diff --git a/README.md b/README.md
index 69ea91d2..889f9ca1 100644
--- a/README.md
+++ b/README.md
@@ -1,95 +1,149 @@
-# Kinematics plugin for WHOI hybrid gliders
-Kinematics control plugin for WHOI hybrid gliders
+# (Hybrid-) AUG Simulator
-## Requirements
-```diff
-- If not using docker environment, use bathymetry_plugin_whoi branch of the dave repo
-# at dave repo
-git cehckout bathymetry_plugin_whoi
-- The IMU/GPS sensor included in this repo requires hector libraries. You may install with following command
-sudo apt-get install ros-noetic-hector-gazebo-plugins
-- The initial position setter requires python version of gdal
-sudo apt-get install python3-gdal
-- The kinematics/dynamics plugin uses UwGliderStatus/UwGliderCommand msg to interact with the vehicle
-git clone https://github.com/Field-Robotics-Lab/frl_msgs
-- nps_uw_sensors_gazebo repository is required
-git clone git@github.com:Field-Robotics-Lab/nps_uw_sensors_gazebo.git
-```
+## Contents
+
+
+* [Summary Poster](#summary-poster)
+* [Utility Guide](#utility-guide)
+* [Installation](#installation)
+* [Quickstart](#Quickstart)
+ * [Bundled files](#Bundled-files)
+ * [Local custom files](#Local-custom-files)
+* [Interface with slocum glider driver](#Interface-with-slocum-glider-driver-simulator)
+* [Features](#Features)
+ * [Bathymetry included](#Bathymetry-included)
+ * [Surface detection](#Surface-detection)
+ * [Multiple gliders support](#Multiple-gliderssupport)
+ * [Live Feed to Fledermaus](#Live-Feed-to-Fledermaus)
+ * [Glider control parameters](#Glider-control-parameters)
+ * [Hybrid Glider 6DOF dynamics](#Hybrid-Glider-6DOF-dynamics)
+
+## Summary Poster (2022-02-10)
+
+
+
+- Parent repo : [Project DAVE](https://github.com/Field-Robotics-Lab/dave)
+
+## Utility guide
-## Utility guide (live document)
-* https://docs.google.com/document/d/1Rlh-2ZkqkKEEsECacgi9XIiPgPHdoRVjJmTLnLg1Bu4/edit?usp=sharing
+* [Utility guide (google doc, live document)](https://docs.google.com/document/d/1Rlh-2ZkqkKEEsECacgi9XIiPgPHdoRVjJmTLnLg1Bu4/edit?usp=sharing)
+
+## Installation
-## How-to
-### Installation
* First check to make sure you meet the [System Requirements](https://github.com/Field-Robotics-Lab/dave/wiki/System-Requirements).
* Then choose from one of the following two installation options:
1. **Directly on Host**
- 1. [Install environment and dependent repositories](https://github.com/Field-Robotics-Lab/dave/wiki/Install-Directly-on-Host) : Instructions to install ROS Noetic, Gazebo 11, UUV Simulator and DAVE directly on your host machine.
- 2. Clone this repository in `~/uuv/src` folder and compile with `catkin_make` at `~/uuv_ws` directory.
- 2. **Using Docker**
- 1. Make sure you have Docker v19.03 or higher ([installation instructions](https://docs.docker.com/engine/install/ubuntu/)) and nvidia-container-toolkit ([installation instructions](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#setting-up-nvidia-container-toolkit))
- 2. Run the `build.bash` script located in the `docker` folder of this repository
- ```
- ./build.bash
- ```
- 3. Run the container with `run.bash` script
- ```
- ./run.bash
- source ~/glider_hybrid_whoi/install/setup.bash
- ```
- * Opening additional terminals
- ```
- ./join.bash
- source /opt/ros/noetic/setup.bash
- source ~/glider_hybrid_whoi/install/setup.bash
- ```
- Fore more including docker-compose: [Docker environment description](https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/blob/master/docker/README.MD)
- 3. **Using docker-compose**
- 1. Run the `build.bash` script located in the `docker` folder of this repository
- ```
- ./build.bash
- ```
- 2. Run the container
- ```
- docker-compose up
- ```
- 2. Send mission commands from another terminal
- ```
- docker-compose exec glider_extctl_sim /ros_entrypoint.sh rosrun slocum_glider_extctl_sim slocum_glider_sim_console
- # Ctrl+C to land on mission command terminal
- run initbuzz.mi
- run backse01.mi
- ```
- 3. Access log CSV file
- ```
- ./join.bash
- tail -f /tmp/Kinematics KinematicsLog.csv
- ```
-
-### Quickstart
+ 1. [Install environment and dependent repositories](https://github.com/Field-Robotics-Lab/dave/wiki/Install-Directly-on-Host) : Instructions to install ROS Noetic, Gazebo 11, UUV Simulator and DAVE directly on your host machine.
+
+ ```diff
+ - When cloning the dave repo, bathymetry_plugin_whoi branch from the fork of the dave repo
+ git clone https://github.com/woensug-choi/dave.git
+ git checkout bathymetry_plugin_whoi
+ - The IMU/GPS sensor included in this repo requires hector libraries. You may install with following command
+ sudo apt-get install ros-noetic-hector-gazebo-plugins
+ - The initial position setter requires python version of gdal
+ sudo apt install python3-gdal=3.0.4+dfsg-1build3
+ - GPS Viewer requires pyQt and folium modules
+ pip3 install folium PyQtWebEngine pyqt5-tools
+ - The kinematics/dynamics plugin uses UwGliderStatus/UwGliderCommand msg to interact with the vehicle
+ git clone https://github.com/Field-Robotics-Lab/frl_msgs
+ - nps_uw_sensors_gazebo repository is required
+ git clone git@github.com:Field-Robotics-Lab/nps_uw_sensors_gazebo.git
+ ```
+
+ 2. Clone this repository in `~/uuv/src` folder and compile with `catkin_make` at `~/uuv_ws` directory.
+
+ 2. **Usin`g Docker**
+ 1. Make sure you have Docker v19.03 or higher ([installation instructions](https://docs.docker.com/engine/install/ubuntu/)) and nvidia-container-toolkit ([installation instructions](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#setting-up-nvidia-container-toolkit))
+ 2. Run the `build.bash` script located in the `docker` folder of this repository
+
+ ```
+ ./build.bash
+ ```
+ 3. Run the container with `run.bash` script
+ ```
+ ./run.bash
+ source ~/glider_hybrid_whoi/install/setup.bash
+ ```
+ * Opening additional terminals
+
+ ```
+ ./join.bash
+ source /opt/ros/noetic/setup.bash
+ source ~/glider_hybrid_whoi/install/setup.bash
+ ```
+ Fore more including docker-compose: [Docker environment description](https://github.com/Field`-Robotics-Lab/glider_hybrid_whoi/blob/master/docker/README.MD)
+
+## Quickstart
+
+- This is for running the simulator only
+
+
+
+### Bundled files
* Running the simulator (Run each commands in separate terminal window)
- 1. Spawn underwater world with gazebo
- ```bash
- roslaunch glider_hybrid_whoi_gazebo start_demo_kinematics_stratified_current.launch
- # or
- roslaunch glider_hybrid_whoi_gazebo BuzzBay_stratified_current.launch
- # Bathymetry for Buzzbay is included in this repo
- # The range is (lat,lon) = (41.50, -70.70) to (41.56, -70.65)
- ```
- 2. Control glider with ROS
- ```
- rosrun kinematics_ros_plugins test_directKinematics.py
- ```
- 4. Glider status
- ```
- rostopic echo /glider_hybrid_whoi/kinematics/UwGliderStatus
- ```
-## Interface
+ 1. Spawn underwater world with gazebo
+
+ ```bash
+ roslaunch glider_hybrid_whoi_gazebo start_demo_kinematics_stratified_current.launch
+ # or
+ roslaunch glider_hybrid_whoi_gazebo BuzzBay_stratified_current.launch
+ # Bathymetry for Buzzbay is included in this repo.
+ # The glider may look as if they are teard apart and shiver. It's rendering error.
+ # All sensors should work as if thay are in place just fine.
+ # If it hits the surface, it will reset its orietation
+ # To dive back down from the sruface, you may need to pich down and push hard.
+ # The range is (lat,lon) = (41.50, -70.70) to (41.56, -70.65)
+ ```
+ 2. Control glider with ROS
+
+ ```
+ rosrun kinematics_ros_plugins test_directKinematics.py
+ ```
+ 4. Glider status
+
+ ```
+ rostopic echo /glider_hybrid_whoi/kinematics/UwGliderStatus
+ ```
+ 5. Access log files
+
+ - Location of the log CSV file : `/tmp/KinematicsLog.csv`
+ - Location of the standalone GPS log HTML file : `/tmp/GPSViewer_log.html` (Open with Chrome)
+
+### Local custom files
+1. **Directly on Host**
+ - There's a template at `local_glider_files_example/bear/simulation`
+ - You may launch the launch/world/vehicle description inside it with
+
+ ```bash
+ roslaunch glider_hybrid_whoi/local_glider_files_example/bear/simulation/PuertoRico.launch
+ # The glider may look as if they are teard apart and shiver. It's rendering error.
+ # All sensors should work as if thay are in place just fine.
+ ```
+
+2. **Using Docker**
+ - If using docker, you need to mount the local files into the docker container
+ - instead of using `./run.bash`, launch docker image with `./run-local.bash`
+ - The host machine's parent directory of the `docker`, which is `glider_hybrid_whoi`, will be mounted at `/home/ros/local_glider_files`.
+ - There's a template at `local_glider_files_example/bear/simulation`
+ - You may launch the launch/world/vehicle description inside it with
+
+ ```bash
+ ./run-local.bash
+ source ~/glider_hybrid_whoi/install/setup.bash
+ roslaunch /home/ros/local_glider_files/local_glider_files_example/bear/simulation/PuertoRico.launch
+ # The glider may look as if they are teard apart and shiver. It's rendering error.
+ # All sensors should work as if thay are in place just fine.
+ ```
+
+## Interface with slocum glider driver simulator
+
For view/edit : [Google Drawing Raw file link](https://docs.google.com/drawings/d/1pj5O0DZ_2o480-9z-qvqAat_yXFckzXrrgTLxbgDyxo/edit?usp=sharing)
-
The `slocum_glider_sim_driver` and `slocum_glider_sim_console` nodes are
provided by [https://gitlab.com/sentinel-aug/ros/slocum_glider](https://gitlab.com/sentinel-aug/ros/slocum_glider)
@@ -99,11 +153,10 @@ provided by [https://gitlab.com/sentinel-aug/ros/slocum_glider](https://gitlab.c
- Buzzbay bathymetry is included
- Roughly 1500x1500 m tiles with 50 m overlap regions are included (almost 780 MB)
- Click the `play` button on the Gazebo window and wait for the first bathymetry to be spawned. Next bathymetry tile will be spawned and the previous tile will be removed automatically according to the glider position.
- ```bash
- roslaunch glider_hybrid_whoi_gazebo BuzzBay_stratified_current.launch
- # if in docker environment
- roslaunch glider_hybrid_whoi_gazebo BuzzBay_stratified_current_docker.launch
- ```
+
+ ```bash
+ roslaunch glider_hybrid_whoi_gazebo BuzzBay_stratified_current.launch
+ ```
### Surface detection
- If the glider reach the surface, the pitch value is set to zero and the position is kept on surface unless it's heading back down.
@@ -112,19 +165,34 @@ provided by [https://gitlab.com/sentinel-aug/ros/slocum_glider](https://gitlab.c
- https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/pull/31
- Demo case : `roslaunch glider_hybrid_whoi_gazebo start_demo_kinematics_stratified_current_two_gliders.launch`
+### GPS Viewer
+```xml
+
+
+
+
+
+
+```
+- `namespace` : name of the vehicle model
+- `refresh_rate` : refresh rate for GPS position marker update in the map
+- `save_html` : Save GPS log as seen on the viewer as HTML which will be saved at `/tmp/GPSViewer_log.html` which you can open with a browser
+- `default_zoom` : set initial zoom (range from 0 to 15, larger mean more zoom)
+
### Live Feed to Fledermaus
- Live feeding to Fledermaus's Vessel Manager to visualize its location is now available using UDP connection with NMEA strings.
- Assumes you are running on WSL2 at Windows machine
- Uses custom NMEA msg format that can include not only lat/lon/depth but also roll/pitch/heading.
- Networking with WSL is tricky since the Windows and the Ubuntu in WSL recognize `localhost` differently. This is hacked by using the host window machine's public ip.
Maybe you have to add this to C:\Users/User/.wslconfig
+
```
[wsl2]
localhostForwarding=true
```
and restart the WSL by `wsl --shutdown` at cmd.
-### Glider dynamic parameters
+### Glider control parameters
- Parametes for pitch control, buoyancy induced velocity with the flight model, and thruster power is defined at [glider_hybrid_whoi_base_kinematics.xacro](https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/blob/10524388cce32865ae051e285dbe631ea89159e4/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_base_kinematics.xacro#L139)
#### Pitch control
@@ -163,5 +231,40 @@ provided by [https://gitlab.com/sentinel-aug/ros/slocum_glider](https://gitlab.c
| :heavy_check_mark:* | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark:* | :heavy_multiplication_x: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: | :heavy_check_mark: |
- Lat/Lon is acquired from the GPS sensor and Altitude from the DVL sensor. Which is also sent through nav_sat_fix
-#### Code Structure Diagram
-
+### Hybrid Glider 6DOF dynamics
+```diff
+- It's yet a draft PR
+```
+- [EPIC-DAUG Glider dynamics Overleaf](https://www.overleaf.com/read/pqstymzccttj)
+
+#### Quickstart
+```diff
+- Change to 'dynamics_working' branch. `` handle is on by default.
+```
+````bash
+roslaunch glider_hybrid_whoi_gazebo start_demo_kinematics_stratified_current.launch
+# At another terminal window
+rostopic pub /glider_hybrid_whoi/kinematics/UwGliderCommand frl_vehicle_msgs/UwGliderCommand "pitch_cmd_type: 1
+target_pitch_value: -0.0001
+motor_cmd_type: 2
+target_motor_cmd: 0.1
+rudder_control_mode: 2
+rudder_angle: 4
+target_rudder_angle: 0.5
+target_pumped_volume: -220.0"
+````
+
+Here, you see the glider ascending and yawing at a constant angle. As it rotates, the roll is also affected as seen in the bottom left camera feed. You can also see that the rotation of the propeller graphically according to the thruster power command input.
+
+- For dynamics calculation,
+ - Pitch command type of battery position `frl_vehicle_msgs::UwGliderCommand::PITCH_CMD_BATT_POS` should be used
+ - Dynamics flag should be on https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/blob/6d3a6cf6998e5cad4a4460e5b58c564262e5fbd2/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_base_kinematics.xacro#L162
+ - Dynamics properties should be defined at `.xacro` file https://github.com/Field-Robotics-Lab/glider_hybrid_whoi/blob/6d3a6cf6998e5cad4a4460e5b58c564262e5fbd2/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_base_kinematics.xacro#L164-L186
+
+#### Limitations and To-dos
+- Rudder hydrodynamics coefficients
+ - Currently, Rudder hydrodynamics force is modeled with a simple copy&paste of the Hull hydrodynamics (Graver's theory). Area 1/10, Lift and Drag 1/10, Moment *10. Just to check the system stability. There is much to improve how to model this including how to include the effect of ocean current.
+- Heading Control
+ - Currently, controlling with target heading is not included since it requires a control algorithm for target yaw in the vehicle frame.
+- Elevation wing : Not included yet. It could be modeled similar to that of the rudder.
+
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 80a3600e..7cb4dffd 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -5,7 +5,7 @@
#------------------------------------------------------------------#
# Dependency versions
-ARG version_dave=9a7dd78aaa1bac60c63e321926e6c36539128866
+ARG version_dave=076856502d2a71d2ecd07d080dff9968fd94da8d
ARG version_uuv_simulator=4936e739d48807527fdcd3ba3d19c147277003ce
ARG version_uuv_manipulators=d324a6a6ac9f3b6c86427d7ed9795c09c14e659c
ARG version_uw_sensors_gazebo=eda6787830bd2c7f31eacfe9f2aab961b879ab3e
@@ -122,7 +122,7 @@ ARG version_dave
ENV VERSION_DAVE=$version_dave
ARG version_uw_sensors_gazebo
ENV VERSION_UW_SENSORS_GAZEBO=$version_uw_sensors_gazebo
-RUN curl -fsSL https://github.com/Field-Robotics-Lab/dave/archive/$VERSION_DAVE.tar.gz | tar xz \
+RUN curl -fsSL https://github.com/woensug-choi/dave/archive/$VERSION_DAVE.tar.gz | tar xz \
&& curl -fsSL https://github.com/Field-Robotics-Lab/nps_uw_sensors_gazebo/archive/$VERSION_UW_SENSORS_GAZEBO.tar.gz | tar xz
ARG version_uuv_simulator
@@ -344,6 +344,9 @@ RUN apt-get update \
&& apt-get autoremove -y \
&& rm -rf /var/lib/apt/lists/*
+RUN pip install --no-cache-dir --upgrade pip && \
+ pip install --no-cache-dir pynmea2 folium PyQtWebEngine pyqt5-tools
+
# Carry forward the dependency versions
ARG version_dave
ENV VERSION_DAVE=$version_dave
diff --git a/docker/Dockerfile.dev b/docker/Dockerfile.dev
index 06aa3aaa..fd924d26 100644
--- a/docker/Dockerfile.dev
+++ b/docker/Dockerfile.dev
@@ -208,6 +208,7 @@ RUN apt-get update \
python3-rosinstall \
python3-rosinstall-generator \
python3-vcstool \
+ python3-gdal \
ros-noetic-gazebo-plugins \
ros-noetic-gazebo-ros \
ros-noetic-gazebo-ros-control \
@@ -241,6 +242,9 @@ RUN apt-get update \
&& apt-get autoremove -y \
&& rm -rf /var/lib/apt/lists/*
+RUN pip install --no-cache-dir --upgrade pip && \
+ pip install --no-cache-dir pynmea2 folium PyQtWebEngine pyqt5-tools
+
#------------------------------------------------------------------#
# source-deps-builder stage
#------------------------------------------------------------------#
@@ -332,6 +336,9 @@ RUN apt-get update \
&& apt-get autoremove -y \
&& rm -rf /var/lib/apt/lists/*
+RUN pip install --no-cache-dir --upgrade pip && \
+ pip install --no-cache-dir pynmea2 folium PyQtWebEngine pyqt5-tools
+
# Carry forward the dependency versions
ARG version_dave
ENV VERSION_DAVE=$version_dave
diff --git a/docker/run-local.bash b/docker/run-local.bash
new file mode 100755
index 00000000..79574170
--- /dev/null
+++ b/docker/run-local.bash
@@ -0,0 +1,87 @@
+#!/usr/bin/env bash
+
+#
+#
+# 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.
+#
+#
+
+# Runs a docker container with the image created by build.bash
+# Requires:
+# docker 19.03 or higher
+# an X server
+# Recommended:
+# A joystick mounted to /dev/input/js0 or /dev/input/js1
+
+# Determine if we have the nvidia runtime enabled. If so, default to exposing
+# all gpus.
+if docker info -f '{{ range $key, $value := .Runtimes }}{{ $key }}{{ end }}' | grep nvidia > /dev/null 2>&1; then
+ GPUS="--gpus all"
+fi
+
+IMG="glider_hybrid_whoi:latest"
+RUN_ARGS=""
+
+while [[ $# -gt 0 ]]
+do
+key="$1"
+
+case $key in
+ -i)
+ IMG="$2"
+ shift 2
+ ;;
+ --without-nvidia)
+ GPUS=""
+ shift
+ ;;
+ --nvidia)
+ GPUS="--gpus all"
+ shift
+ ;;
+ --run-args)
+ RUN_ARGS="$RUN_ARGS $2"
+ shift 2
+ ;;
+ --name)
+ RUN_ARGS="$RUN_ARGS --name $2"
+ shift 2
+ ;;
+ --)
+ shift
+ break
+ ;;
+ *) # unknown option
+ echo "Unknown option" >&2
+ exit 1
+ ;;
+esac
+done
+
+USERID=$(id -u)
+GROUPID=$(id -g)
+
+docker run -it \
+ -e DISPLAY \
+ -e QT_X11_NO_MITSHM=1 \
+ -v "/tmp/.X11-unix:/tmp/.X11-unix" \
+ -v "/etc/localtime:/etc/localtime:ro" \
+ -v "$(pwd)/../:/home/ros/local_glider_files" \
+ --privileged \
+ --rm \
+ --security-opt seccomp=unconfined \
+ -u "$USERID:$GROUPID" \
+ $RUN_ARGS \
+ $GPUS \
+ "$IMG" \
+ "$@"
diff --git a/glider_hybrid_whoi_control/CMakeLists.txt b/glider_hybrid_whoi_control/CMakeLists.txt
index fe326cb3..b3c1e3f3 100644
--- a/glider_hybrid_whoi_control/CMakeLists.txt
+++ b/glider_hybrid_whoi_control/CMakeLists.txt
@@ -5,6 +5,6 @@ find_package(catkin REQUIRED)
catkin_package()
-install(DIRECTORY launch
+install(DIRECTORY launch rviz
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
PATTERN "*~" EXCLUDE)
diff --git a/glider_hybrid_whoi_gazebo/launch/BuzzBay_stratified_current.launch b/glider_hybrid_whoi_gazebo/launch/BuzzBay_stratified_current.launch
index 49892204..19c82ce2 100644
--- a/glider_hybrid_whoi_gazebo/launch/BuzzBay_stratified_current.launch
+++ b/glider_hybrid_whoi_gazebo/launch/BuzzBay_stratified_current.launch
@@ -25,7 +25,7 @@
-
+
diff --git a/glider_hybrid_whoi_gazebo/worlds/BuzzBay_stratified_current.world b/glider_hybrid_whoi_gazebo/worlds/BuzzBay_stratified_current.world
index 1db061f1..255c6475 100644
--- a/glider_hybrid_whoi_gazebo/worlds/BuzzBay_stratified_current.world
+++ b/glider_hybrid_whoi_gazebo/worlds/BuzzBay_stratified_current.world
@@ -87,23 +87,14 @@
stratified_current_velocity_database
-
transientOceanCurrentDatabase.csv
-
-
-
-
+
-
ACT1951_1_Annual_2021.csv
-
-
-
-
@@ -177,6 +168,3 @@
-
-
-
diff --git a/glider_launch_world_example/bear/simulation/initialLatLon.env b/glider_launch_world_example/bear/simulation/initialLatLon.env
deleted file mode 100644
index f1aa554c..00000000
--- a/glider_launch_world_example/bear/simulation/initialLatLon.env
+++ /dev/null
@@ -1,8 +0,0 @@
-# Put '-' (negative) before the value
-# e.g. for (LATITUDE,LONGITUDE)=(41.5522,-70.6803)
-# Correct value will be
-# LATITUDE=-41.5522
-# LONGITUDE=--70.6803
-
-LATITUDE=-17.92"
-LONGITUDE=--67.25
\ No newline at end of file
diff --git a/glider_launch_world_example/bear/simulation/transientOceanCurrentDatabase.csv b/glider_launch_world_example/bear/simulation/transientOceanCurrentDatabase.csv
deleted file mode 100644
index 06e3a243..00000000
--- a/glider_launch_world_example/bear/simulation/transientOceanCurrentDatabase.csv
+++ /dev/null
@@ -1,101 +0,0 @@
-# Information
-Information about this data can be written here (in one line without comma),,
-"# Data (North direction velocity [m/s], East direction velocity [m/s], Depth [m])",,
-0.541725954,0,0
-0.923985414,1,0.2
-0.972570631,2,0.4
-0.660183699,3,0.6
-0.743895893,4,0.8
-0.549277029,5,1
-0.399874821,6,1.2
-0.468006426,7,1.4
-0.98743673,8,1.6
-0.584356422,9,1.8
-1.19961304,10,2
-1.019801211,11,2.2
-1.465061972,12,2.4
-1.145591551,13,2.6
-1.613284989,14,2.8
-1.185141271,15,3
-1.468162955,16,3.2
-1.184429046,17,3.4
-1.363582537,18,3.6
-1.17278383,19,3.8
-1.227143302,20,4
-1,21,4.2
-1.059696107,22,4.4
-0.741921435,23,4.6
-1.032747623,24,4.8
-0.905036815,25,5
-1.018183603,26,5.2
-0.702910613,27,5.4
-0.89680626,28,5.6
-0.65485025,29,5.8
-1.085601548,30,6
-0.501838244,31,6.2
-1.150031851,32,6.4
-0.968356458,33,6.6
-1.224894798,34,6.8
-0.99551949,35,7
-1.164317161,36,7.2
-0.862944917,37,7.4
-0.120926673,38,7.6
-0.856735026,39,7.8
-1.054870399,40,8
-1.40051876,41,8.2
-0.985839727,42,8.4
-1.748385765,43,8.6
-0.797520941,44,8.8
-1.633353854,45,9
-1.118143404,46,9.2
-1.680419687,47,9.4
-0.871718921,48,9.6
-1.607350455,49,9.8
-1.794205974,50,10
-1.436815038,51,10.2
-2.017944604,52,10.4
-1.568525353,53,10.6
-1.776697744,54,10.8
-2.096194443,55,11
-1.656247656,56,11.2
-2.35384311,57,11.4
-1.162511652,58,11.6
-2.386203275,59,11.8
-1.163058343,60,12
-1.623175056,61,12.2
-1.032281319,62,12.4
-1.204137372,63,12.6
-2.357136685,64,12.8
-1.057120904,65,13
-2.143524815,66,13.2
-0.909844358,67,13.4
-1.753569167,68,13.6
-0.718448023,69,13.8
-0.99219574,70,14
-0.409664894,71,14.2
-1.473239812,72,14.4
-0.888004696,73,14.6
-1.777207068,74,14.8
-1.738535547,75,15
-1.369761257,76,15.2
-1.165149852,77,15.4
-2.355627359,78,15.6
-2.409780327,79,15.8
-2.48979506,80,16
-2.804524266,81,16.2
-1.273025233,82,16.4
-1.97732265,83,16.6
-2.400593598,84,16.8
-2.17964571,85,17
-2.155734892,86,17.2
-3.245998188,87,17.4
-1.500418387,88,17.6
-2.76286601,89,17.8
-3.708657651,90,18
-4.138763504,91,18.2
-3.250522624,92,18.4
-3.193428702,93,18.6
-3.381071229,94,18.8
-3.237706875,95,19
-
-
diff --git a/kinematics_ros_plugins/scripts/test_directKinematics.py b/kinematics_ros_plugins/scripts/test_directKinematics.py
index 14d00559..4dcd976d 100755
--- a/kinematics_ros_plugins/scripts/test_directKinematics.py
+++ b/kinematics_ros_plugins/scripts/test_directKinematics.py
@@ -27,7 +27,7 @@ def command(startTime):
command.rudder_control_mode = 1
command.target_heading = math.pi/2.0
command.motor_cmd_type = 1
- command.target_motor_cmd = 100.0
+ command.target_motor_cmd = 10.0
rospy.loginfo(command)
pub.publish(command)
time.sleep(8)
@@ -55,7 +55,7 @@ def command(startTime):
command.rudder_control_mode = 1
command.target_heading = math.pi/2
command.motor_cmd_type = 1
- command.target_motor_cmd = 50.0
+ command.target_motor_cmd = 10.0
rospy.loginfo(command)
pub.publish(command)
time.sleep(5)
diff --git a/kinematics_ros_plugins/src/KinematicsROSPlugin.cc b/kinematics_ros_plugins/src/KinematicsROSPlugin.cc
index 9ac858ca..5c6fdabe 100644
--- a/kinematics_ros_plugins/src/KinematicsROSPlugin.cc
+++ b/kinematics_ros_plugins/src/KinematicsROSPlugin.cc
@@ -336,8 +336,10 @@ void KinematicsROSPlugin::ConveyCommands(
{
// Convey commands to functions
this->ConveyKinematicsCommands(_msg);
-
this->controlMsgDetected = true;
+
+ // Eliminate Gazebo physics
+ this->model->ResetPhysicsStates();
}
/////////////////////////////////////////////////
diff --git a/glider_launch_world_example/bear/simulation/ACT1951_1_Annual_2021.csv b/local_glider_files_example/bear/simulation/ACT1951_1_Annual_2021_local.csv
similarity index 100%
rename from glider_launch_world_example/bear/simulation/ACT1951_1_Annual_2021.csv
rename to local_glider_files_example/bear/simulation/ACT1951_1_Annual_2021_local.csv
diff --git a/glider_launch_world_example/bear/simulation/PuertoRico_stratified_current_docker.launch b/local_glider_files_example/bear/simulation/BuzzBay.launch
similarity index 80%
rename from glider_launch_world_example/bear/simulation/PuertoRico_stratified_current_docker.launch
rename to local_glider_files_example/bear/simulation/BuzzBay.launch
index c0305e86..8f7de742 100644
--- a/glider_launch_world_example/bear/simulation/PuertoRico_stratified_current_docker.launch
+++ b/local_glider_files_example/bear/simulation/BuzzBay.launch
@@ -5,8 +5,9 @@
-
-
+
+
+
@@ -22,7 +23,6 @@
-
@@ -31,8 +31,8 @@
-
-
+
+
diff --git a/glider_launch_world_example/bear/simulation/BuzzBay_stratified_current_docker.world b/local_glider_files_example/bear/simulation/BuzzBay.world
similarity index 89%
rename from glider_launch_world_example/bear/simulation/BuzzBay_stratified_current_docker.world
rename to local_glider_files_example/bear/simulation/BuzzBay.world
index a6d6334a..02385b66 100644
--- a/glider_launch_world_example/bear/simulation/BuzzBay_stratified_current_docker.world
+++ b/local_glider_files_example/bear/simulation/BuzzBay.world
@@ -12,11 +12,11 @@
limitations under the License.
-->
-
+ 0.1
-
- 0
+ 1
+ 10quick
@@ -87,12 +87,14 @@
stratified_current_velocity_database
- transientOceanCurrentDatabase.csv
+ transientOceanCurrentDatabase_local.csv
+
- ACT1951_1_Annual_2021.csv
+
+ ACT1951_1_Annual_2021_local.csv
@@ -130,7 +132,7 @@
1042021
- 16
+ 1452
@@ -140,7 +142,7 @@
-
@@ -165,4 +167,4 @@
-
\ No newline at end of file
+
diff --git a/glider_launch_world_example/bear/simulation/BuzzBay_stratified_current_docker.launch b/local_glider_files_example/bear/simulation/PuertoRico.launch
similarity index 75%
rename from glider_launch_world_example/bear/simulation/BuzzBay_stratified_current_docker.launch
rename to local_glider_files_example/bear/simulation/PuertoRico.launch
index 049511d8..1825fffd 100644
--- a/glider_launch_world_example/bear/simulation/BuzzBay_stratified_current_docker.launch
+++ b/local_glider_files_example/bear/simulation/PuertoRico.launch
@@ -5,8 +5,9 @@
-
-
+
+
+
@@ -22,17 +23,15 @@
-
-
-
+
+
-
-
+
@@ -58,6 +57,7 @@
+
diff --git a/glider_launch_world_example/bear/simulation/PuertoRico_stratified_current_docker.world b/local_glider_files_example/bear/simulation/PuertoRico.world
similarity index 91%
rename from glider_launch_world_example/bear/simulation/PuertoRico_stratified_current_docker.world
rename to local_glider_files_example/bear/simulation/PuertoRico.world
index d13994df..f818ecfe 100644
--- a/glider_launch_world_example/bear/simulation/PuertoRico_stratified_current_docker.world
+++ b/local_glider_files_example/bear/simulation/PuertoRico.world
@@ -87,12 +87,14 @@
stratified_current_velocity_database
- transientOceanCurrentDatabase.csv
+ transientOceanCurrentDatabase_local.csv
+
- ACT1951_1_Annual_2021.csv
+
+ ACT1951_1_Annual_2021_local.csv
@@ -130,7 +132,7 @@
1042021
- 16
+ 1452
@@ -140,7 +142,7 @@
-
@@ -165,4 +167,4 @@
-
\ No newline at end of file
+
diff --git a/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/launch/upload_glider_hybrid_whoi_kinematics.launch b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/launch/upload_glider_hybrid_whoi_kinematics.launch
new file mode 100644
index 00000000..5aaed4e9
--- /dev/null
+++ b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/launch/upload_glider_hybrid_whoi_kinematics.launch
@@ -0,0 +1,62 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/robots/glider_hybrid_whoi_default_kinematics.urdf.xacro b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/robots/glider_hybrid_whoi_default_kinematics.urdf.xacro
new file mode 100644
index 00000000..0b283bb3
--- /dev/null
+++ b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/robots/glider_hybrid_whoi_default_kinematics.urdf.xacro
@@ -0,0 +1,31 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_base_kinematics.xacro b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_base_kinematics.xacro
new file mode 100644
index 00000000..9ea573e3
--- /dev/null
+++ b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_base_kinematics.xacro
@@ -0,0 +1,211 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ FirstOrder
+ 0.0
+
+
+ Basic
+ 0.0
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ ${namespace}/thruster_${thruster_id}
+ ${namespace}/thruster_${thruster_id}_joint
+ ${thruster_id}
+
+
+
+
+ false
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ ${namespace}/thruster_${thruster_id}
+ ${namespace}/thruster_${thruster_id}_joint
+ ${thruster_id}
+
+
+
+
+ false
+
+
+
+
+
+ ${fluid_density}
+ true
+ /hydrodynamics/current_velocity/${namespace}
+ true
+
+ 1.2565
+ -0.055
+ 0.345
+ 0.2534
+ 0.4160
+ 1.8953
+ -1.995
+ 1.8701
+ -0.020919
+ 1.4699
+ 0.97895
+
+
+ hydrodynamics/current_velocity/${namespace}
+ ${namespace}/base_link
+
+ stratified_current_velocity_database
+
+ 0.3
+ 0.0
+
+
+ 0.3
+ 0.0
+
+
+ 0.3
+ 0.0
+
+
+ false
+
+
+
+
+
+ /${namespace}
+ /${namespace}/robot_description
+
+
+ 1.0
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_sensors_kinematics.xacro b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_sensors_kinematics.xacro
new file mode 100644
index 00000000..4618f33e
--- /dev/null
+++ b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/glider_hybrid_whoi_sensors_kinematics.xacro
@@ -0,0 +1,93 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/uw_hector_gps_plugin.xacro b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/uw_hector_gps_plugin.xacro
new file mode 100644
index 00000000..e98c06d1
--- /dev/null
+++ b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/uw_hector_gps_plugin.xacro
@@ -0,0 +1,32 @@
+
+
+
+
+
+
+
+
+ true
+ 0.25
+ ${body_name}
+ hector_gps
+ hector_gps_velocity
+ 0.0 0.0 0.0
+ 0.0 0.0 0.0
+ 0 0 0
+ 0.0 0.0 0.0
+
+ 10
+
+
+ 2
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/uw_hector_imu_plugin.xacro b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/uw_hector_imu_plugin.xacro
new file mode 100644
index 00000000..101e77f4
--- /dev/null
+++ b/local_glider_files_example/bear/simulation/glider_hybrid_whoi_description/urdf/uw_hector_imu_plugin.xacro
@@ -0,0 +1,61 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ 10
+ ${parent}
+ hector_imu
+ ${namespace}
+ hector_imu/is_calibrated
+ 0.00000001
+ 0
+ 0
+ 0 0 0
+ 0 0 0
+ world
+
+
+
+
+
+
+
+
+