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EdisonAltamiranoEdisonAltamirano
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update robot files, ignore new models for now
1 parent e8906f3 commit 85b92ae

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+411
-20
lines changed

‎.gitignore

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.vscode/
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# TODO: Reduce mesh qualities.
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# Useful cmd to know the size of each file.
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# git status --porcelain | awk '{print $2}' | xargs ls -hs | sort -h
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uv_worlds/models/props/*
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uv_worlds/newworlds/*

‎README.md

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@@ -8,15 +8,18 @@ To install the repo just run `init_workspace.sh`
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```
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roslaunch uv_worlds lake_challenges.launch
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roslaunch vtec_s3_description upload.launch
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roslaunch usv_master usv_master.launch
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roslaunch vehicle_descriptions vtec_s3.launch
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roslaunch usv_master usv_master.launch
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```
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### To run the UUV simulator, in a terminal write the following commands:
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```
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roslaunch uv_worlds lake.launch
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roslaunch vtec_u3_description upload.launch
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roslaunch vehicle_descriptions vtec_u3.launch
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rosrun vehicle_descriptions gazebo_interface
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roslaunch vanttec_uuv uuv_simulation.launch
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run uuv simulation file from vanttec_uuv package
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```
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‎sensors/realsense_gazebo_plugin/launch/realsense_urdf.launch

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@@ -3,7 +3,18 @@
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name="robot_description"
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command="$(find xacro)/xacro '$(find realsense_gazebo_plugin)/urdf/rs200_simulation.xacro'"
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/>
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<arg name="gui" default="true"/>
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<arg name="paused" default="false"/>
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<arg name="set_timeout" default="false"/>
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<arg name="timeout" default="0.0"/>
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find uv_worlds)/worlds/testyolact.world"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="verbose" value="true"/>
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</include>
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<node
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name="spawn_model"

‎sensors/realsense_gazebo_plugin/urdf/realsense-RS200.macro.xacro

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iyy="2.51e-06"
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iyz="0"
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izz="8.931e-05"
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/>
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/>
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</inertial>
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</link>
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‎sensors/uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/dvl_snippets.xacro

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@@ -188,7 +188,7 @@
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<plugin filename="libuuv_gazebo_ros_dvl_plugin.so" name="libuuv_gazebo_dvl${suffix}_plugin">
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<robot_namespace>${namespace}</robot_namespace> <!-- (string, required): ros namespace in which the messages are published -->
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<!-- Changed from dvl_link to base_link to get ENU coordinate frame -->
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<link_name>${namespace}/base_link</link_name> <!-- (string, required): name of the body which holds the IMU sensor -->
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<link_name>${namespace}_base_link</link_name> <!-- (string, required): name of the body which holds the IMU sensor -->
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<sensor_topic>${topic}</sensor_topic> <!-- (string): name of the sensor output topic and prefix of service names -->
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<update_rate>${update_rate}</update_rate> <!-- Update period [s] -->
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<noise_sigma>${noise_sigma}</noise_sigma> <!-- std dev of position estimates in x, y, z [m/s] -->

‎uv_worlds/launch/challenges2022.launch

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<launch>
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<!-- Begin Mapa1 -->
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<group ns="Mapa1">
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find uv_worlds)/urdf/mapa1.xacro' "/>
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -param robot_description -model mapa1"/>
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</group>
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<!-- Begin Bottle -->
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<group ns="Bottle">
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find uv_worlds)/urdf/bottle.xacro' "/>
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<node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -param robot_description -model bottle"/>
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</group>
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</launch>

‎uv_worlds/launch/mapa_2_ch22.launch

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<launch>
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<arg name="gui" default="true"/>
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<arg name="paused" default="false"/>
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<arg name="set_timeout" default="false"/>
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<arg name="timeout" default="0.0"/>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find uv_worlds)/newworlds/mapa_2.world"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="verbose" value="true"/>
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</include>
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<include file="$(find uv_worlds)/launch/publish_world_ned_frame.launch"/>
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<!-- <node name="publish_world_models"
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pkg="uv_worlds"
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type="publish_world_models.py"
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output="screen">
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<rosparam subst_value="true">
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meshes:
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lake:
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mesh: package://uv_worlds/models/lake/meshes/LakeBottom.dae
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model: lake
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</rosparam>
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</node> -->
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<group if="$(arg set_timeout)">
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<include file="$(find uv_worlds)/launch/set_simulation_timer.launch">
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<arg name="timeout" value="$(arg timeout)"/>
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</include>
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</group>
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</launch>

‎uv_worlds/launch/mapa_3_ch22.launch

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<launch>
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<arg name="gui" default="true"/>
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<arg name="paused" default="false"/>
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<arg name="set_timeout" default="false"/>
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<arg name="timeout" default="0.0"/>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find uv_worlds)/newworlds/mapa_3.world"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="verbose" value="true"/>
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</include>
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<include file="$(find uv_worlds)/launch/publish_world_ned_frame.launch"/>
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<!-- <node name="publish_world_models"
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pkg="uv_worlds"
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type="publish_world_models.py"
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output="screen">
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<rosparam subst_value="true">
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meshes:
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lake:
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mesh: package://uv_worlds/models/lake/meshes/LakeBottom.dae
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model: lake
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</rosparam>
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</node> -->
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<group if="$(arg set_timeout)">
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<include file="$(find uv_worlds)/launch/set_simulation_timer.launch">
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<arg name="timeout" value="$(arg timeout)"/>
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</include>
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</group>
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</launch>

‎uv_worlds/launch/task_obstacles.launch

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args="-urdf -param robot_description -model path_marker3"/>
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</group>
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<!-- Enable camera gazebo plugin-->
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<include file="$(find realsense_gazebo_plugin)/launch/depth_procfront.launch">
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</include>
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<!-- <include file="$(find realsense_gazebo_plugin)/launch/depth_procfront.launch">
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</include>-->
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<!-- <include file="$(find realsense_gazebo_plugin)/launch/depth_procdown.launch">-->
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<!-- </include>-->

‎uv_worlds/launch/test_spawn_reda0.launch

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="robot_name" default="Red_A0buoy" />
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<arg name="x" default="0.0" />
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<arg name="y" default="0.0" />
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<arg name="x" default="2.0" />
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<arg name="y" default="2.0" />
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<arg name="z" default="0.0" />
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<arg name="roll" default="0" />
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<arg name="pitch" default="0" />

‎uv_worlds/models/gate1/gate1.sdf

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<?xml version="1.0"?>
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<sdf version="1.4">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<model name="my_mesh">
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<static>true</static>
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<link name="body">
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<visual name="visual">
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<pose frame=''>0 0 0 0 -0 0</pose>
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<geometry>
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<mesh><uri>model://props/mygate1.dae</uri></mesh>
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</geometry>
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</visual>
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</link>
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</model>
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</world>
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</sdf>

‎uv_worlds/models/gate1/model.sdf

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<?xml version="1.0" encoding="utf-8"?>

‎uv_worlds/models/props/mygate1.dae ‎uv_worlds/models/gate1/mygate1.dae

File renamed without changes.

‎uv_worlds/urdf/bottle.xacro

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<?xml version="1.0"?>
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<robot name="bottle" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Introducir meshes -->
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<xacro:property name="visual_mesh_file" value="file://$(find uv_worlds)/models/props/bottle/water_bottle.dae" />
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<!-- <origin xyz="0.085 (0 -0.085) 0 0" rpy="0.0 0.0 1.57075"/> -->
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<link name="bottle_base">
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<visual>
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<origin xyz="9.85 27.9 -8.45" rpy="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="${visual_mesh_file}" scale="1 1 1" />
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</geometry>
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</visual>
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<!-- Se deben cambiar los parametros reales-->
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<collision>
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<origin xyz="9.85 27.9 -8.45" rpy="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="${visual_mesh_file}" scale="1 1 1" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="9.85 27.9 -8.45" rpy="0.0 0.0 0.0"/>
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<mass value="1"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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</link>
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<gazebo reference="bottle_base">
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<selfCollide>0</selfCollide>
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<turnGravityOff>1</turnGravityOff>
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</gazebo>
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</robot>

‎uv_worlds/urdf/gate.xacro

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<robot name="gate_1" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Introducir meshes -->
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<xacro:property name="visual_mesh_file" value="file://$(find uv_worlds)/models/props//mygate1.dae" />
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<xacro:property name="visual_mesh_file" value="file://$(find uv_worlds)/models/gate1/mygate1.dae" />
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<!-- <origin xyz="0.085 (0 -0.085) 0 0" rpy="0.0 0.0 1.57075"/> -->
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‎uv_worlds/urdf/mapa1.xacro

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<?xml version="1.0"?>
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<robot name="mapa1_1" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Introducir meshes -->
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<xacro:property name="visual_mesh_file" value="file://$(find uv_worlds)/newworlds/mapa_1_1.dae"/>
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<!-- <origin xyz="0.085 (0 -0.085) 0 0" rpy="0.0 0.0 1.57075"/> -->
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<link name="mapa1_base">
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<visual>
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<origin xyz="0 0 -7" rpy="0.0 0.0 0"/>
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<geometry>
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<mesh filename="${visual_mesh_file}" scale="1 1 1" />
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</geometry>
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</visual>
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<!-- Se deben cambiar los parametros reales-->
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<collision>
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<origin xyz="0 0 -7" rpy="0.0 0.0 0.0"/>
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<geometry>
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<mesh filename="${visual_mesh_file}" scale="1 1 1" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 -7" rpy="0.0 0.0 0.0"/>
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<mass value="1"/>
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<inertia
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ixx="1.0" ixy="0.0" ixz="0.0"
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iyy="1.0" iyz="0.0"
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izz="1.0"/>
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</inertial>
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</link>
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<gazebo reference="mapa1_base">
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<selfCollide>0</selfCollide>
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<turnGravityOff>1</turnGravityOff>
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</gazebo>
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</robot>

‎uv_worlds/worlds/lake.world

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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<!--<plugin name="ros_link_attacher_plugin" filename="libgazebo_ros_link_attacher.so"/>-->
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<sdf version="1.5">
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<world name="lake">
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<physics name="default_physics" default="true" type="ode">
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<pose>0 0 0 0 0 0</pose>
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</include>
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<!-- <plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
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<namespace>hydrodynamics</namespace>
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<constant_current>

‎uv_worlds/worlds/lake_challenges.world

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</link>
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<pose frame=''>3.48 1.21 0 0 -0 0</pose>
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</model>
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<model name='manPole2'>
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<model name='manPole2'>+
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<link name='basepole_link'>
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<pose frame=''>0 0 0 0 -0 0</pose>
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<inertial>

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