null +++ b/models/dave_robot_models/description/rexrov/model.config @@ -0,0 +1,11 @@ + + + + rexrov + 1.0 + model.sdf + + + Rexrov underwater vehicle + + diff --git a/models/dave_sensor_models/CMakeLists.txt b/models/dave_sensor_models/CMakeLists.txt new file mode 100644 index 00000000..365be4e2 --- /dev/null +++ b/models/dave_sensor_models/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.8) +project(dave_sensor_models) + +find_package(ament_cmake REQUIRED) + +install( + DIRECTORY description launch meshes + DESTINATION share/dave_sensor_models +) + +ament_environment_hooks( + "${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in") + +ament_package() diff --git a/models/dave_sensor_models/description/nortek_dvl500_300/model.config b/models/dave_sensor_models/description/nortek_dvl500_300/model.config new file mode 100644 index 00000000..9b7ed614 --- /dev/null +++ b/models/dave_sensor_models/description/nortek_dvl500_300/model.config @@ -0,0 +1,11 @@ + + + + dvl500_300 + 1.0 + model.sdf + + + Nortek DVL500-300m + + diff --git a/models/dave_object_models/description/nortek_dvl500_300/model.sdf b/models/dave_sensor_models/description/nortek_dvl500_300/model.sdf similarity index 99% rename from models/dave_object_models/description/nortek_dvl500_300/model.sdf rename to models/dave_sensor_models/description/nortek_dvl500_300/model.sdf index 516d14cb..435d1c1d 100644 --- a/models/dave_object_models/description/nortek_dvl500_300/model.sdf +++ b/models/dave_sensor_models/description/nortek_dvl500_300/model.sdf @@ -1,5 +1,5 @@ - + 0 0 0 0 0 0 diff --git a/models/dave_sensor_models/hooks/dave_sensor_models.dsv.in b/models/dave_sensor_models/hooks/dave_sensor_models.dsv.in new file mode 100644 index 00000000..346888c8 --- /dev/null +++ b/models/dave_sensor_models/hooks/dave_sensor_models.dsv.in @@ -0,0 +1 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;@CMAKE_INSTALL_PREFIX@/share/@PROJECT_NAME@ diff --git a/models/dave_sensor_models/launch/upload_sensor.launch.py b/models/dave_sensor_models/launch/upload_sensor.launch.py new file mode 100755 index 00000000..b06e9c20 --- /dev/null +++ b/models/dave_sensor_models/launch/upload_sensor.launch.py @@ -0,0 +1,53 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, RegisterEventHandler, LogInfo +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch.conditions import IfCondition +from launch_ros.substitutions import FindPackageShare +from launch.event_handlers import OnProcessExit +from launch_ros.actions import Node + + +def generate_launch_description(): + sensor_name = LaunchConfiguration("sensor_name") + use_sim = LaunchConfiguration("use_sim") + + args = [ + DeclareLaunchArgument( + "sensor_name", + default_value="", + description="Name of the sensor to load", + ), + DeclareLaunchArgument( + "use_sim", + default_value="true", + description="Flag to indicate whether to use simulation", + ), + ] + + description_file = PathJoinSubstitution( + [ + FindPackageShare("dave_sensor_models"), + "description", + sensor_name, + "model.sdf", + ] + ) + + gz_spawner = Node( + package="ros_gz_sim", + executable="create", + arguments=["-name", sensor_name, "-file", description_file], + output="both", + condition=IfCondition(use_sim), + parameters=[{"use_sim_time": use_sim}], + ) + + nodes = [gz_spawner] + + event_handlers = [ + RegisterEventHandler( + OnProcessExit(target_action=gz_spawner, on_exit=LogInfo(msg="Model Uploaded")) + ) + ] + + return LaunchDescription(args + nodes + event_handlers) diff --git a/models/dave_object_models/meshes/nortek_dvl500_300/DVL500-300m.dae b/models/dave_sensor_models/meshes/nortek_dvl500_300/DVL500-300m.dae similarity index 100% rename from models/dave_object_models/meshes/nortek_dvl500_300/DVL500-300m.dae rename to models/dave_sensor_models/meshes/nortek_dvl500_300/DVL500-300m.dae diff --git a/models/dave_object_models/meshes/nortek_dvl500_300/tx-DVL500-300m.png b/models/dave_sensor_models/meshes/nortek_dvl500_300/tx-DVL500-300m.png similarity index 100% rename from models/dave_object_models/meshes/nortek_dvl500_300/tx-DVL500-300m.png rename to models/dave_sensor_models/meshes/nortek_dvl500_300/tx-DVL500-300m.png diff --git a/models/dave_sensor_models/package.xml b/models/dave_sensor_models/package.xml new file mode 100644 index 00000000..be5854be --- /dev/null +++ b/models/dave_sensor_models/package.xml @@ -0,0 +1,14 @@ + + + dave_sensor_models + 0.1.0 + Dave sensor model description files are placed here. + Rakesh Vivekanandan + MIT + ament_cmake + + ament_cmake + + + + From cbd21ed01ac674e12a85243625d86053a1d0f369 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 28 Jun 2024 16:39:27 +0000 Subject: [PATCH 6/7] [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --- models/dave_sensor_models/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/models/dave_sensor_models/package.xml b/models/dave_sensor_models/package.xml index be5854be..e64c6446 100644 --- a/models/dave_sensor_models/package.xml +++ b/models/dave_sensor_models/package.xml @@ -11,4 +11,4 @@ - + \ No newline at end of file From 011c83195da2b9e9d7cb195525b23e4e03be34a5 Mon Sep 17 00:00:00 2001 From: Rakesh Vivekanandan Date: Mon, 1 Jul 2024 11:53:54 -0700 Subject: [PATCH 7/7] Added buoyancy plugin to the world files --- models/dave_worlds/worlds/dave_Santorini.world | 12 ++++++++++++ .../dave_worlds/worlds/dave_bimanual_example.world | 13 +++++++++++++ .../dave_worlds/worlds/dave_electrical_mating.world | 12 ++++++++++++ models/dave_worlds/worlds/dave_graded_seabed.world | 12 ++++++++++++ models/dave_worlds/worlds/dave_integrated.world | 13 +++++++++++++ models/dave_worlds/worlds/dave_ocean_models.world | 12 ++++++++++++ .../worlds/dave_ocean_waves_mossy_ground.world | 12 ++++++++++++ .../worlds/dave_ocean_waves_transient_current.world | 13 +++++++++++++ .../dave_worlds/worlds/dave_plug_and_socket.world | 13 +++++++++++++ 9 files changed, 112 insertions(+) diff --git a/models/dave_worlds/worlds/dave_Santorini.world b/models/dave_worlds/worlds/dave_Santorini.world index 48278a81..865d5001 100644 --- a/models/dave_worlds/worlds/dave_Santorini.world +++ b/models/dave_worlds/worlds/dave_Santorini.world @@ -339,5 +339,17 @@ + + + 1025 + + 0 + 1 + + + + diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/dave_worlds/worlds/dave_bimanual_example.world index bcdb8bee..9fe25b8f 100644 --- a/models/dave_worlds/worlds/dave_bimanual_example.world +++ b/models/dave_worlds/worlds/dave_bimanual_example.world @@ -378,5 +378,18 @@ + + + + 1025 + + 0 + 1 + + + + diff --git a/models/dave_worlds/worlds/dave_electrical_mating.world b/models/dave_worlds/worlds/dave_electrical_mating.world index 8c26ec9f..efa0d543 100644 --- a/models/dave_worlds/worlds/dave_electrical_mating.world +++ b/models/dave_worlds/worlds/dave_electrical_mating.world @@ -369,5 +369,17 @@ + + + 1025 + + 0 + 1 + + + + diff --git a/models/dave_worlds/worlds/dave_graded_seabed.world b/models/dave_worlds/worlds/dave_graded_seabed.world index f4bc70a7..b6a4f90f 100644 --- a/models/dave_worlds/worlds/dave_graded_seabed.world +++ b/models/dave_worlds/worlds/dave_graded_seabed.world @@ -93,5 +93,17 @@ 0 0 0 0 0 1.5708 + + + 1025 + + 0 + 1 + + + + diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world index 7e54167f..bff398fa 100644 --- a/models/dave_worlds/worlds/dave_integrated.world +++ b/models/dave_worlds/worlds/dave_integrated.world @@ -570,5 +570,18 @@ + + + + 1025 + + 0 + 1 + + + + diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world index 64bf3c92..28a4cbb4 100644 --- a/models/dave_worlds/worlds/dave_ocean_models.world +++ b/models/dave_worlds/worlds/dave_ocean_models.world @@ -481,5 +481,17 @@ + + + 1025 + + 0 + 1 + + + + diff --git a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world index 10adc4df..1bb9ca82 100644 --- a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world +++ b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world @@ -109,5 +109,17 @@ 10 5 -90 0 0 0 + + + 1025 + + 0 + 1 + + + + diff --git a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world index 7c47f1ef..f69dcd30 100644 --- a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world +++ b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world @@ -94,5 +94,18 @@ perspective + + + + 1025 + + 0 + 1 + + + + diff --git a/models/dave_worlds/worlds/dave_plug_and_socket.world b/models/dave_worlds/worlds/dave_plug_and_socket.world index c3e1f26d..a48b6065 100644 --- a/models/dave_worlds/worlds/dave_plug_and_socket.world +++ b/models/dave_worlds/worlds/dave_plug_and_socket.world @@ -369,5 +369,18 @@ + + + + 1025 + + 0 + 1 + + + +