NASA_Challenge_[@RBinsonB]_[Lunar Pole Exploration Rover & Plugins]

CMakeLists.txt

@@ -1,15 +1,92 @@
 cmake_minimum_required(VERSION 3.8)
 project(simulation)
+
+# Find required packages
 find_package(ament_cmake REQUIRED)
+find_package(ignition-plugin1 REQUIRED COMPONENTS register)
+find_package(ignition-gazebo6 REQUIRED)
+find_package(ignition-physics5 REQUIRED)
+find_package(ignition-common4 REQUIRED)
+find_package(ignition-rendering6 REQUIRED)
+
+# Set Gazebo plugin and sim versions
+set(IGNITION_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
+set(IGNITION_SIM_VER ${ignition-gazebo6_VERSION_MAJOR})
+set(IGNITION_COMMON_VER ${ignition-common4_VERSION_MAJOR})
+set(IGNITION_RENDERING_VER ${ignition-rendering6_VERSION_MAJOR})
+set(IGNITION_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR})
+
+# Add the plugins directory to the include path
+include_directories(${CMAKE_CURRENT_SOURCE_DIR}/Plugins)
+
+# Add the SolarPanelPlugin library
+add_library(SolarPanelPlugin SHARED
+  plugins/SolarPanelPlugin.cc
+)
+
+# Link the SolarPanelPlugin library with required dependencies
+target_link_libraries(SolarPanelPlugin
+  PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
+  PRIVATE ignition-common${IGNITION_COMMON_VER}::ignition-common${IGNITION_COMMON_VER}
+  PRIVATE ignition-rendering${IGNITION_RENDERING_VER}::ignition-rendering${IGNITION_RENDERING_VER}
+  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
+)
+
+# Add the RadioisotopeThermalGeneratorPlugin library
+add_library(RadioisotopeThermalGeneratorPlugin SHARED
+  plugins/RadioisotopeThermalGeneratorPlugin.cc
+)
 
+# Link the RadioisotopeThermalGeneratorPlugin library with required dependencies
+target_link_libraries(RadioisotopeThermalGeneratorPlugin
+  PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
+  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
+)
+
+# Add the RechargeableBatteryPlugin library
+add_library(RechargeableBatteryPlugin SHARED
+  plugins/RechargeableBatteryPlugin.cc
+)
+
+# Link the RechargeableBatteryPlugin library with required dependencies
+target_link_libraries(RechargeableBatteryPlugin
+  PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
+  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
+  # PRIVATE ignition-common${IGN_COMMON_VER}::ignition-common${IGNITION_COMMON_VER}
+)
+
+
+# add the SensorPowerSystemPlugin library
+add_library(SensorPowerSystemPlugin SHARED
+  plugins/SensorPowerSystemPlugin.cc
+)
+
+# Link the SensorPowerSystemPlugin library with required dependencies
+target_link_libraries(SensorPowerSystemPlugin
+  PRIVATE ignition-plugin${IGNITION_PLUGIN_VER}::ignition-plugin${IGNITION_PLUGIN_VER}
+  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::core
+  PRIVATE ignition-gazebo${IGNITION_SIM_VER}::ignition-gazebo${IGNITION_SIM_VER}
+  PRIVATE ignition-sensors${IGNITION_SENSORS_VER}::ignition-sensors${IGNITION_SENSORS_VER}
+)
+
+
+# Create the models directory
 file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/models/curiosity_path)
 
+# Install directories
 install(DIRECTORY
   models
   ${CMAKE_CURRENT_BINARY_DIR}/models
   DESTINATION share/${PROJECT_NAME}/
 )
 
+# Install the plugin library
+install(TARGETS SolarPanelPlugin RadioisotopeThermalGeneratorPlugin RechargeableBatteryPlugin SensorPowerSystemPlugin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
 ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
 
-ament_package()
+ament_package()

models/curiosity_path/urdf/curiosity_mars_rover.gazebo

@@ -148,6 +148,35 @@
           <render_engine>ogre2</render_engine>
           <background_color>0.9 0.753 0.66 1</background_color>
       </plugin>
+
+      <plugin filename="libSolarPanelPlugin.so" name="simulation::SolarPanelPlugin">
+          <link_name>arm_tools</link_name>
+          <nominal_power>100.0</nominal_power>
+      </plugin>
+      <plugin filename="libRadioisotopeThermalGeneratorPlugin.so" name="simulation::RadioisotopeThermalGeneratorPlugin">
+          <link_name>chassis</link_name>
+          <nominal_power>100.0</nominal_power>
+      <plugin filename="libRechargeableBatteryPlugin.so" name="simulation::RechargeableBatteryPlugin">
+         <!-- https://ntrs.nasa.gov/api/citations/20080015793/downloads/20080015793.pdf -->
+         <battery_name>rechargeable_battery</battery_name>
+         <voltage>30.0</voltage>
+         <open_circuit_voltage>30.0</open_circuit_voltage>
+         <open_circuit_voltage_constant_coef>30.0</open_circuit_voltage_constant_coef>
+         <open_circuit_voltage_linear_coef>-3.0</open_circuit_voltage_linear_coef>
+         <initial_charge>9.0</initial_charge>
+         <capacity>10.0</capacity>
+         <resistance>0.1</resistance>
+         <smooth_current_tau>1.0</smooth_current_tau>
+
+         <!-- power source -->
+          <power_source>chassis/radioisotope_thermal_generator_output</power_source>
+
+         <!-- Power load without movement -->
+         <!-- this needs to revised with the actual power consumption of the robot -->
+          <power_load>11.0</power_load>
+
+
+      </plugin>
   </gazebo>
 
   <gazebo reference="lidar_link">