diff --git a/.gitignore b/.gitignore index e9ff4a8..09fbe92 100644 --- a/.gitignore +++ b/.gitignore @@ -12,6 +12,3 @@ __pycache__/ # C extensions *.so - -# Artifact from adding repo folder to a catkin workspace in the docker -CMakeLists.txt diff --git a/Dockerfile b/Dockerfile index 4602c34..fb5084e 100644 --- a/Dockerfile +++ b/Dockerfile @@ -24,8 +24,8 @@ RUN /bin/bash -c 'source /opt/ros/melodic/setup.bash \ # Install ROS package dependencies RUN apt-get update \ - && apt-get install ros-melodic-image-pipeline -y # For image_view \ - && rosmake image_view + && apt-get install ros-melodic-image-pipeline ros-melodic-rqt -y # For image_view \ + && rosmake image_view rqt # Add setup files to bashrc RUN echo source /opt/ros/melodic/setup.bash >> /root/.bashrc \ diff --git a/Makefile b/Makefile index 6c9b2a9..21f3b08 100644 --- a/Makefile +++ b/Makefile @@ -16,5 +16,14 @@ run: ## Run container docker run -it --rm -p 6080:80 -v="/tmp/.ros/:/root/.ros/" \ -v=$$(pwd):/root/catkin_ws/src/ --name=${APP_NAME} ${APP_NAME} +run-more: ## Run container + # Beware if you have less than --cpus cpus on your computer + # Access docker stuff at localhost:6080 (type into your browser) + # Volumes: -v directoryA:directoryB means the stuff stored in directoryB in the docker container + # can also be seen from directoyA on your computer. + # aka the pwd one shares the git repo between the docker container and your computer + docker run -it --rm -p 6080:80 -v="/tmp/.ros/:/root/.ros/" \ + -v=$$(pwd):/root/catkin_ws/src/ --cpus=1.5 --name=${APP_NAME} ${APP_NAME} + clean: ## Remove a container, running or not docker rm $(APP_NAME) -f diff --git a/descriptions/.DS_Store b/descriptions/.DS_Store deleted file mode 100644 index 07db6a5..0000000 Binary files a/descriptions/.DS_Store and /dev/null differ diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/CHANGELOG.rst b/descriptions/urab_sub_control/urab_sub_thruster_manager/CHANGELOG.rst new file mode 100644 index 0000000..fb5bcea --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/CHANGELOG.rst @@ -0,0 +1,96 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package uuv_thruster_manager +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.6.1 (2018-08-03) +------------------ + +0.6.0 (2018-07-31) +------------------ + +0.5.13 (2018-07-24) +------------------- + +0.5.12 (2018-07-23) +------------------- + +0.5.11 (2018-07-21) +------------------- + +0.5.10 (2018-07-10) +------------------- + +0.5.9 (2018-07-09) +------------------ + +0.5.8 (2018-07-07) +------------------ + +0.5.7 (2018-07-06) +------------------ + +0.5.6 (2018-07-06) +------------------ + +0.5.5 (2018-07-05) +------------------ +* RM Merge messages from the change log + Signed-off-by: Musa Morena Marcusso Manhaes +* UPDATE Catkin packages format to 2 + Signed-off-by: Musa Morena Marcusso Manhaes +* Contributors: Musa Morena Marcusso Manhaes + +0.5.4 (2018-07-04) +------------------ +* UPDATE Catkin packages format to 2 + Signed-off-by: Musa Morena Marcusso Manhaes +* Contributors: Musa Morena Marcusso Manhaes + +0.5.3 (2018-07-04) +------------------ +* ADD CHANGELOG files + Signed-off-by: Musa Morena Marcusso Manhaes +* Contributors: Musa Morena Marcusso Manhaes + +0.5.1 (2018-07-03) +------------------ +* CHANGE Bump version to 0.5.2 + Signed-off-by: Musa Morena Marcusso Manhaes +* FIX Input for thrust force information for compuation of command value + Signed-off-by: Musa Morena Marcusso Manhaes +* CHANGE Remove prints from thruster allocator + Signed-off-by: Musa Morena Marcusso Manhaes +* CHANGE Test for invalid position and rotation inputs + Signed-off-by: Musa Morena Marcusso Manhaes +* CHANGE Version +* ADD Subscriber for thruster_manager that is frame_id dependent + Signed-off-by: Musa Morena Marcusso Manhaes +* FIX Catkin requirements for catkin_make and catkin build + Signed-off-by: Musa Morena Marcusso Manhaes +* CHANGE Package versions + Signed-off-by: Musa Morena Marcusso Manhaes +* Add message generation dependency + Signed-off-by: Will Baker +* FIX Typos and package version + Signed-off-by: Musa Morena Marcusso Manhaes +* FIX RexROV thruster manager configuration + Signed-off-by: Musa Morena Marcusso Manhaes +* FIX TF listener timeout before TF frames are updated + Signed-off-by: Musa Morena Marcusso Manhaes +* FIX Package dependencies for rosdep + Signed-off-by: Musa Morena Marcusso Manhaes +* remove tf listener where not required + Signed-off-by: Sebastian Scherer +* Increasing thruster manager timeout while waiting for the /tf messages for computation of TAM + Signed-off-by: Musa Morena Marcusso Manhães +* Fixing the entry for max_thrust in the thruster manager. Now a list of max_thrust for each thruster can also be given. + Signed-off-by: Musa Morena Marcusso Manhães +* Fixing the thruster manager to accept multiple thruster models. + Signed-off-by: Musa Morena Marcusso Manhães +* install subdirectories in modules via setup.py + Signed-off-by: Sebastian Scherer +* fix several files not being installed (can now source install/setup.bash) + Signed-off-by: Sebastian Scherer +* initial commit + Signed-off-by: Sebastian Scherer (CR/AEI) +* Contributors: Musa Morena Marcusso Manhaes, Musa Morena Marcusso Manhães, Sebastian Scherer, Sebastian Scherer (CR/AEI), Will Baker diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/CMakeLists.txt b/descriptions/urab_sub_control/urab_sub_thruster_manager/CMakeLists.txt new file mode 100644 index 0000000..2ed230b --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 2.8.3) +project(urab_sub_thruster_manager) + +find_package(catkin REQUIRED COMPONENTS + std_msgs + message_generation) + +catkin_python_setup() + +## Generate services in the 'srv' folder +add_service_files( + FILES + GetThrusterCurve.srv + ThrusterManagerInfo.srv + SetThrusterManagerConfig.srv + GetThrusterManagerConfig.srv +) + +## Generate added messages and services with any dependencies listed here +generate_messages( + DEPENDENCIES + std_msgs +) + +catkin_package(CATKIN_DEPENDS message_runtime) + +catkin_install_python(PROGRAMS scripts/thruster_allocator.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "*~" EXCLUDE) \ No newline at end of file diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/config/TAM.yaml b/descriptions/urab_sub_control/urab_sub_thruster_manager/config/TAM.yaml new file mode 100644 index 0000000..4eed24a --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/config/TAM.yaml @@ -0,0 +1,13 @@ +tam: +- [0.0, 0.0, 0.0, 0.0, 0.7071068613706477, 0.7071068613706477, -0.7071065406341925, + -0.7071065406341925] +- [0.0, 0.0, 0.0, 0.0, 0.7071067010024383, -0.7071067010024383, 0.7071070217388206, + -0.7071070217388206] +- [1.0000000000000002, 1.0000000000000002, 1.0000000000000002, 1.0000000000000002, + 0.0, 0.0, 0.0, 0.0] +- [0.12070000000000003, -0.12070000000000003, 0.12070000000000003, -0.12070000000000003, + 0.0, 0.0, 0.0, 0.0] +- [0.12070000000000003, 0.12070000000000003, -0.12070000000000003, -0.12070000000000003, + 0.0, 0.0, 0.0, 0.0] +- [0.0, 0.0, 0.0, 0.0, -0.289998633100225, 0.289998633100225, 0.28999863310021007, + -0.28999863310021007] diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/config/thruster_manager.yaml b/descriptions/urab_sub_control/urab_sub_thruster_manager/config/thruster_manager.yaml new file mode 100644 index 0000000..df35df7 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/config/thruster_manager.yaml @@ -0,0 +1,52 @@ +thruster_manager: + tf_prefix: urab_sub + base_link: base_link + thruster_topic_prefix: thrusters/ + thruster_topic_suffix: /input + thruster_frame_base: thruster_ + max_thrust: 51.4 # Nominal forward thrust in Newtons (back is about 40.2) + max_clamp: 16 # Max nominal volts. 20V is maximum + timeout: -1 + update_rate: 50 + + ################################################## + # Options to set the thruster models below + ################################################## + + # 1) If all thrusters have the same model (as described in the vehicle's robot description) + # + # 1.1) If the conversion function set for the thruster plugins is the following: + # + # Basic + # 0.0 + # + # You can set the conversion function to be: + conversion_fcn: proportional + conversion_fcn_params: + # Not sure if this changes anything?? + gain: 0.000004 # T200, 12V for a 2nd order curve fit: tau = gain * abs(x)*x + + # 1.2) If the conversion function set for the thruster plugins is the following: + # + # LinearInterp + # 0 1 2 3 + # 0 1 2 3 + # + # You can set the conversion function to be: + # conversion_fcn: custom + # conversion_fcn_params: + # input: [0, 1, 2, 3] + # output: [0, 1, 2, 3] + + # 2) If the vehicle has thrusters with different models, you can list the + # models descriptions. Beware to set the list where the index in list + # matches the thruster ID + # conversion_fcn: + # - proportional + # - proportional + # - custom + # conversion_fcn_params: + # - gain: rotorConstant0 + # - gain: rotorConstant1 + # - input: [0, 1, 2, 3] +# output: [0, 1, 2, 3] diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/launch/thruster_manager.launch b/descriptions/urab_sub_control/urab_sub_thruster_manager/launch/thruster_manager.launch new file mode 100644 index 0000000..6c96e5a --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/launch/thruster_manager.launch @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + $(arg uuv_name) + + + + $(arg timeout) + + + + + + + $(arg output_dir) + + + + + + + + + + + + + diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/package.xml b/descriptions/urab_sub_control/urab_sub_thruster_manager/package.xml new file mode 100644 index 0000000..3c75289 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/package.xml @@ -0,0 +1,28 @@ + + + urab_sub_thruster_manager + 0.6.1 + The thruster manager package + + Musa Morena Marcusso Manhaes + Sebastian Scherer + Luiz Ricardo Douat + + Musa Morena Marcusso Manhaes + Sebastian Scherer + Luiz Ricardo Douat + + Apache-2.0 + + catkin + message_generation + + std_msgs + message_runtime + tf + rospy + python-yaml + uuv_gazebo_ros_plugins_msgs + geometry_msgs + + diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/scripts/thruster_allocator.py b/descriptions/urab_sub_control/urab_sub_thruster_manager/scripts/thruster_allocator.py new file mode 100755 index 0000000..5387ec7 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/scripts/thruster_allocator.py @@ -0,0 +1,172 @@ +#!/usr/bin/env python +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import numpy +import rospy +import tf +import tf.transformations as trans +from os.path import isdir, join +from copy import deepcopy +import yaml +import tf2_ros +from uuv_thrusters import ThrusterManager +from geometry_msgs.msg import Wrench, WrenchStamped +from urab_sub_thruster_manager.srv import * + + +class ThrusterAllocatorNode(ThrusterManager): + """ + The thruster allocator node allows a client node to command the thrusters. + """ + + def __init__(self): + """Class constructor.""" + ThrusterManager.__init__(self) + + self.last_update = rospy.Time.now() + + # Subscriber to the wrench to be applied on the UUV + # This package's setup makes it so that the sub should respond to input + # coming from here, but we should probably replace this whole package + # with the controls team's package + self.input_sub = rospy.Subscriber('thruster_manager/input', + Wrench, self.input_callback) + + # To deliver the wrench input with an option to use another body frame + # (options: base_link and base_link_ned), use the wrench stamped + # message + self.input_stamped_sub = rospy.Subscriber( + 'thruster_manager/input_stamped', WrenchStamped, + self.input_stamped_callback) + self.thruster_info_service = rospy.Service( + 'thruster_manager/get_thrusters_info', ThrusterManagerInfo, + self.get_thruster_info) + self.curve_calc_service = rospy.Service( + 'thruster_manager/get_thruster_curve', GetThrusterCurve, + self.get_thruster_curve) + self.set_thruster_manager_config_service = rospy.Service( + 'thruster_manager/set_config', SetThrusterManagerConfig, + self.set_config) + self.get_thruster_manager_config_service = rospy.Service( + 'thruster_manager/get_config', GetThrusterManagerConfig, + self.get_config) + + rate = rospy.Rate(self.config['update_rate']) + while not rospy.is_shutdown(): + if self.config['timeout'] > 0: + # If a timeout is set, zero the outputs to the thrusters if + # there is no command signal for the length of timeout + if rospy.Time.now() - self.last_update > self.config['timeout']: + print 'Turning thrusters off - inactive for too long' + if self.thrust is not None: + self.thrust.fill(0) + self.command_thrusters() + rate.sleep() + + def get_thruster_info(self, request): + """Return service callback with thruster information.""" + return ThrusterManagerInfoResponse( + self.n_thrusters, + self.configuration_matrix.flatten().tolist(), + self.namespace + self.config['base_link']) + + def get_thruster_curve(self, request): + """Return service callback for computation of thruster curve.""" + if self.n_thrusters == 0: + return GetThrusterCurveResponse([], []) + # TODO Get thruster index, for the case the vehicle has different + # models + input_values, thrust_values = self.thrusters[0].get_curve( + request.min, request.max, request.n_points) + return GetThrusterCurveResponse(input_values, thrust_values) + + def set_config(self, request): + old_config = deepcopy(self.config) + self.ready = False + self.config['base_link'] = request.base_link + self.config['thruster_frame_base'] = request.thruster_frame_base + self.config['thruster_topic_prefix'] = request.thruster_topic_prefix + self.config['thruster_topic_suffix'] = request.thruster_topic_suffix + self.config['timeout'] = request.timeout + print 'New configuration:\n' + for key in self.config: + print key, '=', self.config[key] + if not self.update_tam(recalculate=True): + print 'Configuration parameters are invalid, going back to old configuration...' + self.config = old_config + self.update_tam(recalculate=True) + return SetThrusterManagerConfigResponse(True) + + def get_config(self, request): + return GetThrusterManagerConfigResponse( + self.namespace, + self.config['base_link'], + self.config['thruster_frame_base'], + self.config['thruster_topic_prefix'], + self.config['thruster_topic_suffix'], + self.config['timeout'], + self.config['max_thrust'], + self.n_thrusters, + self.configuration_matrix.flatten().tolist()) + + def input_callback(self, msg): + """ + Callback to the subscriber that receiver the wrench to be applied on + UUV's BODY frame. + @param msg Wrench message + """ + if not self.ready: + return + + # NOTE: Kristoffer changed the force / torque configuration by adding negative term + force = numpy.array((msg.force.x, msg.force.y, msg.force.z)) + torque = numpy.array((msg.torque.x, msg.torque.y, msg.torque.z)) + + # This mode assumes that the wrench is given wrt thruster manager + # configured base_link reference + self.publish_thrust_forces(force, torque) + + self.last_update = rospy.Time.now() + + def input_stamped_callback(self, msg): + """ + Callback to the subscriber that receiver the stamped wrench to be + applied on UUV's BODY frame. + @param msg Stamped wrench message + """ + if not self.ready: + return + + # NOTE: Kristoffer changed the force / torque configuration by adding negative term + force = numpy.array( + (msg.wrench.force.x, msg.wrench.force.y, msg.wrench.force.z)) + torque = numpy.array( + (msg.wrench.torque.x, msg.wrench.torque.y, msg.wrench.torque.z)) + + # Send the frame ID for the requested wrench + self.publish_thrust_forces(force, torque, msg.header.frame_id.split('/')[-1]) + self.last_update = rospy.Time.now() + + +if __name__ == '__main__': + rospy.init_node('thruster_allocator') + + try: + node = ThrusterAllocatorNode() + rospy.spin() + except rospy.ROSInterruptException: + print 'ThrusterAllocatorNode::Exception' + print 'Leaving ThrusterAllocatorNode' diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/setup.py b/descriptions/urab_sub_control/urab_sub_thruster_manager/setup.py new file mode 100644 index 0000000..ffb548a --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/setup.py @@ -0,0 +1,28 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD + +from distutils.core import setup +from catkin_pkg.python_setup import generate_distutils_setup + +# fetch values from package.xml +setup_args = generate_distutils_setup( + packages=['uuv_thrusters', 'uuv_thrusters.models'], + package_dir={'': 'src'}, + requires=['rospy'] +) + +setup(**setup_args) diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/__init__.py b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/__init__.py new file mode 100644 index 0000000..f904d04 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/__init__.py @@ -0,0 +1,16 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from .thruster_manager import ThrusterManager diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/__init__.py b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/__init__.py new file mode 100644 index 0000000..6029995 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/__init__.py @@ -0,0 +1,18 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from .thruster import Thruster +from .thruster_proportional import ThrusterProportional +from .thruster_custom import ThrusterCustom diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster.py b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster.py new file mode 100644 index 0000000..091425b --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster.py @@ -0,0 +1,109 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import rospy +import numpy +import tf.transformations as trans +from uuv_gazebo_ros_plugins_msgs.msg import FloatStamped +from std_msgs.msg import Header + + +class Thruster(object): + """Abstract function to all the thruster models avaialble. The instance + of a thruster model must use the factory method.""" + + LABEL = '' + + def __init__(self, index, topic, pos, orientation): + """Thruster class constructor. + + Parameters + ---------- + index: int + Thruster's index. + topic: str + Name of the thruster's command topic. + pos: numpy.array + 3D position of the thruster with relation to the reference frame. + orientation: numpy.array + Quaternion with the orientation of the thruster with relation to + the reference frame. + """ + self._index = index + self._topic = topic + self._pos = None + self._orientation = None + self._force_dist = None + if pos is not None and orientation is not None: + self._pos = pos + self._orientation = orientation + # compute contribution to configuration matrix of this thruster + thrust_body = trans.quaternion_matrix(orientation).dot( + numpy.array([1, 0, 0, 0]).transpose())[0:3] + torque_body = numpy.cross(pos, thrust_body) + self._force_dist = numpy.hstack(( + thrust_body, torque_body)).transpose() + self._command = 0 + self._thrust = 0 + self._command_pub = rospy.Publisher(self._topic, FloatStamped, + queue_size=10) + + print 'Thruster #%d - %s - %s' % (self._index, self.LABEL, self._topic) + + @property + def tam_column(self): + return self._force_dist + + @staticmethod + def create_thruster(model_name, *args, **kwargs): + for thruster in Thruster.__subclasses__(): + if model_name == thruster.LABEL: + return thruster(*args, **kwargs) + rospy.ROSException('Invalid thruster model') + + def get_command_value(self, thrust): + """Convert desired thrust force to input command according to this + function. Overwrite this method to implement custom models.""" + return 0 + + def get_thrust_value(self, command): + """Computes the thrust force for the given command.""" + return 0 + + def get_curve(self, min_value, max_value, n_points): + """Sample the conversion curve and return the values.""" + if min_value >= max_value or n_points <= 0: + return [], [] + input_values = numpy.linspace(min_value, max_value, n_points) + output_values = [] + for value in input_values: + output_values.append(self.get_thrust_value(value)) + return input_values.tolist(), output_values + + def _calc_command(self): + """Convert the desired thrust force into angular velocity command + according using a gain.""" + self._command = self.get_command_value(self._thrust) + + def _update(self, thrust): + self._thrust = thrust + self._calc_command() + + def publish_command(self, thrust): + self._update(thrust) + output = FloatStamped() + output.header.stamp = rospy.Time.now() + output.data = self._command + self._command_pub.publish(output) diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster_custom.py b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster_custom.py new file mode 100644 index 0000000..2785c49 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster_custom.py @@ -0,0 +1,51 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import rospy +import numpy +from thruster import Thruster + + +class ThrusterCustom(Thruster): + """Class describing a custom conversion curve between the command input, + usually the angular velocity, and the correspondent output thrust force. + Here the inverse of the conversion function can be computed so that the + command for the desired thrust force is retrieved. + The input vector corresponds to sampled values for the command input, and + the output vector corresponds to the sampled values for the correspondent + thrust forces. + This information is usually available in the datasheet of the thruster's + manufacturer. + """ + LABEL = 'custom' + + def __init__(self, *args, **kwargs): + """Class constructor.""" + super(ThrusterCustom, self).__init__(*args) + + if 'input' not in kwargs or 'output' not in kwargs: + rospy.ROSException('Thruster input/output sample points not given') + # Vector of sample values for each angular velocity + self._input = kwargs['input'] + # Vector of sample values for each thrust force relative to the input + self._output = kwargs['output'] + + def get_command_value(self, thrust): + # Compute the angular velocity necessary for the desired thrust force + return numpy.interp(thrust, self._output, self._input) + + def get_thrust_value(self, command): + """Computes the thrust force for the given command.""" + return numpy.interp(command, self._input, self._output) diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster_proportional.py b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster_proportional.py new file mode 100644 index 0000000..2790f35 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/models/thruster_proportional.py @@ -0,0 +1,43 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import rospy +import numpy +from thruster import Thruster + + +class ThrusterProportional(Thruster): + """This model corresponds to the linear relation between a function + abs(command)*command of the command input (usually the command angular + velocity) to the thrust force. A constant gain has to be provided. + """ + LABEL = 'proportional' + + def __init__(self, *args, **kwargs): + super(ThrusterProportional, self).__init__(*args) + + if 'gain' not in kwargs: + rospy.ROSException('Thruster gain not given') + self._gain = kwargs['gain'] + rospy.loginfo('Thruster model:') + rospy.loginfo('\tGain=' + str(self._gain)) + + def get_command_value(self, thrust): + return numpy.sign(thrust) * \ + numpy.sqrt(numpy.abs(thrust) / self._gain) + + def get_thrust_value(self, command): + """Computes the thrust force for the given command.""" + return self._gain * numpy.abs(command) * command diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/thruster_manager.py b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/thruster_manager.py new file mode 100644 index 0000000..9c70f7c --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/src/uuv_thrusters/thruster_manager.py @@ -0,0 +1,352 @@ +#!/usr/bin/env python +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import numpy +import rospy +import tf +import tf.transformations as trans +import tf2_ros +from os.path import isdir, join +import yaml +from time import sleep +from models import Thruster +from uuv_gazebo_ros_plugins_msgs.msg import FloatStamped +from geometry_msgs.msg import Wrench + + +class ThrusterManager: + """ + The thruster manager generates the thruster allocation matrix using the + TF information and publishes the thruster forces assuming the the thruster + topics are named in the following pattern + + // + + Thruster frames should also be named as follows + + _ + """ + + MAX_THRUSTERS = 16 + + def __init__(self): + """Class constructor.""" + # This flag will be set to true once the thruster allocation matrix is + # available + self._ready = False + + # Acquiring the namespace of the vehicle + self.namespace = rospy.get_namespace() + if self.namespace[-1] != '/': + self.namespace += '/' + + if self.namespace[0] != '/': + self.namespace = '/' + self.namespace + + if not rospy.has_param('thruster_manager'): + raise rospy.ROSException('Thruster manager parameters not ' + 'initialized for uuv_name=' + + self.namespace) + + # Load all parameters + self.config = rospy.get_param('thruster_manager') + + if self.config['update_rate'] < 0: + self.config['update_rate'] = 50 + + self.base_link_ned_to_enu = None + + tf_buffer = tf2_ros.Buffer() + listener = tf2_ros.TransformListener(tf_buffer) + tf_trans_ned_to_enu = None + + try: + target = '%sbase_link' % self.namespace + target = target[1::] + source = '%sbase_link_ned' % self.namespace + source = source[1::] + tf_trans_ned_to_enu = tf_buffer.lookup_transform( + target, source, rospy.Time(), rospy.Duration(1)) + except Exception, e: + rospy.loginfo('No transform found between base_link and base_link_ned' + ' for vehicle ' + self.namespace) + rospy.loginfo(str(e)) + self.base_link_ned_to_enu = None + + if tf_trans_ned_to_enu is not None: + self.base_link_ned_to_enu = trans.quaternion_matrix( + (tf_trans_ned_to_enu.transform.rotation.x, + tf_trans_ned_to_enu.transform.rotation.y, + tf_trans_ned_to_enu.transform.rotation.z, + tf_trans_ned_to_enu.transform.rotation.w))[0:3, 0:3] + + rospy.loginfo('base_link transform NED to ENU=\n' + str(self.base_link_ned_to_enu)) + + rospy.loginfo( + 'ThrusterManager::update_rate=' + str(self.config['update_rate'])) + + # Set the tf_prefix parameter + rospy.set_param('thruster_manager/tf_prefix', self.namespace) + + # Retrieve the output file path to store the TAM + # matrix for future use + self.output_dir = None + if rospy.has_param('~output_dir'): + self.output_dir = rospy.get_param('~output_dir') + if not isdir(self.output_dir): + raise rospy.ROSException( + 'Invalid output directory, output_dir=' + self.output_dir) + rospy.loginfo('output_dir=' + self.output_dir) + + # Number of thrusters + self.n_thrusters = 0 + + # Thruster objects used to calculate the right angular velocity command + self.thrusters = list() + + # Thrust forces vector + self.thrust = None + + # Thruster allocation matrix: transform thruster inputs to force/torque + self.configuration_matrix = None + if rospy.has_param('~tam'): + tam = rospy.get_param('~tam') + self.configuration_matrix = numpy.array(tam) + # Set number of thrusters from the number of columns + self.n_thrusters = self.configuration_matrix.shape[1] + # Create publishing topics to each thruster + params = self.config['conversion_fcn_params'] + conv_fcn = self.config['conversion_fcn'] + if type(params) == list and type(conv_fcn) == list: + if len(params) != self.n_thrusters or len(conv_fcn) != self.n_thrusters: + raise rospy.ROSException('Lists conversion_fcn and ' + 'conversion_fcn_params must have ' + 'the same number of items as of ' + 'thrusters') + for i in range(self.n_thrusters): + topic = self.config['thruster_topic_prefix'] + str(i) + \ + self.config['thruster_topic_suffix'] + if list not in [type(params), type(conv_fcn)]: + thruster = Thruster.create_thruster( + conv_fcn, i, topic, None, None, + **params) + else: + thruster = Thruster.create_thruster( + conv_fcn[i], i, topic, None, None, + **params[i]) + + if thruster is None: + rospy.ROSException('Invalid thruster conversion ' + 'function=%s' + % self.config['conversion_fcn']) + self.thrusters.append(thruster) + rospy.loginfo('Thruster allocation matrix provided!') + rospy.loginfo('TAM=') + rospy.loginfo(self.configuration_matrix) + self.thrust = numpy.zeros(self.n_thrusters) + + if not self.update_tam(): + raise rospy.ROSException('No thrusters found') + + # (pseudo) inverse: force/torque to thruster inputs + self.inverse_configuration_matrix = None + if self.configuration_matrix is not None: + self.inverse_configuration_matrix = numpy.linalg.pinv( + self.configuration_matrix) + + # If an output directory was provided, store matrix for further use + if self.output_dir is not None: + with open(join(self.output_dir, 'TAM.yaml'), 'w') as yaml_file: + yaml_file.write( + yaml.safe_dump( + dict(tam=self.configuration_matrix.tolist()))) + else: + rospy.loginfo('Invalid output directory for the TAM matrix, dir=' + str(self.output_dir)) + + self.ready = True + rospy.loginfo('ThrusterManager: ready') + + def update_tam(self, recalculate=False): + """Calculate the thruster allocation matrix, if one is not given.""" + if self.configuration_matrix is not None and not recalculate: + self.ready = True + rospy.loginfo('TAM provided, skipping...') + rospy.loginfo('ThrusterManager: ready') + return True + + self.ready = False + rospy.loginfo('ThrusterManager: updating thruster poses') + # Small margin to make sure we get thruster frames via tf + now = rospy.Time.now() + rospy.Duration(1.0) + + base = self.namespace + self.config['base_link'] + + self.thrusters = list() + + equal_thrusters = True + idx_thruster_model = 0 + + if type(self.config['conversion_fcn_params']) == list and \ + type(self.config['conversion_fcn']) == list: + if len(self.config['conversion_fcn_params']) != len( + self.config['conversion_fcn']): + raise rospy.ROSException( + 'Lists of conversion_fcn_params and conversion_fcn' + ' must have equal length') + equal_thrusters = False + + rospy.loginfo('conversion_fcn=' + str(self.config['conversion_fcn'])) + rospy.loginfo('conversion_fcn_params=' + str(self.config['conversion_fcn_params'])) + + listener = tf.TransformListener() + sleep(5) + + for i in range(self.MAX_THRUSTERS): + frame = self.namespace + \ + self.config['thruster_frame_base'] + str(i) + try: + # try to get thruster pose with respect to base frame via tf + rospy.loginfo('transform: ' + base + ' -> ' + frame) + now = rospy.Time.now() + rospy.Duration(1.0) + listener.waitForTransform(base, frame, + now, rospy.Duration(30.0)) + [pos, quat] = listener.lookupTransform(base, frame, now) + + topic = self.config['thruster_topic_prefix'] + str(i) + \ + self.config['thruster_topic_suffix'] + + if equal_thrusters: + params = self.config['conversion_fcn_params'] + thruster = Thruster.create_thruster( + self.config['conversion_fcn'], + i, topic, pos, quat, + **params) + else: + if idx_thruster_model >= len(self.config['conversion_fcn']): + raise rospy.ROSException('Number of thrusters found and ' + 'conversion_fcn are different') + params = self.config['conversion_fcn_params'][idx_thruster_model] + conv_fcn = self.config['conversion_fcn'][idx_thruster_model] + thruster = Thruster.create_thruster( + conv_fcn, + i, topic, pos, quat, + **params) + idx_thruster_model += 1 + if thruster is None: + rospy.ROSException('Invalid thruster conversion ' + 'function=%s' + % self.config['conversion_fcn']) + self.thrusters.append(thruster) + except tf.Exception: + rospy.loginfo('could not get transform from: ' + base) + rospy.loginfo('to: ' + frame) + break + + rospy.loginfo(str(self.thrusters)) + if len(self.thrusters) == 0: + return False + + # Set the number of thrusters found + self.n_thrusters = len(self.thrusters) + + # Fill the thrust vector + self.thrust = numpy.zeros(self.n_thrusters) + + # Fill the thruster allocation matrix + self.configuration_matrix = numpy.zeros((6, self.n_thrusters)) + + for i in range(self.n_thrusters): + self.configuration_matrix[:, i] = self.thrusters[i].tam_column + + # Eliminate small values + self.configuration_matrix[numpy.abs( + self.configuration_matrix) < 1e-3] = 0.0 + + rospy.loginfo('TAM= %s', str(self.configuration_matrix)) + + # Once we know the configuration matrix we can compute its + # (pseudo-)inverse: + self.inverse_configuration_matrix = numpy.linalg.pinv( + self.configuration_matrix) + + # If an output directory was provided, store matrix for further use + if self.output_dir is not None and not recalculate: + with open(join(self.output_dir, 'TAM.yaml'), 'w') as yaml_file: + yaml_file.write( + yaml.safe_dump( + dict(tam=self.configuration_matrix.tolist()))) + print 'TAM saved in <%s>' % join(self.output_dir, 'TAM.yaml') + elif recalculate: + print 'Recalculate flag on, matrix will not be stored in TAM.yaml' + else: + print 'Invalid output directory for the TAM matrix, dir=', self.output_dir + + self.ready = True + print ('ThrusterManager: ready') + return True + + def command_thrusters(self): + """Publish the thruster input into their specific topic.""" + if self.thrust is None: + return + for i in range(self.n_thrusters): + self.thrusters[i].publish_command(self.thrust[i]) + + def publish_thrust_forces(self, control_forces, control_torques, + frame_id=None): + if not self.ready: + return + + if frame_id is not None: + if self.config['base_link'] != frame_id: + assert self.base_link_ned_to_enu is not None, 'Transform from' + ' base_link_ned to base_link could not be found' + if 'base_link_ned' not in self.config['base_link']: + control_forces = numpy.dot(self.base_link_ned_to_enu, + control_forces) + control_torques = numpy.dot(self.base_link_ned_to_enu, + control_torques) + else: + control_forces = numpy.dot(self.base_link_ned_to_enu.T, + control_forces) + control_torques = numpy.dot(self.base_link_ned_to_enu.T, + control_torques) + + gen_forces = numpy.hstack( + (control_forces, control_torques)).transpose() + self.thrust = self.compute_thruster_forces(gen_forces) + self.command_thrusters() + + def compute_thruster_forces(self, gen_forces): + """Compute desired thruster forces using the inverse configuration + matrix. + """ + # Calculate individual thrust forces + thrust = self.inverse_configuration_matrix.dot(gen_forces) + # Obey limit on max thrust by applying a constant scaling factor to all + # thrust forces + limitation_factor = 1.0 + if type(self.config['max_thrust']) == list: + if len(self.config['max_thrust']) != self.n_thrusters: + raise rospy.ROSException('max_thrust list must have the length' + ' equal to the number of thrusters') + max_thrust = self.config['max_thrust'] + else: + max_thrust = [self.config['max_thrust'] for _ in range(self.n_thrusters)] + for i in range(self.n_thrusters): + if abs(thrust[i]) > max_thrust[i]: + thrust[i] = numpy.sign(thrust[i]) * max_thrust[i] + return thrust diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/GetThrusterCurve.srv b/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/GetThrusterCurve.srv new file mode 100644 index 0000000..ed01c93 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/GetThrusterCurve.srv @@ -0,0 +1,21 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +float64 min +float64 max +int32 n_points +--- +float64[] input +float64[] thrust diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/GetThrusterManagerConfig.srv b/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/GetThrusterManagerConfig.srv new file mode 100644 index 0000000..6ae62cc --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/GetThrusterManagerConfig.srv @@ -0,0 +1,25 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +--- +string tf_prefix +string base_link +string thruster_frame_base +string thruster_topic_prefix +string thruster_topic_suffix +float64 timeout +float64 max_thrust +int32 n_thrusters +float64[] allocation_matrix diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/SetThrusterManagerConfig.srv b/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/SetThrusterManagerConfig.srv new file mode 100644 index 0000000..35dc620 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/SetThrusterManagerConfig.srv @@ -0,0 +1,29 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Definitions +string DEFAULT_BASE_LINK = /base_link +string DEFAULT_THRUSTER_FRAME_BASE = /thruster_ +string DEFAULT_PREFIX = thrusters/ +string DEFAULT_SUFFIX = /input +# Service definition +string base_link +string thruster_frame_base +string thruster_topic_prefix +string thruster_topic_suffix +float64 timeout +float64 max_thrust +--- +bool success diff --git a/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/ThrusterManagerInfo.srv b/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/ThrusterManagerInfo.srv new file mode 100644 index 0000000..123eaf1 --- /dev/null +++ b/descriptions/urab_sub_control/urab_sub_thruster_manager/srv/ThrusterManagerInfo.srv @@ -0,0 +1,19 @@ +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +--- +int32 n_thrusters +float64[] allocation_matrix +string reference_frame diff --git a/descriptions/urab_sub_description/CMakeLists.txt b/descriptions/urab_sub_description/CMakeLists.txt new file mode 100644 index 0000000..8708d73 --- /dev/null +++ b/descriptions/urab_sub_description/CMakeLists.txt @@ -0,0 +1,27 @@ +cmake_minimum_required(VERSION 2.8.3) +cmake_policy(SET CMP0054 OLD) +project(urab_sub_description) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) + +find_package(catkin REQUIRED) +find_package(gazebo REQUIRED) # this is only required to get gazebo's directories + +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES uuv_descriptions +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +# Install python scripts +catkin_install_python(PROGRAMS scripts/spawn_model + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch Media worlds models world_models + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "*~" EXCLUDE) \ No newline at end of file diff --git a/descriptions/urab_sub_description/launch/upload_urab_sub.launch b/descriptions/urab_sub_description/launch/upload_urab_sub.launch new file mode 100644 index 0000000..94f7521 --- /dev/null +++ b/descriptions/urab_sub_description/launch/upload_urab_sub.launch @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/urab_sub_description/launch/upload_urab_sub_basin_pool.launch b/descriptions/urab_sub_description/launch/upload_urab_sub_basin_pool.launch new file mode 100644 index 0000000..04b3559 --- /dev/null +++ b/descriptions/urab_sub_description/launch/upload_urab_sub_basin_pool.launch @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/urab_sub_description/launch/upload_urab_sub_cyb_pool.launch b/descriptions/urab_sub_description/launch/upload_urab_sub_cyb_pool.launch new file mode 100644 index 0000000..04b3559 --- /dev/null +++ b/descriptions/urab_sub_description/launch/upload_urab_sub_cyb_pool.launch @@ -0,0 +1,79 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/urab_sub_description/mesh/RexROV_no_props.dae b/descriptions/urab_sub_description/mesh/RexROV_no_props.dae new file mode 100644 index 0000000..c072da8 --- /dev/null +++ b/descriptions/urab_sub_description/mesh/RexROV_no_props.dae @@ -0,0 +1,1980 @@ + + + + + Blender User + Blender 2.78.0 commit date:2016-09-26, commit time:12:42, hash:4bb1e22 + + 2016-10-21T17:32:04 + 2016-10-21T17:32:04 + + Z_UP + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0.000999987 + 1 + 0.1 + 0.1 + 1 + 1 + 1 + 2 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 2880 + 2 + 30.002 + 1.000799 + 0.04999995 + 29.99998 + 1 + 2 + 0 + 0 + 1 + 1 + 1 + 1 + 8192 + 1 + 1 + 0 + 1 + 1 + 1 + 3 + 0 + 0 + 0 + 0 + 0 + 1 + 1 + 1 + 3 + 0.15 + 75 + 1 + 1 + 0 + 1 + 1 + 0 + + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.5056 0.008 0.0056 1 + + + 0 0 0 1 + + + 103 + + + 1 + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 0.6405241 0.6405241 0.6405241 1 + + + 0 0 0 1 + + + 103 + + + 1 + + + + + + + + + + + 0 0 0 1 + + + 0 0 0 1 + + + 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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1.89802 30.6476 17.4266 2.11795 30.3898 17.9999 1.83271 30.5423 17.3344 2.54827 30.4776 17.2772 2.75682 30.187 17.8798 2.63531 30.4051 17.2126 2.96033 30.3252 17.1407 3.15844 30.0374 17.7912 3.0162 30.238 17.0616 3.35075 30.144 16.9753 3.53678 29.8572 17.6845 3.37882 30.0438 16.8822 3.71543 29.9378 16.7827 3.88635 29.6483 17.5607 3.7199 29.6483 17.5607 3.7199 29.9378 16.7827 3.88635 29.4123 17.421 4.03635 29.6483 17.5607 3.7199 29.4123 17.421 4.03635 29.0449 18.5416 3.7199 28.8138 18.394 4.03635 29.0449 18.5416 3.7199 28.8138 18.394 4.03635 28.4091 19.5018 3.7199 28.1831 19.3466 4.03635 28.4091 19.5018 3.7199 28.1831 19.3466 4.03635 27.7416 20.4402 3.7199 27.5209 20.2775 4.03635 27.7416 20.4402 3.7199 27.5209 20.2775 4.03635 27.0431 21.3557 3.7199 26.8279 21.1858 4.03635 27.0431 21.3557 3.7199 26.8279 21.1858 4.03635 26.3144 22.2475 3.7199 26.105 22.0704 4.03635 26.3144 22.2475 3.7199 26.105 22.0704 4.03635 25.5563 23.1143 3.7199 25.353 22.9304 4.03635 29.9378 16.7827 3.88635 29.8265 16.6766 4.04931 29.4123 17.421 4.03635 29.4123 17.421 4.03635 29.8265 16.6766 4.04931 29.7101 16.5643 4.20408 29.4123 17.421 4.03635 29.7101 16.5643 4.20408 29.1516 17.2665 4.3253 29.1516 17.2665 4.3253 29.7101 16.5643 4.20408 29.5889 16.4456 4.35047 29.1516 17.2665 4.3253 29.5889 16.4456 4.35047 29.4634 16.3209 4.48823 29.1516 17.2665 4.3253 29.4634 16.3209 4.48823 28.8684 17.0988 4.58413 28.8684 17.0988 4.58413 29.4634 16.3209 4.48823 29.3339 16.1902 4.61716 28.8684 17.0988 4.58413 29.3339 16.1902 4.61716 29.2011 16.0538 4.73673 28.8684 17.0988 4.58413 29.2011 16.0538 4.73673 28.5653 16.9193 4.81051 28.5653 16.9193 4.81051 29.2011 16.0538 4.73673 29.066 15.9128 4.84636 28.5653 16.9193 4.81051 29.066 15.9128 4.84636 28.2451 16.7296 5.00238 28.2451 16.7296 5.00238 29.066 15.9128 4.84636 28.9288 15.7671 4.94605 28.2451 16.7296 5.00238 28.9288 15.7671 4.94605 28.7884 15.7765 5.00238 28.7884 15.7765 5.00238 28.9288 15.7671 4.94605 28.79 15.6171 5.0358 28.7884 15.7765 5.00238 28.79 15.6171 5.0358 28.6498 15.4629 5.11564 28.7884 15.7765 5.00238 28.6498 15.4629 5.11564 28.4475 15.5896 5.158 28.4475 15.5896 5.158 28.6498 15.4629 5.11564 28.5085 15.3047 5.18559 28.4475 15.5896 5.158 28.5085 15.3047 5.18559 28.3665 15.1427 5.24565 28.4475 15.5896 5.158 28.3665 15.1427 5.24565 28.0951 15.3966 5.27597 28.0951 15.3966 5.27597 28.3665 15.1427 5.24565 28.224 14.9771 5.29585 28.0951 15.3966 5.27597 28.224 14.9771 5.29585 28.0816 14.8083 5.33615 28.0951 15.3966 5.27597 28.0816 14.8083 5.33615 27.7346 15.199 5.35521 27.7346 15.199 5.35521 28.0816 14.8083 5.33615 27.9402 14.6373 5.36649 27.7346 15.199 5.35521 27.9402 14.6373 5.36649 27.7999 14.4643 5.38703 27.7346 15.199 5.35521 27.7999 14.4643 5.38703 27.369 14.9986 5.39502 27.369 14.9986 5.39502 27.7999 14.4643 5.38703 27.5236 14.1134 5.39946 27.369 14.9986 5.39502 27.5236 14.1134 5.39946 27.0186 15.0576 5.39946 27.369 14.9986 5.39502 27.0186 15.0576 5.39946 26.8526 15.9048 5.39502 26.8526 15.9048 5.39502 27.0186 15.0576 5.39946 26.4813 15.9838 5.39946 26.8526 15.9048 5.39502 26.4813 15.9838 5.39946 26.3061 16.7932 5.39502 26.3061 16.7932 5.39502 26.4813 15.9838 5.39946 25.9121 16.8909 5.39946 26.3061 16.7932 5.39502 25.9121 16.8909 5.39946 25.7303 17.6628 5.39502 25.7303 17.6628 5.39502 25.9121 16.8909 5.39946 25.312 17.7777 5.39946 25.7303 17.6628 5.39502 25.312 17.7777 5.39946 25.1257 18.5128 5.39502 25.1257 18.5128 5.39502 25.312 17.7777 5.39946 24.6814 18.6431 5.39946 25.1257 18.5128 5.39502 24.6814 18.6431 5.39946 24.4931 19.342 5.39502 24.4931 19.342 5.39502 24.6814 18.6431 5.39946 24.0213 19.4863 5.39946 24.4931 19.342 5.39502 24.0213 19.4863 5.39946 23.8331 20.1496 5.39502 23.8331 20.1496 5.39502 24.0213 19.4863 5.39946 23.3325 20.3061 5.39946 23.8331 20.1496 5.39502 23.3325 20.3061 5.39946 23.1465 20.9348 5.39502 23.1465 20.9348 5.39502 23.3325 20.3061 5.39946 22.6156 21.1015 5.39946 22.434 21.6965 5.39502 21.8717 21.8717 5.39946 21.6965 22.434 5.39502 21.6965 22.434 5.39502 21.8717 21.8717 5.39946 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21.9268 27.7663 1.41825 21.8899 27.7195 1.83271 21.9268 27.7663 1.41825 22.8039 26.9726 1.83271 22.8039 26.9726 1.83271 22.7402 26.8972 2.23962 22.8039 26.9726 1.83271 23.6262 26.1223 2.23962 23.6262 26.1223 2.23962 23.5344 26.0207 2.63531 23.6262 26.1223 2.23962 24.2626 25.369 2.58755 23.5344 26.0207 2.63531 24.2626 25.369 2.58755 24.1436 25.3271 2.85228 21.2686 28.2985 1 22.154 27.6109 1 21.9268 27.7663 1.41825 21.9268 27.7663 1.41825 22.154 27.6109 1 22.8424 27.0181 1.41825 22.8424 27.0181 1.41825 22.8039 26.9726 1.83271 22.8424 27.0181 1.41825 23.6924 26.1955 1.83271 23.6924 26.1955 1.83271 23.6262 26.1223 2.23962 23.6924 26.1955 1.83271 24.4718 25.4007 2.0564 23.6262 26.1223 2.23962 24.4718 25.4007 2.0564 24.3734 25.3921 2.32134 22.154 27.6109 1 23.0172 26.8955 1 22.8424 27.0181 1.41825 22.8424 27.0181 1.41825 23.0172 26.8955 1 23.7324 26.2397 1.41825 23.7324 26.2397 1.41825 23.6924 26.1955 1.83271 23.7324 26.2397 1.41825 24.5542 25.3997 1.79393 23.6924 26.1955 1.83271 24.5542 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16.4193 6 25.8496 17.311 5.99878 25.8496 17.311 5.99878 26.2946 16.4193 6 26.4107 16.4422 5.99878 26.4107 16.4422 5.99878 26.7853 16.6755 5.96944 26.4107 16.4422 5.99878 27.3248 15.776 5.96944 27.3248 15.776 5.96944 27.7033 15.9945 5.90121 27.3248 15.776 5.96944 27.8348 14.8576 5.96944 28.221 15.0622 5.90121 28.221 15.0622 5.90121 27.8348 14.8576 5.96944 28.3371 14.1745 5.95297 28.221 15.0622 5.90121 28.3371 14.1745 5.95297 28.4962 14.3684 5.91586 26.2946 16.4193 6 26.8523 15.4904 6 26.4107 16.4422 5.99878 26.4107 16.4422 5.99878 26.8523 15.4904 6 26.9426 15.5553 5.99878 26.9426 15.5553 5.99878 27.3248 15.776 5.96944 26.9426 15.5553 5.99878 27.4449 14.6509 5.99878 27.8348 14.8576 5.96944 27.8348 14.8576 5.96944 27.4449 14.6509 5.99878 28.1794 13.9778 5.97923 27.8348 14.8576 5.96944 28.1794 13.9778 5.97923 28.3371 14.1745 5.95297 26.9426 15.5553 5.99878 26.8523 15.4904 6 27.4449 14.6509 5.99878 27.4449 14.6509 5.99878 26.8523 15.4904 6 27.3773 14.5425 6 27.4449 14.6509 5.99878 27.3773 14.5425 6 27.9175 13.729 5.99878 27.9175 13.729 5.99878 27.3773 14.5425 6 27.8688 13.5769 6 27.9175 13.729 5.99878 27.8688 13.5769 6 28.0232 13.7785 5.99484 27.9175 13.729 5.99878 28.0232 13.7785 5.99484 27.4449 14.6509 5.99878 27.4449 14.6509 5.99878 28.0232 13.7785 5.99484 28.1794 13.9778 5.97923 28.4962 14.3684 5.91586 28.6563 14.5591 5.86772 28.221 15.0622 5.90121 28.8171 14.7466 5.80833 28.9785 14.9305 5.73754 28.6004 15.2632 5.79462 29.1391 15.1097 5.6556 29.2984 15.2835 5.56267 28.97 15.4589 5.65051 29.4558 15.4518 5.4588 29.6111 15.6146 5.34405 29.3269 15.6478 5.47 29.3269 15.6478 5.47 29.6111 15.6146 5.34405 28.787 16.6202 5.47 29.7639 15.7715 5.21844 29.9137 15.9226 5.08203 29.6684 15.8284 5.25451 28.9531 21.3943 1 28.2289 22.3412 1 28.5112 21.9717 1.22117 28.5112 21.9717 1.22117 28.2289 22.3412 1 27.7652 22.9072 1.22117 27.7652 22.9072 1.22117 27.735 22.8824 1.66177 27.7652 22.9072 1.22117 26.9591 23.7916 1.66177 26.9591 23.7916 1.66177 26.9007 23.7401 2.09719 26.9591 23.7916 1.66177 26.0968 24.6211 2.09719 26.0968 24.6211 2.09719 26.0124 24.5414 2.52403 26.0968 24.6211 2.09719 25.1823 25.3925 2.52403 25.1823 25.3925 2.52403 25.0743 25.2836 2.93894 25.1823 25.3925 2.52403 24.2201 26.1031 2.93894 24.2201 26.1031 2.93894 24.0913 25.9642 3.33867 24.2201 26.1031 2.93894 23.215 26.7506 3.33867 23.215 26.7506 3.33867 23.0681 26.5815 3.7201 23.215 26.7506 3.33867 22.1719 27.3335 3.7201 22.1719 27.3335 3.7201 22.0101 27.1341 4.08024 22.1719 27.3335 3.7201 21.096 27.8506 4.08024 21.096 27.8506 4.08024 20.9224 27.6214 4.41628 21.096 27.8506 4.08024 19.9927 28.3015 4.41628 19.9927 28.3015 4.41628 19.8103 28.0432 4.72558 19.9927 28.3015 4.41628 18.8672 28.6862 4.72558 18.8672 28.6862 4.72558 18.6791 28.4002 5.00572 18.8672 28.6862 4.72558 17.7248 29.0054 5.00572 17.7248 29.0054 5.00572 17.5341 28.6933 5.25451 17.7248 29.0054 5.00572 16.5707 29.2602 5.25451 16.5707 29.2602 5.25451 28.2289 22.3412 1 27.4737 23.2636 1 27.7652 22.9072 1.22117 27.7652 22.9072 1.22117 27.4737 23.2636 1 26.9885 23.8175 1.22117 26.9885 23.8175 1.22117 26.9591 23.7916 1.66177 26.9885 23.8175 1.22117 26.1535 24.6745 1.66177 26.1535 24.6745 1.66177 26.0968 24.6211 2.09719 26.1535 24.6745 1.66177 25.264 25.4749 2.09719 25.264 25.4749 2.09719 25.1823 25.3925 2.52403 25.264 25.4749 2.09719 24.3244 26.2155 2.52403 24.3244 26.2155 2.52403 24.2201 26.1031 2.93894 24.3244 26.2155 2.52403 23.3391 26.8937 2.93894 23.3391 26.8937 2.93894 23.215 26.7506 3.33867 23.3391 26.8937 2.93894 22.313 27.5075 3.33867 22.313 27.5075 3.33867 22.1719 27.3335 3.7201 22.313 27.5075 3.33867 21.2511 28.0554 3.7201 21.2511 28.0554 3.7201 21.096 27.8506 4.08024 21.2511 28.0554 3.7201 20.1587 28.5365 4.08024 20.1587 28.5365 4.08024 19.9927 28.3015 4.41628 20.1587 28.5365 4.08024 19.041 28.9504 4.41628 19.041 28.9504 4.41628 18.8672 28.6862 4.72558 19.041 28.9504 4.41628 17.9033 29.2975 4.72558 17.9033 29.2975 4.72558 17.7248 29.0054 5.00572 17.9033 29.2975 4.72558 16.7509 29.5785 5.00572 16.7509 29.5785 5.00572 27.4737 23.2636 1 26.6884 24.1605 1 26.9885 23.8175 1.22117 26.9885 23.8175 1.22117 26.6884 24.1605 1 26.1819 24.7013 1.22117 26.1819 24.7013 1.22117 26.1535 24.6745 1.66177 26.1819 24.7013 1.22117 25.3189 25.5302 1.66177 25.3189 25.5302 1.66177 25.264 25.4749 2.09719 25.3189 25.5302 1.66177 24.4033 26.3005 2.09719 24.4033 26.3005 2.09719 24.3244 26.2155 2.52403 24.4033 26.3005 2.09719 23.4396 27.0095 2.52403 23.4396 27.0095 2.52403 23.3391 26.8937 2.93894 23.4396 27.0095 2.52403 22.4323 27.6546 2.93894 22.4323 27.6546 2.93894 22.313 27.5075 3.33867 22.4323 27.6546 2.93894 21.3864 28.2339 3.33867 21.3864 28.2339 3.33867 21.2511 28.0554 3.7201 21.3864 28.2339 3.33867 20.3069 28.7462 3.7201 20.3069 28.7462 3.7201 20.1587 28.5365 4.08024 20.3069 28.7462 3.7201 19.199 29.1907 4.08024 19.199 29.1907 4.08024 19.041 28.9504 4.41628 19.199 29.1907 4.08024 18.0682 29.5673 4.41628 18.0682 29.5673 4.41628 17.9033 29.2975 4.72558 18.0682 29.5673 4.41628 16.9196 29.8764 4.72558 16.9196 29.8764 4.72558 26.6884 24.1605 1 25.8738 25.0309 1 26.1819 24.7013 1.22117 26.1819 24.7013 1.22117 25.8738 25.0309 1 25.3464 25.5579 1.22117 25.3464 25.5579 1.22117 25.3189 25.5302 1.66177 25.3464 25.5579 1.22117 24.4563 26.3576 1.66177 24.4563 26.3576 1.66177 24.4033 26.3005 2.09719 24.4563 26.3576 1.66177 23.5157 27.0971 2.09719 23.5157 27.0971 2.09719 23.4396 27.0095 2.52403 23.5157 27.0971 2.09719 22.5289 27.7736 2.52403 22.5289 27.7736 2.52403 22.4323 27.6546 2.93894 22.5289 27.7736 2.52403 21.5007 28.3849 2.93894 21.5007 28.3849 2.93894 21.3864 28.2339 3.33867 21.5007 28.3849 2.93894 20.4361 28.9292 3.33867 20.4361 28.9292 3.33867 20.3069 28.7462 3.7201 20.4361 28.9292 3.33867 19.3402 29.4053 3.7201 19.3402 29.4053 3.7201 19.199 29.1907 4.08024 19.3402 29.4053 3.7201 18.2182 29.8127 4.08024 18.2182 29.8127 4.08024 18.0682 29.5673 4.41628 18.2182 29.8127 4.08024 17.0754 30.1515 4.41628 17.0754 30.1515 4.41628 25.8738 25.0309 1 25.0309 25.8738 1 25.3464 25.5579 1.22117 25.3464 25.5579 1.22117 25.0309 25.8738 1 24.4829 26.3863 1.22117 24.4829 26.3863 1.22117 24.4563 26.3576 1.66177 24.4829 26.3863 1.22117 23.5667 27.1559 1.66177 23.5667 27.1559 1.66177 23.5157 27.0971 2.09719 23.5667 27.1559 1.66177 22.602 27.8638 2.09719 22.602 27.8638 2.09719 22.5289 27.7736 2.52403 22.602 27.8638 2.09719 21.5933 28.5071 2.52403 21.5933 28.5071 2.52403 21.5007 28.3849 2.93894 21.5933 28.5071 2.52403 20.5454 29.0838 2.93894 20.5454 29.0838 2.93894 20.4361 28.9292 3.33867 20.5454 29.0838 2.93894 19.4632 29.5924 3.33867 19.4632 29.5924 3.33867 19.3402 29.4053 3.7201 19.4632 29.5924 3.33867 18.3521 30.0319 3.7201 18.3521 30.0319 3.7201 18.2182 29.8127 4.08024 18.3521 30.0319 3.7201 17.2172 30.4018 4.08024 17.2172 30.4018 4.08024 25.0309 25.8738 1 24.1605 26.6884 1 24.4829 26.3863 1.22117 24.4829 26.3863 1.22117 24.1605 26.6884 1 23.5923 27.1855 1.22117 23.5923 27.1855 1.22117 23.5667 27.1559 1.66177 23.5923 27.1855 1.22117 22.6511 27.9243 1.66177 22.6511 27.9243 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30.3846 2.93894 18.4689 30.223 3.33867 18.5677 30.3846 2.93894 17.4541 30.8202 3.33867 17.4541 30.8202 3.33867 23.2636 27.4737 1 22.3412 28.2289 1 22.6757 27.9546 1.22117 22.6757 27.9546 1.22117 22.3412 28.2289 1 21.734 28.6929 1.22117 21.734 28.6929 1.22117 21.7104 28.6617 1.66177 21.734 28.6929 1.22117 20.7457 29.3675 1.66177 20.7457 29.3675 1.66177 20.7008 29.3039 2.09719 20.7457 29.3675 1.66177 19.7154 29.9757 2.09719 19.7154 29.9757 2.09719 19.6516 29.8788 2.52403 19.7154 29.9757 2.09719 18.6476 30.5155 2.52403 18.6476 30.5155 2.52403 18.5677 30.3846 2.93894 18.6476 30.5155 2.52403 17.5475 30.985 2.93894 17.5475 30.985 2.93894 22.3412 28.2289 1 21.3943 28.9531 1 21.734 28.6929 1.22117 21.734 28.6929 1.22117 21.3943 28.9531 1 20.7683 29.3994 1.22117 20.7683 29.3994 1.22117 20.7457 29.3675 1.66177 20.7683 29.3994 1.22117 19.7582 30.0408 1.66177 19.7582 30.0408 1.66177 19.7154 29.9757 2.09719 19.7582 30.0408 1.66177 18.7081 30.6145 2.09719 18.7081 30.6145 2.09719 18.6476 30.5155 2.52403 18.7081 30.6145 2.09719 17.623 31.1184 2.52403 17.623 31.1184 2.52403 21.3943 28.9531 1 20.424 29.6456 1 20.7683 29.3994 1.22117 20.7683 29.3994 1.22117 20.424 29.6456 1 19.7796 30.0735 1.22117 19.7796 30.0735 1.22117 19.7582 30.0408 1.66177 19.7796 30.0735 1.22117 18.7487 30.6809 1.66177 18.7487 30.6809 1.66177 18.7081 30.6145 2.09719 18.7487 30.6809 1.66177 17.6802 31.2194 2.09719 17.6802 31.2194 2.09719 20.424 29.6456 1 19.4313 30.3055 1 19.7796 30.0735 1.22117 19.7796 30.0735 1.22117 19.4313 30.3055 1 18.7691 30.7143 1.22117 18.7691 30.7143 1.22117 18.7487 30.6809 1.66177 18.7691 30.7143 1.22117 17.7186 31.2872 1.66177 17.7186 31.2872 1.66177 19.4313 30.3055 1 18.4172 30.9323 1 18.7691 30.7143 1.22117 18.7691 30.7143 1.22117 18.4172 30.9323 1 17.7379 31.3212 1.22117 17.7379 31.3212 1.22117 14.6272 27.9566 5.96944 14.8298 28.3438 5.90121 14.6272 27.9566 5.96944 15.7637 27.8353 5.90121 15.5483 27.455 5.96944 15.7637 27.8353 5.90121 15.0288 28.7242 5.79462 14.8298 28.3438 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24.941 25.1491 3.33867 24.7832 24.9901 3.7201 25.7631 24.3062 3.33867 25.7631 24.3062 3.33867 25.9009 24.4362 2.93894 25.7631 24.3062 3.33867 26.6988 23.5618 2.93894 26.6988 23.5618 2.93894 26.8137 23.6633 2.52403 26.6988 23.5618 2.93894 27.5854 22.7589 2.52403 27.5854 22.7589 2.52403 27.675 22.8328 2.09719 27.5854 22.7589 2.52403 28.4186 21.9003 2.09719 28.4186 21.9003 2.09719 28.4803 21.9479 1.66177 28.4186 21.9003 2.09719 29.1941 20.9891 1.66177 29.1941 20.9891 1.66177 29.2258 21.0119 1.22117 29.1941 20.9891 1.66177 29.908 20.0289 1.22117 16.904 27.6622 5.79462 17.1221 28.0191 5.65051 16.904 27.6622 5.79462 18.044 27.4345 5.65051 17.8142 27.0851 5.79462 18.044 27.4345 5.65051 18.044 27.4345 5.65051 18.2659 27.7719 5.47 18.044 27.4345 5.65051 19.1789 27.1494 5.47 19.1789 27.1494 5.47 19.4017 27.4649 5.25451 19.1789 27.1494 5.47 20.3039 26.8049 5.25451 20.3039 26.8049 5.25451 20.5247 27.0964 5.00572 20.3039 26.8049 5.25451 21.414 26.3992 5.00572 21.414 26.3992 5.00572 21.6297 26.6651 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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + diff --git a/descriptions/urab_sub_description/package.xml b/descriptions/urab_sub_description/package.xml new file mode 100644 index 0000000..022999e --- /dev/null +++ b/descriptions/urab_sub_description/package.xml @@ -0,0 +1,27 @@ + + + urab_sub_description + 0.0.0 + The urab_sub_description package + + + + + kristoffer + + Apache-2.0 + + catkin + + gazebo_ros + gazebo_ros_control + message_to_tf + uuv_sensor_ros_plugins + uuv_gazebo_ros_plugins + robot_state_publisher + + + + + diff --git a/descriptions/urab_sub_description/robots/urab_sub_default.xacro b/descriptions/urab_sub_description/robots/urab_sub_default.xacro new file mode 100644 index 0000000..2432f41 --- /dev/null +++ b/descriptions/urab_sub_description/robots/urab_sub_default.xacro @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + 1028.0 + hydrodynamics/current_velocity + $(arg debug) + + + + + + + + + + diff --git a/descriptions/urab_sub_description/scripts/spawn_model b/descriptions/urab_sub_description/scripts/spawn_model new file mode 100755 index 0000000..6cf9661 --- /dev/null +++ b/descriptions/urab_sub_description/scripts/spawn_model @@ -0,0 +1,389 @@ +#!/usr/bin/env python +# +# Copyright (c) 2016 The UUV Simulator Authors. +# All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# This source code is derived from gazebo_ros_pkgs +# (https://github.com/ros-simulation/gazebo_ros_pkgs) +# * Copyright 2013 Open Source Robotics Foundation +# licensed under the Apache-2.0 license, +# cf. 3rd-party-licenses.txt file in the root directory of this source tree. +# +# The original code was modified to: +# - Allow overrling the initial position and orientation programmatically +# from within another ros node by setting rosparam values xref, rollref, ... +# (See comments below for more details.) +from __future__ import print_function + +import rospy, sys, os, time +import string +import warnings +import re + +from gazebo_ros import gazebo_interface + +from gazebo_msgs.msg import * +from gazebo_msgs.srv import * +from std_srvs.srv import Empty +from geometry_msgs.msg import Point, Pose, Quaternion, Twist, Wrench +import tf.transformations as tft + + +try: + import pymap3d + use_pymap = True +except Exception as ex: + print('Package pymap3d is not available, WGS84 coordinates cannot be used\n' + 'Download pymap3d for Python 2.7 as\n' + '>> sudo pip install pymap3d==1.5.2\n' + 'or for Python 3.x as\n' + '>> sudo pip install pymap3d') + use_pymap = False + +model_database_template = """ + + + model://MODEL_NAME + + +""" + + +def usage(): + """Print usage instructions for this script.""" + print('''Commands: + -[urdf|sdf|trimesh|gazebo] - specify incoming xml is urdf, sdf or trimesh format. gazebo arg is deprecated in ROS Hydro + -[file|param|database] [||] - source of the model xml or the trimesh file + -model - name of the model to be spawned. + -reference_frame - optinal: name of the model/body where initial pose is defined. + If left empty or specified as "world", gazebo world frame is used. + -gazebo_namespace - optional: ROS namespace of gazebo offered ROS interfaces. Defaults to /gazebo/ (e.g. /gazebo/spawn_model). + -robot_namespace - optional: change ROS namespace of gazebo-plugins. + -unpause - optional: !!!Experimental!!! unpause physics after spawning model + -wait - optional: !!!Experimental!!! wait for model to exist + -trimesh_mass - required if -trimesh is used: linear mass + -trimesh_ixx - required if -trimesh is used: moment of inertia about x-axis + -trimesh_iyy - required if -trimesh is used: moment of inertia about y-axis + -trimesh_izz - required if -trimesh is used: moment of inertia about z-axis + -trimesh_gravity - required if -trimesh is used: gravity turned on for this trimesh model + -trimesh_material - required if -trimesh is used: E.g. Gazebo/Blue + -trimesh_name - required if -trimesh is used: name of the link containing the trimesh + -x - optional: initial pose, use 0 if left out + -y - optional: initial pose, use 0 if left out + -z - optional: initial pose, use 0 if left out + -R - optional: initial pose, use 0 if left out + -P - optional: initial pose, use 0 if left out + -Y - optional: initial pose, use 0 if left out + -J - optional: initialize the specified joint at the specified value + -package_to_model - optional: convert urdf - optional: initial pose, will be ignored if left out + -longitude - optional: initial pose, will be ignored if left out + -altitude - optional: initial pose, will be ignored if left out + -latitude_ref - optional: latitude of the world's origin, will be ignored if left out + -longitude_ref - optional: longitude of the world's origin, will be ignored if left out + -altitude_ref - optional: altitude of the world's origin, will be ignored if left out + ''') + sys.exit(1) + +class SpawnModel(): + + def __init__(self): + self.initial_xyz = [0,0,0] + self.initial_rpy = [0,0,0] + self.initial_geo = [None,None,None] + self.ref_geo = [None,None,None] + self.initial_q = [0,0,0,1] + self.file_name = "" + self.param_name = "" + self.database_name = "" + self.model_name = "" + self.robot_namespace = rospy.get_namespace() + self.gazebo_namespace = "/gazebo" + self.reference_frame = "" + self.unpause_physics = False + self.wait_for_model = "" + self.wait_for_model_exists = False + self.urdf_format = False + self.sdf_format = False + self.joint_names = [] + self.joint_positions = [] + self.package_to_model = False + + def parseUserInputs(self): + # get goal from commandline + for i in range(0, len(sys.argv)): + if sys.argv[i] == '-h' or sys.argv[i] == '--help' or sys.argv[i] == '-help': + usage() + sys.exit(1) + if sys.argv[i] == '-unpause': + self.unpause_physics = True + if sys.argv[i] == '-urdf': + if self.sdf_format: + print("Error: you cannot specify both urdf and sdf format xml, must pick one") + sys.exit(0) + else: + self.urdf_format = True + if sys.argv[i] == '-sdf' or sys.argv[i] == '-gazebo': + if self.urdf_format: + print("Error: you cannot specify both urdf and sdf format xml, must pick one") + sys.exit(0) + else: + if sys.argv[i] == '-gazebo': + print("Deprecated: the -gazebo tag is now -sdf") + warnings.warn("Deprecated: the -gazebo tag is now -sdf", DeprecationWarning) + self.sdf_format = True + if sys.argv[i] == '-J': + if len(sys.argv) > i+2: + self.joint_names.append(sys.argv[i+1]) + self.joint_positions.append(float(sys.argv[i+2])) + else: + print("Error: must specify a joint name and joint value pair") + sys.exit(0) + if sys.argv[i] == '-param': + if len(sys.argv) > i+1: + if self.file_name != "" or self.database_name != "": + print("Error: you cannot specify file name if parameter or database name is given, must pick one source of model xml") + sys.exit(0) + else: + self.param_name = sys.argv[i+1] + rospy.loginfo('Parameter name: %s', self.param_name) + if sys.argv[i] == '-file': + if len(sys.argv) > i+1: + if self.param_name != "" or self.database_name != "": + print("Error: you cannot specify parameter if file or database name is given, must pick one source of model xml") + sys.exit(0) + else: + self.file_name = sys.argv[i+1] + if sys.argv[i] == '-database': + if len(sys.argv) > i+1: + if self.param_name != "" or self.file_name != "": + print("Error: you cannot specify parameter if file or parameter name is given, must pick one source of model xml") + sys.exit(0) + else: + self.database_name = sys.argv[i+1] + if sys.argv[i] == '-model': + if len(sys.argv) > i+1: + self.model_name = sys.argv[i+1] + if sys.argv[i] == '-wait': + if len(sys.argv) > i+1: + self.wait_for_model = sys.argv[i+1] + if sys.argv[i] == '-reference_frame': + if len(sys.argv) > i+1: + self.reference_frame = sys.argv[i+1] + if sys.argv[i] == '-robot_namespace': + if len(sys.argv) > i+1: + self.robot_namespace = sys.argv[i+1] + if sys.argv[i] == '-namespace': + if len(sys.argv) > i+1: + self.robot_namespace = sys.argv[i+1] + if sys.argv[i] == '-gazebo_namespace': + if len(sys.argv) > i+1: + self.gazebo_namespace = sys.argv[i+1] + if sys.argv[i] == '-x': + if len(sys.argv) > i+1: + self.initial_xyz[0] = float(sys.argv[i+1]) + if sys.argv[i] == '-y': + if len(sys.argv) > i+1: + self.initial_xyz[1] = float(sys.argv[i+1]) + if sys.argv[i] == '-z': + if len(sys.argv) > i+1: + self.initial_xyz[2] = float(sys.argv[i+1]) + if sys.argv[i] == '-R': + if len(sys.argv) > i+1: + self.initial_rpy[0] = float(sys.argv[i+1]) + if sys.argv[i] == '-P': + if len(sys.argv) > i+1: + self.initial_rpy[1] = float(sys.argv[i+1]) + if sys.argv[i] == '-Y': + if len(sys.argv) > i+1: + self.initial_rpy[2] = float(sys.argv[i+1]) + if sys.argv[i] == '-latitude': + if len(sys.argv) > i+1: + self.initial_geo[0] = float(sys.argv[i+1]) + if sys.argv[i] == '-longitude': + if len(sys.argv) > i+1: + self.initial_geo[1] = float(sys.argv[i+1]) + if sys.argv[i] == '-altitude': + if len(sys.argv) > i+1: + self.initial_geo[2] = float(sys.argv[i+1]) + if sys.argv[i] == '-depth': + if len(sys.argv) > i+1: + self.initial_geo[2] = -1 * float(sys.argv[i+1]) + if sys.argv[i] == '-latitude_ref': + if len(sys.argv) > i+1: + self.ref_geo[0] = float(sys.argv[i+1]) + if sys.argv[i] == '-longitude_ref': + if len(sys.argv) > i+1: + self.ref_geo[1] = float(sys.argv[i+1]) + if sys.argv[i] == '-altitude_ref': + if len(sys.argv) > i+1: + self.ref_geo[2] = float(sys.argv[i+1]) + if sys.argv[i] == '-package_to_model': + self.package_to_model = True + + if not self.sdf_format and not self.urdf_format: + print("Error: you must specify incoming format as either urdf or sdf format xml") + sys.exit(0) + if self.model_name == "": + print("Error: you must specify model name") + sys.exit(0) + + # Modification for UUV Simulator: + # Added chance to overrule initial pose via ros parameters. + if rospy.has_param('xref'): + self.initial_xyz[0] = float(rospy.get_param('xref')) + if rospy.has_param('yref'): + self.initial_xyz[1] = float(rospy.get_param('yref')) + if rospy.has_param('zref'): + self.initial_xyz[2] = float(rospy.get_param('zref')) + if rospy.has_param('rollref'): + self.initial_rpy[0] = float(rospy.get_param('rollref')) + if rospy.has_param('pitchref'): + self.initial_rpy[1] = float(rospy.get_param('pitchref')) + if rospy.has_param('yawref'): + self.initial_rpy[2] = float(rospy.get_param('yawref')) + + def checkForModel(self, model): + for n in model.name: + if n == self.wait_for_model: + self.wait_for_model_exists = True + + # Generate a blank SDF file with an include for the model from the model database + def createDatabaseCode(self, database_name): + return model_database_template.replace("MODEL_NAME", database_name) + + def callSpawnService(self): + # wait for model to exist + rospy.init_node('spawn_model') + + if not self.wait_for_model == "": + rospy.Subscriber("%s/model_states" % self.gazebo_namespace, ModelStates, self.checkForModel) + r = rospy.Rate(10) + while not rospy.is_shutdown() and not self.wait_for_model_exists: + r.sleep() + + if rospy.is_shutdown(): + sys.exit(0) + + if len(self.file_name) > 0: + rospy.loginfo("Loading model xml from file") + if os.path.exists(self.file_name): + if os.path.isdir(self.file_name): + rospy.logerr("Error: file name is an invalid path, %s", self.file_name) + sys.exit(0) + if not os.path.isfile(self.file_name): + rospy.logerr("Error: unable to open file %s", self.file_name) + sys.exit(0) + else: + rospy.logerr("Error: file does not exist", self.file_name) + sys.exit(0) + # load file + f = open(self.file_name, 'r') + model_xml = f.read() + if model_xml == "": + rospy.logerr("Error: file is empty", self.file_name) + sys.exit(0) + + # ROS Parameter + elif len(self.param_name) > 0: + rospy.loginfo("Loading model xml from ros parameter") + model_xml = rospy.get_param(self.param_name) + if model_xml == "": + rospy.logerr("Error: param does not exist or is empty") + sys.exit(0) + + # Gazebo Model Database + elif len(self.database_name) > 0: + rospy.loginfo("Loading model xml from Gazebo Model Database") + model_xml = self.createDatabaseCode(self.database_name) + if model_xml == "": + rospy.logerr("Error: an error occured generating the SDF file") + sys.exit(0) + else: + rospy.logerr("Error: user specified param or filename is an empty string") + sys.exit(0) + + if self.package_to_model: + model_xml = re.sub("<\s*mesh\s+filename\s*=\s*([\"|'])package://","model://", model_xml) + + # Setting initial pose + initial_pose = Pose() + if None not in self.initial_geo and None not in self.ref_geo and use_pymap: + rospy.loginfo('Using the geodetic coordinates to spawn the model') + rospy.loginfo('Geodetic coordinates: (%.7f, %.7f, %.2f)', + self.initial_geo[0], self.initial_geo[1], + self.initial_geo[2]) + rospy.loginfo('Geodetic reference: (%.7f, %.7f, %.2f)', + self.ref_geo[0], self.ref_geo[1], self.ref_geo[2]) + enu_pos = pymap3d.geodetic2enu( + self.initial_geo[0], self.initial_geo[1], self.initial_geo[2], + self.ref_geo[0], self.ref_geo[1], self.ref_geo[2]) + initial_pose.position.x = enu_pos[0] + initial_pose.position.y = enu_pos[1] + initial_pose.position.z = enu_pos[2] + else: + rospy.loginfo('Using the ENU coordinates to spawn the model') + initial_pose.position.x = self.initial_xyz[0] + initial_pose.position.y = self.initial_xyz[1] + initial_pose.position.z = self.initial_xyz[2] + + rospy.loginfo('Initial position wrt the world frame:' + ' (%.2f, %.2f, %.2f)' % + (initial_pose.position.x, initial_pose.position.y, + initial_pose.position.z)) + # convert rpy to quaternion for Pose message + tmpq = tft.quaternion_from_euler( + self.initial_rpy[0], self.initial_rpy[1], self.initial_rpy[2]) + q = Quaternion(tmpq[0], tmpq[1], tmpq[2], tmpq[3]) + initial_pose.orientation = q + + # spawn model + if self.urdf_format: + success = gazebo_interface.spawn_urdf_model_client(self.model_name, model_xml, self.robot_namespace, + initial_pose, self.reference_frame, self.gazebo_namespace) + elif self.sdf_format: + success = gazebo_interface.spawn_sdf_model_client(self.model_name, model_xml, self.robot_namespace, + initial_pose, self.reference_frame, self.gazebo_namespace) + else: + rospy.logerr("Error: should not be here in spawner helper script, there is a bug") + sys.exit(0) + + # set model configuration before unpause if user requested + if len(self.joint_names) != 0: + try: + success = gazebo_interface.set_model_configuration_client(self.model_name, self.param_name, + self.joint_names, self.joint_positions, self.gazebo_namespace) + except rospy.ServiceException as e: + rospy.logerr("Set model configuration service call failed: %s", str(e)) + + # unpause physics if user requested + if self.unpause_physics: + rospy.wait_for_service('%s/unpause_physics'%(self.gazebo_namespace)) + try: + unpause_physics = rospy.ServiceProxy('%s/unpause_physics'%(self.gazebo_namespace), Empty) + unpause_physics() + except rospy.ServiceException as e: + rospy.logerr("unpause physics service call failed: %s", str(e)) + return + + +if __name__ == "__main__": + if len(sys.argv) < 2: + print(usage()) + else: + print("spawn_model script started") # make this a print incase roscore has not been started + sm = SpawnModel() + sm.parseUserInputs() + sm.callSpawnService() diff --git a/descriptions/urab_sub_description/urdf/common.urdf.xacro b/descriptions/urab_sub_description/urdf/common.urdf.xacro new file mode 100644 index 0000000..5027195 --- /dev/null +++ b/descriptions/urab_sub_description/urdf/common.urdf.xacro @@ -0,0 +1,171 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${2/3 * rho * pi * radius*radius*radius} 0 0 0 0 0 + 0 ${2/3 * rho * pi * radius*radius*radius} 0 0 0 0 + 0 0 ${2/3 * rho * pi * radius*radius*radius} 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 0 0 + + + + + + + ${-0.5 * rho * cd * pi * radius*radius} ${-0.5 * rho * cd * pi * radius*radius} ${-0.5 * rho * cd * pi * radius*radius} 0 0 0 + + + + + + ${0.1 * mass} 0 0 0 0 0 + 0 ${pi * radius*radius * length * rho} 0 0 0 0 + 0 0 ${pi * radius*radius * length * rho} 0 0 0 + 0 0 0 0 0 0 + 0 0 0 0 ${1/12 * pi * rho * radius*radius * length*3} 0 + 0 0 0 0 0 ${1/12 * pi * rho * radius*radius * length*3} + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/urab_sub_description/urdf/urab_sub_actuators.xacro b/descriptions/urab_sub_description/urdf/urab_sub_actuators.xacro new file mode 100644 index 0000000..8c055f8 --- /dev/null +++ b/descriptions/urab_sub_description/urdf/urab_sub_actuators.xacro @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/urab_sub_description/urdf/urab_sub_base.xacro b/descriptions/urab_sub_description/urdf/urab_sub_base.xacro new file mode 100644 index 0000000..0994a43 --- /dev/null +++ b/descriptions/urab_sub_description/urdf/urab_sub_base.xacro @@ -0,0 +1,129 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + + + + + + + + + + + + + + + + Gazebo/FlatBlack + + + + diff --git a/descriptions/urab_sub_description/urdf/urab_sub_gazebo.xacro b/descriptions/urab_sub_description/urdf/urab_sub_gazebo.xacro new file mode 100644 index 0000000..6076ab7 --- /dev/null +++ b/descriptions/urab_sub_description/urdf/urab_sub_gazebo.xacro @@ -0,0 +1,92 @@ + + + + + + + + + + 0.0 + + ${volume} + + + ${x_size} + ${y_size} + ${z_size} + + + ${cob} + + + + fossen + + + 10.7727 0 0 0 0 0 + 0 10.7727 0 0 0 0 + 0 0 49.7679 0 0 0 + 0 0 0 1.0092 0 0 + 0 0 0 0 1.0092 0 + 0 0 0 0 0 0 + + + + -19.5909 -19.5909 -50.5595 -13.3040 -13.2181 -1.1559 + + + + + + -5.1386 -5.1386 -26.1105 0 0 0 + + + + + + + + diff --git a/descriptions/urab_sub_description/urdf/urab_sub_sensors.xacro b/descriptions/urab_sub_description/urdf/urab_sub_sensors.xacro new file mode 100644 index 0000000..048bd6c --- /dev/null +++ b/descriptions/urab_sub_description/urdf/urab_sub_sensors.xacro @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/descriptions/uuv_assistants/launch/message_to_tf.launch b/descriptions/uuv_assistants/launch/message_to_tf.launch index 82b14aa..f9ec825 100644 --- a/descriptions/uuv_assistants/launch/message_to_tf.launch +++ b/descriptions/uuv_assistants/launch/message_to_tf.launch @@ -16,6 +16,6 @@ - + diff --git a/scripts/test_thruster_power.py b/scripts/test_thruster_power.py new file mode 100644 index 0000000..7b682a6 --- /dev/null +++ b/scripts/test_thruster_power.py @@ -0,0 +1,61 @@ +import rospy +from std_msgs.msg import Float32 +from uuv_gazebo_ros_plugins_msgs.msg import FloatStamped +from random import random +from geometry_msgs.msg import Wrench, WrenchStamped, Vector3 + +def get_individual_thruster_publisher(thruster_id='0'): + return rospy.Publisher('/urab_sub/thrusters/' + thruster_id + '/input', FloatStamped, queue_size=10) +def get_individual_thruster_message(power=1): + msg = FloatStamped() + msg.header.stamp = rospy.Time.now() + msg.data = power + return msg + +def get_thruster_manager_publisher(): + return rospy.Publisher('/urab_sub/thruster_manager/input', Wrench, queue_size=10) +def get_thruster_manager_message(fx=1, fy=1, fz=1, tx=1, ty=1, tz=1): + force = Vector3() + force.x = fx + force.y = fy + force.z = fz + torque = Vector3() + torque.x = tx + torque.y = ty + torque.z = tz + msg = Wrench() + msg.force = force + msg.torque = torque + return msg + +MODES = ['thruster_manager', 'thrusters_direct'] +NUM_THRUSTERS = 8 +mode = 1 +if __name__ == "__main__": + rospy.init_node('test_setter') + + publishers = [] + if MODES[mode] == 'thruster_manager': + publishers.append(rospy.Publisher('/urab_sub/thruster_manager/input', Wrench, queue_size=10)) + elif MODES[mode] == 'thrusters_direct': + for thruster_id in range(NUM_THRUSTERS): + publishers.append(rospy.Publisher('/urab_sub/thrusters/{}/input'.format(thruster_id), FloatStamped, queue_size=10)) + + rate = rospy.Rate(1) + + while not rospy.is_shutdown(): + messages = [] + # msg = get_individual_thruster_message(20) + if MODES[mode] == 'thruster_manager': + messages.append(get_thruster_manager_message(1000000000,0,0,1000000000,0,0)) + elif MODES[mode] == 'thrusters_direct': + for __ in range(NUM_THRUSTERS): + msg = FloatStamped() + msg.header.stamp = rospy.Time.now() + msg.data = 10 + messages.append(msg) + + for i in range(len(publishers)): + publishers[i].publish(messages[i]) + print('messages', messages) + rate.sleep() diff --git a/start_vnc b/start_vnc deleted file mode 100755 index dd15905..0000000 --- a/start_vnc +++ /dev/null @@ -1,8 +0,0 @@ -#!/bin/bash - -# Run me from inside a docker container -# (or on Ubuntu...) -echo Starting the VNC server... - -Xvfb :0 -screen 0 1600x1200x16 & >> /dev/null -x11vnc -display :0 & >> /dev/null