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crvogt edited this page Apr 5, 2022 · 10 revisions

Creating and Integrating a New U/W Vehicle

Given a visual and dynamic model of an underwater vehicle, this page discuses how to instantiate the model in Gazebo.

In this example we will integrate a new robot with the name virgil that already has visual/collision meshes as well as a texture image file.

Much of the content in this page has its foundation in the RexROV from uuv_simulator

The final description for the robot discussed on this page can be found in dave/urdf/robots/virgil_description

Overview

  1. Create Directories and Import Mesh Files
  2. Build URDF
  3. Gazebo plugins
  4. Add thrusters
  5. Add sensors
  6. Add joystick control
  7. Create launch files to test

Create Directories and Import Mesh Files

First, locate the dave/urdf/robots directory. This directory is the home to a variety of robot descriptions. We'll create a package for our new robot by running catkin_create_pkg virgil_description. In the newly created virgil_description directory create three directories: meshes, launch, and urdf. You will not need the src directory, so you can delete it.

Add your meshes and textures to the meshes directory.

Ex. In virgil_description/meshes the contents are virgil.dae, virgil_diffuse.png, and virgil_prop.dae. These are the meshes for the main body of the UUV, the texture image, and the mesh for the propellers respectively.

Note: It may be necessary to edit the mesh file to link to the correct texture filename.

Build URDF

In virgil_description/urdf create virgil.xacro. This file will serve as the base definition of our robot.

After defining the xml version, robot definition, and initial arguments, we can begin creating the links and joints that make up the robot. We first create a "dummy" base link to eliminate the root link inertia warning given by Gazebo.

<!-- "Dummy" base link to eliminate root link inertia warning -->
<link name="$(arg namespace)/base_link"/>

Next we create the link that defines the body of the UUV. Virgil is based on existing U/W vehicle, so the mass, height, length, and width were taken from given specifications. The inertia matrix is based on a rectangular prism of the same dimensions.

        <inertial>
        	<origin xyz="0 0 0" rpy="0 0 0"/>
        	<mass value="4762.7"/>
        	<inertia
        		ixx="7116.41" ixy="0.0" ixz="0.0"
        		iyy="6637.07" iyz="0.0"
        		izz="3134.17"/>
        </inertial>

Next we define the visual and collision properties of the UUV. Both utilize the body mesh we added to the meshes directory, virgil.dae in this case. For mesh alignment we want our robot to be consistent with ROS coordinate frame conventions (hence the 90 degree rotation in the origin such that positive x is forward). For virgil, our resulting visual/collision properties are

        <visual>
            <origin xyz="0 0 -0.9" rpy="0 0 1.5708"/>
            <geometry>
                <mesh filename="file://$(find virgil_description)/meshes/virgil.dae" scale="1 1 1"/>
            </geometry>
        </visual>
        <collision>
            <origin xyz="0 0 -0.9" rpy="0 0 1.5708"/>
            <geometry>
                <mesh filename="file://$(find virgil_description)/meshes/virgil.dae" scale="1 1 1"/>
            </geometry>
        </collision>

We must then create a joint between the "dummy" link and our base link

    <joint name="$(arg namespace)/virgil_base_joint" type="fixed">
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <parent link="$(arg namespace)/base_link"/>
        <child link="$(arg namespace)/virgil_link"/>
    </joint>

Note: Orientations may not be consistent! While we had to rotate the mesh 90 degrees according to coordinate frame conventions, this might not be required.

Gazebo plugins

In the same file, we need to add our joint state publisher and run the gazebo_ros_control plugin.

    <!-- Default joint state publisher -->
    <gazebo>
        <plugin name="uuv_joint_state_publisher" filename="libuuv_joint_state_publisher.so">
            <robotNamespace>$(arg namespace)</robotNamespace>
            <updateRate>50</updateRate>
        </plugin>
    </gazebo>

    <gazebo>
        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
            <robotNamespace>$(arg namespace)</robotNamespace>
            <robotParam>$(arg namespace)</robotParam>
        </plugin>
    </gazebo>

Add thrusters

We will define our thrusters in our current .xacro file, but they can be defined in a separate file. Before we define the thruster_macro, we set the propeller mesh file and include the files required for the thrusters.

    <xacro:property name="prop_mesh_file" value="file://$(find virgil_description)/meshes/virgil_prop.dae"/>
    <xacro:include filename="$(find uuv_descriptions)/urdf/common.urdf.xacro"/>
    <xacro:include filename="$(find uuv_gazebo_ros_plugins)/urdf/thruster_snippets.xacro"/>

Next we define the thruster macro which accepts an origin and thruster_id arguments. The origin refers to the respective locations and orientations of each of the thrusters/propellers and the thruster_id allows us to identify each thruster individually which will be required when we setup joystick control.

    <xacro:macro name="thruster_macro" params="thruster_id *origin">
        <xacro:thruster_module_first_order_basic_fcn_macro 
            namespace="$(arg namespace)" 
            thruster_id="${thruster_id}"
            x_axis="0"
            y_axis="0"
            z_axis="1"
            mesh_filename="${prop_mesh_file}" 
            dyn_time_constant="0.05" 
            rotor_constant="0.00031">
            <xacro:insert_block name="origin"/>
        </xacro:thruster_module_first_order_basic_fcn_macro>
    </xacro:macro>

An example for a single thruster using this macro:

     <xacro:thruster_macro thruster_id="0">
        <origin xyz="-1.51341 0.53491 ${1.18597-0.9}" rpy="1.5708 0.0 ${1.5708+0.610865}"/>
     </xacro:thruster_macro>

Note: We can superimpose propellers on the vehicle mesh

thruster_snippets.xacro definitions which make use of the ThrusterROSPlugin

Add sensors

There are a number of sensors available in DAVE. In virgil.xacro, we include the required sensor files as well as virgil_sensors.xacro. virgil_sensors.xacro defines which sensors are used and where they are placed on the vehicle

    <!-- Includes -->
    <xacro:property name="namespace" value="$(arg namespace)"/>
    <xacro:property name="inertial_reference_frame" value="world"/>
    <xacro:include filename="$(find uuv_sensor_ros_plugins)/urdf/sensor_snippets.xacro"/>
    <xacro:include filename="$(find uuv_gazebo_ros_plugins)/urdf/snippets.xacro"/> 
    <xacro:include filename="$(find virgil_description)/urdf/virgil_sensors.xacro"/>

Add joystick control

/dave/examples/dave_nodes/src/virgil_thrusterop.py defines the mapping between the joystick, such as a PS4 controller, and the thrusters on the vehicle. This mapping should correspond to this guide. As an example, there are three vertical thrusters on virgil. They are operated via the number 1 axis on the joystick. The values from the joystick are multiplied by a gain which scales the magnitude of the thrust as well as the direction. For axis 1 (up and down)

        # Put thruster gains into dict
        self.gain_dict = dict()
        self.gain_dict[1] = [1000.0, 1000.0, 1000.0]

        # Joystick to thruster i.d. mapping
        # Keys are the joystick axes, publishers
        self.joy2thrust = dict()
        
        # up down
        self.joy2thrust[1] = [rospy.Publisher('/%s/thrusters/%d/input'%(namespace,4), FloatStamped, queue_size=1),
                              rospy.Publisher('/%s/thrusters/%d/input'%(namespace,5), FloatStamped, queue_size=1),
                              rospy.Publisher('/%s/thrusters/%d/input'%(namespace,6), FloatStamped, queue_size=1)]

where 4, 5, 6 are the thruster ids.

Create launch files to test

We need to create three launch files to load virgil into a world and allow us to control it with our teleoperation node. In /virgil_description/launch we'll create upload_virgil.launch. This will be called from our main launch file, virgil.launch. upload_virgil.launch contains the xacro command which parses virgil.xacro and passes arguments

	<arg name="namespace" default="virgil"/>
	<arg name="debug" default="false"/>
	<param name="/$(arg namespace)/virgil" command="$(find xacro)/xacro '$(find virgil_description)/urdf/virgil.xacro' debug:=$(arg debug) namespace:=$(arg namespace)"/>

In dave_nodes/launch we create the virgil_thrusterop.launch file which runs the joy_node as well as the virgil_thrusterop.py node we created

  <arg name="joy_id" default="0"/>
  <arg name="namespace" default="virgil"/>

  <node pkg="joy" type="joy_node" name="joystick">
    <param name="autorepeat_rate" value="10"/>
    <param name="dev" value="/dev/input/js$(arg joy_id)"/>
  </node>

  <node pkg="dave_nodes" type="virgil_thrusterop.py" name="virgil_thrusterop"
  output="screen">
    <param name="namespace" value="$(arg namespace)"/>
  </node>

The launch file for virgil is dave/examples/dave_robot_launch/launch/virgil.launch. We first start gazebo with an underwater world.

	<arg name="gui" default="true"/>
	<arg name="paused" default="false"/>
	<arg name="world_name" default="$(find dave_worlds)/worlds/dave_ocean_waves.world"/>
	<arg name="namespace" default="virgil"/>
	<arg name="velocity_control" default="false"/>
	<arg name="joy_id" default="0"/>
	<arg name="debug" default="false"/>
	<arg name="verbose" default="false"/>
	<arg name="x" default="6"/>
	<arg name="y" default="4"/>
	<arg name="z" default="-93"/>
	<arg name="roll" default="0"/>
	<arg name="pitch" default="0"/>
	<arg name="yaw" default="0"/>

	<!-- Use Gazebo's empty_world.launch with dave_ocean_waves.world -->
	<include file="$(find gazebo_ros)/launch/empty_world.launch">
		<arg name="world_name" value="$(arg world_name)"/>
		<arg name="paused" value="$(arg paused)"/>
		<arg name="use_sim_time" value="true"/>
		<arg name="gui" value="$(arg gui)"/>
		<arg name="headless" value="false"/>
		<arg name="debug" value="$(arg debug)"/>
		<arg name="verbose" value="$(arg verbose)"/>
	</include>

then call the upload launch file we created as well as the thrusterop launch file we created.

  	<include file="$(find virgil_description)/launch/upload_virgil.launch"/>

  	<include file="$(find dave_nodes)/launch/virgil_thrusterop.launch">
    	<arg name="joy_id" value="$(arg joy_id)"/>
    	<arg name="namespace" value="$(arg namespace)"/>
  	</include>

Finally, we spawn the robot in the world and start robot_state_publisher node

  	<node name="spawn_virgil" pkg="gazebo_ros" type="spawn_model"
  		respawn="false" output="screen"
  		args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg namespace) -param /$(arg namespace)/virgil"/>

  	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
  		<remap from="robot_description" to="/$(arg namespace)/virgil"/>
  	</node>

Test

To test our new robot, run

roslaunch dave_robot_launch virgil.launch

We should now see our UUV in the Gazebo GUI.

We can now test/check that everything is working as expected. To see the joystick topic, run

rostopic echo /joy

which should show the axes array changing with stick input. Correspondingly, when we give an input for moving up (left joystick forward) we should see the data field change when we run

rostopic echo /virgil/thrusters/0/thrust

We can follow this same procedure for each sensor and thruster.

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