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woensug-choiwoensug-choi
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Merge pull request #44 from Field-Robotics-Lab/ASV2
Surface vehicle (ASV) kinematics code update and example launch
2 parents c036cad + cce711e commit a3d1139

12 files changed

+603
-42
lines changed

‎glider_hybrid_whoi_description/launch/upload_glider_asv_kinematics.launch

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<launch>
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<arg name="debug" default="0" doc="Sets the DEBUG flag for the uuv_simulator's plugins for verbose mode"/>
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<arg name="x" default="0" doc="X coordinate of the initial position to spawn the model (in ENU)"/>
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<arg name="y" default="0" doc="Y coordinate of the initial position to spawn the model (in ENU)"/>
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<arg name="z" default="0" doc="Z coordinate of the initial position to spawn the model (in ENU)"/>
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<arg name="roll" default="0.0" doc="Roll angle of the initial orientation to spawn the model (in ENU)"/>
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<arg name="pitch" default="0.0" doc="Pitch angle of the initial orientation to spawn the model (in ENU)"/>
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<arg name="yaw" default="0.0" doc="Yaw angle of the initial orientation to spawn the model (in ENU)"/>
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<arg name="use_geodetic" default="false"/>
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<arg name="latitude" default="0"/>
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<arg name="longitude" default="0"/>
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<arg name="depth" default="0"/>
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<arg name="latitude_ref" default="0"/>
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<arg name="longitude_ref" default="0"/>
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<arg name="altitude_ref" default="0"/>
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<arg name="use_ned_frame" default="true"/>
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<!-- Mode to open different robot configurations as set the in file
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nomenclature standard for the files in /robots
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/robots/<mode>.xacro
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-->
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<arg name="mode" default="default"/>
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<!-- Vehicle's namespace -->
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<arg name="namespace" default="glider_asv"/>
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<group ns="$(arg namespace)">
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<group if="$(arg use_ned_frame)">
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<param name="robot_description"
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command="$(find xacro)/xacro '$(find glider_hybrid_whoi_description)/robots/glider_asv_$(arg mode)_kinematics.urdf.xacro' --inorder
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debug:=$(arg debug)
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namespace:=$(arg namespace)
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inertial_reference_frame:=world_ned" />
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</group>
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<group unless="$(arg use_ned_frame)">
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<param name="robot_description"
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command="$(find xacro)/xacro '$(find glider_hybrid_whoi_description)/robots/glider_asv_$(arg mode)_kinematics.urdf.xacro' --inorder
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debug:=$(arg debug)
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namespace:=$(arg namespace)
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inertial_reference_frame:=world" />
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</group>
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<group if="$(arg use_geodetic)">
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<node name="urdf_spawner" pkg="uuv_descriptions" type="spawn_model" respawn="false" output="screen"
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args="-urdf -latitude $(arg latitude) -longitude $(arg longitude) -depth $(arg depth) -latitude_ref $(arg latitude_ref) -longitude_ref $(arg longitude_ref) -altitude_ref $(arg altitude_ref) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg namespace) -param /$(arg namespace)/robot_description"/>
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</group>
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<group unless="$(arg use_geodetic)">
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<node name="urdf_spawner" pkg="uuv_descriptions" type="spawn_model" respawn="false" output="screen"
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args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg namespace) -param /$(arg namespace)/robot_description"/>
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</group>
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<!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
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<!-- Publish robot model for ROS -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
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<param name="robot_description" value="/$(arg namespace)/robot_description" />
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</node>
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</group>
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<!-- publish state and tf for in relation to the world frame -->
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<include file="$(find uuv_assistants)/launch/message_to_tf.launch">
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<arg name="namespace" value="$(arg namespace)"/>
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<arg name="world_frame" value="world"/>
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<arg name="child_frame_id" value="/$(arg namespace)/base_link"/>
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</include>
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</launch>

‎glider_hybrid_whoi_description/mesh/glider_asv/COLLISION-Wave Glider-float.dae

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<?xml version="1.0" encoding="utf-8"?>
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
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<asset>
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<contributor>
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<author>Blender User</author>
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<authoring_tool>Blender 2.83.3 commit date:2020-07-22, commit time:06:01, hash:353e5bd7493e</authoring_tool>
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</contributor>
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<created>2020-08-07T07:58:59</created>
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<modified>2020-08-07T07:58:59</modified>
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<unit name="meter" meter="1"/>
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<up_axis>Z_UP</up_axis>
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</asset>
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<library_effects/>
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<library_images/>
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<library_geometries>
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<geometry id="Cube-mesh" name="Cube">
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<mesh>
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<source id="Cube-mesh-positions">
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<float_array id="Cube-mesh-positions-array" count="72">-0.2254406 -1.525 -0.2748302 -0.3244532 -1.525 0.002065896 -0.2254406 1.525 -0.2748302 -0.3244532 1.525 0.002065896 0.2254406 -1.525 -0.2748302 0.3244532 -1.525 0.002065896 0.2254406 1.525 -0.2748302 0.3244532 1.525 0.002065896 -0.1855943 -0.1876686 1.153577 -0.1855943 -0.1876686 -0.05525326 -0.1855943 -0.2618966 1.153577 -0.1855943 -0.2618966 -0.05525326 -0.2327077 -0.1876686 1.153577 -0.2327077 -0.1876686 -0.05525326 -0.2327077 -0.2618966 1.153577 -0.2327077 -0.2618966 -0.05525326 0.2595886 -0.2066173 0.6515255 0.2595886 -0.2066173 -0.05525326 0.2595886 -0.2429478 0.6515255 0.2595886 -0.2429478 -0.05525326 0.2272799 -0.2066173 0.6515255 0.2272799 -0.2066173 -0.05525326 0.2272799 -0.2429478 0.6515255 0.2272799 -0.2429478 -0.05525326</float_array>
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<technique_common>
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<accessor source="#Cube-mesh-positions-array" count="24" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="Cube-mesh-normals">
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<float_array id="Cube-mesh-normals-array" count="30">-0.9416115 0 -0.3367016 0 1 0 0.9416115 0 -0.3367016 0 -1 0 0 0 -1 0 0 1 -1 0 0 1 0 0 0 1 4.97591e-7 0 -1 4.97591e-7</float_array>
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<technique_common>
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<accessor source="#Cube-mesh-normals-array" count="10" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="Cube-mesh-map-0">
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<float_array id="Cube-mesh-map-0-array" count="216">0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.375 0.25 0.375 0 0.625 0.25 0.375 0.5 0.375 0.25 0.625 0.5 0.375 0.75 0.375 0.5 0.625 0.75 0.375 1 0.375 0.75 0.375 0.5 0.125 0.75 0.125 0.5 0.875 0.5 0.625 0.75 0.625 0.5 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75 0.625 0 0.625 0.25 0.375 0.25 0.625 0.25 0.625 0.5 0.375 0.5 0.625 0.5 0.625 0.75 0.375 0.75 0.625 0.75 0.625 1 0.375 1 0.375 0.5 0.375 0.75 0.125 0.75 0.875 0.5 0.875 0.75 0.625 0.75</float_array>
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<technique_common>
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<accessor source="#Cube-mesh-map-0-array" count="108" stride="2">
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<param name="S" type="float"/>
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<param name="T" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<vertices id="Cube-mesh-vertices">
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<input semantic="POSITION" source="#Cube-mesh-positions"/>
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</vertices>
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<triangles count="36">
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<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
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<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
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<input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
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<p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 9 6 18 10 6 19 8 6 20 11 1 21 14 1 22 10 1 23 15 7 24 12 7 25 14 7 26 13 3 27 8 3 28 12 3 29 14 4 30 8 4 31 10 4 32 11 5 33 13 5 34 15 5 35 17 6 36 18 6 37 16 6 38 19 1 39 22 1 40 18 1 41 23 7 42 20 7 43 22 7 44 21 3 45 16 3 46 20 3 47 22 4 48 16 4 49 18 4 50 19 5 51 21 5 52 23 5 53 1 0 54 3 0 55 2 0 56 3 8 57 7 8 58 6 8 59 7 2 60 5 2 61 4 2 62 5 9 63 1 9 64 0 9 65 6 4 66 4 4 67 0 4 68 3 5 69 1 5 70 5 5 71 9 6 72 11 6 73 10 6 74 11 1 75 15 1 76 14 1 77 15 7 78 13 7 79 12 7 80 13 3 81 9 3 82 8 3 83 14 4 84 12 4 85 8 4 86 11 5 87 9 5 88 13 5 89 17 6 90 19 6 91 18 6 92 19 1 93 23 1 94 22 1 95 23 7 96 21 7 97 20 7 98 21 3 99 17 3 100 16 3 101 22 4 102 20 4 103 16 4 104 19 5 105 17 5 106 21 5 107</p>
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</triangles>
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</mesh>
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</geometry>
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</library_geometries>
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<library_visual_scenes>
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<visual_scene id="Scene" name="Scene">
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<node id="Collision" name="Collision" type="NODE">
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<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
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<instance_geometry url="#Cube-mesh" name="Collision"/>
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</node>
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</visual_scene>
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</library_visual_scenes>
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<scene>
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<instance_visual_scene url="#Scene"/>
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</scene>
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</COLLADA>

‎glider_hybrid_whoi_description/mesh/glider_asv/Wave Glider-Float.dae

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‎glider_hybrid_whoi_description/mesh/glider_asv/Wave-Glider-float.png

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‎glider_hybrid_whoi_description/mesh/glider_asv/WaveGlider.png

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‎glider_hybrid_whoi_description/robots/glider_asv_default_kinematics.urdf.xacro

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<?xml version="1.0"?>
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<!-- Copyright (c) 2016 The UUV Simulator Authors.
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All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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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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<robot name="glider_asv" xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<xacro:arg name="debug" default="0"/>
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<xacro:arg name="namespace" default="glider_asv"/>
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<xacro:arg name="inertial_reference_frame" default="world"/>
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<!-- Include the UUV macro file -->
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<xacro:include filename="$(find glider_hybrid_whoi_description)/urdf/glider_asv_base_kinematics.xacro"/>
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<!-- Create the glider_asv -->
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<xacro:glider_asv_base
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namespace="$(arg namespace)"
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debug="$(arg debug)"
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inertial_reference_frame="$(arg inertial_reference_frame)"/>
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<!-- Joint state publisher plugin -->
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<xacro:default_joint_state_publisher namespace="$(arg namespace)" update_rate="50"/>
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</robot>

‎glider_hybrid_whoi_description/urdf/glider_asv_base_kinematics.xacro

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<?xml version="1.0"?>
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<!-- Copyright (c) 2016 The UUV Simulator Authors.
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All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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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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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<!-- Import macro files -->
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<xacro:include filename="$(find uuv_descriptions)/urdf/common.urdf.xacro" />
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<xacro:include filename="$(find uuv_sensor_ros_plugins)/urdf/sensor_snippets.xacro"/>
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<xacro:include filename="$(find uuv_gazebo_ros_plugins)/urdf/snippets.xacro"/>
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<!-- Properties -->
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<xacro:property name="mass" value="56.0"/>
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<xacro:property name="fluid_density" value="1024.0"/>
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<xacro:property name="gravity" value="9.81"/>
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<xacro:property name="cob" value="0 0 0"/>
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<xacro:property name="cog" value="0 0 0.0054"/>
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<xacro:property name="visual_mesh_file" value="file://$(find glider_hybrid_whoi_description)/mesh/glider_asv/Wave Glider-Float.dae" />
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<xacro:property name="collision_mesh_file" value="file://$(find glider_hybrid_whoi_description)/mesh/glider_asv/COLLISION-Wave Glider-float.dae" />
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<xacro:macro name="glider_asv_base" params="namespace debug inertial_reference_frame">
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<!-- Base_link of the model -->
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<link name="${namespace}/base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
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<geometry>
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<mesh filename="${visual_mesh_file}" scale="1 1 1" />
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</geometry>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
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<geometry>
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<mesh filename="${collision_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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<mass value="${mass}"/>
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<origin xyz="0 0 0" rpy="0 0 ${pi/2}" />
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<inertia ixx="0.3048" ixy="0" ixz="0" iyy="13.976" iyz="0" izz="13.976" />
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</inertial>
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</link>
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<!-- Kinematics Plugin -->
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<gazebo>
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<plugin name="${namespace}_kinematics_plugin"
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filename="libkinematics_ros_plugin.so">
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<fluid_deisnty>${fluid_density}</fluid_deisnty>
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<writeLog>false</writeLog>
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<flow_velocity_topic>/hydrodynamics/current_velocity/${namespace}</flow_velocity_topic>
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<use_global_ocean_current>true</use_global_ocean_current>
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<espg_projection>26987</espg_projection>
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<!-- Kinematics coefficients -->
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<surface_vehicle>true</surface_vehicle>
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<f_pitch_battpos_cal_m>1.2565</f_pitch_battpos_cal_m>
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<f_pitch_battpos_cal_b>-0.055</f_pitch_battpos_cal_b>
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<Area>0.0345</Area>
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<C_D>0.2534</C_D>
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<C_L>0.4160</C_L>
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<f_thruster_voltage_v1>1.8953</f_thruster_voltage_v1>
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<f_thruster_voltage_v2>-1.995</f_thruster_voltage_v2>
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<f_thruster_voltage_v3>1.8701</f_thruster_voltage_v3>
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<f_thruster_power_w1>-0.020919</f_thruster_power_w1>
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<f_thruster_power_w2>1.4699</f_thruster_power_w2>
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<f_thruster_power_w3>0.97895</f_thruster_power_w3>
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</plugin>
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<plugin name="{namespace}_dave_transient_current_plugin" filename="libdave_transient_current_plugin.so">
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<flow_velocity_topic>hydrodynamics/current_velocity/${namespace}</flow_velocity_topic>
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<base_link_name>${namespace}/base_link</base_link_name>
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<transient_current>
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<topic_stratified_database>stratified_current_velocity_database</topic_stratified_database>
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<velocity_north>
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<noiseAmp>0.3</noiseAmp>
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<noiseFreq>0.0</noiseFreq>
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</velocity_north>
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<velocity_east>
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<noiseAmp>0.3</noiseAmp>
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<noiseFreq>0.0</noiseFreq>
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</velocity_east>
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<velocity_down>
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<noiseAmp>0.3</noiseAmp>
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<noiseFreq>0.0</noiseFreq>
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</velocity_down>
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</transient_current>
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<tide_oscillation>true</tide_oscillation>
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</plugin>
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</gazebo>
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/${namespace}</robotNamespace>
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<robotParam>/${namespace}/robot_description</robotParam>
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<bathymetry>
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<interval_s>5.0</interval_s>
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</bathymetry>
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</plugin>
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</gazebo>
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<!-- TODO: Parametrize the battery unit -->
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<xacro:basic_linear_battery_macro
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namespace="${namespace}"
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parent_link="${namespace}/base_link"
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prefix=""
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open_circuit_voltage_constant_coef="3.7"
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open_circuit_voltage_linear_coef="-3.1424"
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initial_charge="1.1665"
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capacity="0.5"
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resistance="0.002"
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smooth_current_tau="1.9499"
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voltage="4.2"
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update_rate="2.0"/>
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<xacro:include filename="$(find glider_hybrid_whoi_description)/urdf/glider_asv_sensors_kinematics.xacro"/>
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</xacro:macro>
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</robot>

‎glider_hybrid_whoi_description/urdf/glider_asv_sensors_kinematics.xacro

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<?xml version="1.0"?>
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<!-- Copyright (c) 2016 The UUV Simulator Authors.
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All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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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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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<!-- Mount a 3D pose sensor -->
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<xacro:default_pose_3d_macro
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namespace="${namespace}"
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parent_link="${namespace}/base_link"
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inertial_reference_frame="${inertial_reference_frame}" />
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<!-- DVL -->
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<xacro:include filename="$(find nps_uw_sensors_gazebo)/urdf/whoi_teledyne_whn_beams.xacro"/>
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<xacro:teledyne_whn_macro
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name="dvl" namespace="dvl" xyz="0 0 0"
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dvl_topic="dvl" ranges_topic="ranges"
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robot_link="${namespace}/base_link" joint_xyz="0 0 0" scale="0.25 0.25 0.25" ray_visual="0"/>
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<!-- Hector IMU -->
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<xacro:include filename="$(find glider_hybrid_whoi_description)/urdf/uw_hector_imu_plugin.xacro"/>
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<xacro:switchable_battery_consumer_macro
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link_name="${namespace}/imu_link"
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battery_link="${namespace}/battery_link"
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battery_name="${namespace}/battery"
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power_load="20"
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topic="${namespace}/imu/state"/>
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<!-- Hector GPS -->
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<xacro:include filename="$(find glider_hybrid_whoi_description)/urdf/uw_hector_gps_plugin.xacro"/>
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</robot>

‎glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_base_kinematics.xacro

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -158,7 +158,7 @@
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<f_thruster_power_w2>1.4699</f_thruster_power_w2>
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<f_thruster_power_w3>0.97895</f_thruster_power_w3>
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</plugin>
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<plugin name="dave_transient_current_plugin" filename="libdave_transient_current_plugin.so">
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<plugin name="{namespace}_dave_transient_current_plugin" filename="libdave_transient_current_plugin.so">
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<flow_velocity_topic>hydrodynamics/current_velocity/${namespace}</flow_velocity_topic>
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<base_link_name>${namespace}/base_link</base_link_name>
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<transient_current>

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