Pre-release version with new local_glider_files templates

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

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

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" \
+  "$@"

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)

glider_hybrid_whoi_gazebo/launch/BuzzBay_stratified_current.launch

@@ -25,7 +25,7 @@
   <arg name="use_geodetic" default="true"/>
   <arg name="initial_latitude" default="41.5522"/>
   <arg name="initial_longitude" default="-70.6803"/>
-  <arg name="initial_depth" default="-1"/>
+  <arg name="initial_depth" default="-10"/>
 
   <!-- Fledermaus Vessel Manager connection -->
   <arg name="host_ip" default="128.128.62.4"/>

glider_hybrid_whoi_gazebo/worlds/BuzzBay_stratified_current.world

@@ -87,23 +87,14 @@
 
       <transient_current>
         <topic_stratified_database>stratified_current_velocity_database</topic_stratified_database>
-        <!-- Database tag can accept full path or filename for .csv within the uuv_dave/worlds folder  -->
         <databasefilePath>transientOceanCurrentDatabase.csv</databasefilePath>
-        <!-- Absolute path in local machine -->
-         <!-- <databasefilePath>/home/woensug/uuv_ws/src/glider_hybrid_whoi/glider_hybrid_whoi_gazebo/worlds/transientOceanCurrentDatabase_zero.csv</databasefilePath> -->
-        <!-- Absolute path in docker environment -->
-        <!-- <databasefilePath>/home/ros/glider_hybrid_whoi/install/share/glider_hybrid_whoi_gazebo/worlds/transientOceanCurrentDatabase.csv</databasefilePath> -->
       </transient_current>
 
       <!-- transient current database CSV file (North direction value) is used as a depth variation -->
+      <!-- Handle to on/off tidal_oscillation is at <tide_oscillation> of glider_hybrid_whoi_base_kinematics.xacro -->
       <tidal_oscillation>
         <!-- Method 1: databse file https://tidesandcurrents.noaa.gov/noaacurrents/Annual?id=ACT1951_1 -->
-        <!-- Database tag can accept full path or filename for .csv within the uuv_dave/worlds folder  -->
         <databasefilePath>ACT1951_1_Annual_2021.csv</databasefilePath>
-        <!-- Absolute path in local machine -->
-        <!--  <databasefilePath>/home/glider-sim/uuv_ws/src/glider_hybrid_whoi/glider_hybrid_whoi_gazebo/worlds/ACT1951_1_Annual_2021.csv</databasefilePath>  -->
-        <!-- Absolute path in docker environment -->
-        <!-- <databasefilePath>/home/ros/glider_hybrid_whoi/install/share/glider_hybrid_whoi_gazebo/worlds/ACT1951_1_Annual_2021.csv</databasefilePath> -->
 
         <!-- Method 2: harmonic constituents from -->
         <!-- https://tidesandcurrents.noaa.gov/harcon.html?unit=0&timezone=0&id=8447685&name=Chappaquoit+Point&state=MA -->
@@ -177,6 +168,3 @@
 
   </world>
 </sdf>
-
-
-

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)

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();
 }
 
 /////////////////////////////////////////////////

glider_launch_world_example/bear/simulation/PuertoRico_stratified_current_docker.launch → local_glider_files_example/bear/simulation/BuzzBay.launch

@@ -5,8 +5,9 @@
   <param name="use_sim_time" value="true"/>
   <param name="gui" value="true"/>
 
-  <node name="gazebo" pkg="gazebo_ros" type="gazebo" args="/local_glider_files/simulation/PuertoRico_stratified_current_docker.world --verbose -u -e ode -s libdsros_sensors.so" respawn="false" output="screen">
-      <env name="GAZEBO_MODEL_PATH" value="$(optenv GAZEBO_MODEL_PATH):/local_glider_files/simulation/models/PuertoRico/"/>
+  <node name="gazebo" pkg="gazebo_ros" type="gazebo" args="$(dirname)/BuzzBay.world --verbose -u -e ode -s libdsros_sensors.so" respawn="false" output="screen">
+      <env name="GAZEBO_MODEL_PATH" value="$(optenv GAZEBO_MODEL_PATH):$(find glider_hybrid_whoi_gazebo)/models/BuzzBay/"/>
+      <env name="GAZEBO_RESOURCE_PATH" value="$(optenv GAZEBO_RESOURCE_PATH):$(dirname)"/>
   </node>
 
   <arg name="set_timeout" default="false"/>
@@ -22,7 +23,6 @@
 
   <!-- Vehicle's initial position -->
   <arg name="robot_name" default="glider_hybrid_whoi"/>
-  <arg name="use_geodetic" default="true"/>
   <arg name="initial_latitude" default="41.5522"/>
   <arg name="initial_longitude" default="-70.6803"/>
   <arg name="initial_depth" default="-1"/>
@@ -31,8 +31,8 @@
   <arg name="host_ip" default="128.128.62.4"/>
   <arg name="port" default="30362"/>
 
-  <include file="$(find glider_hybrid_whoi_description)/launch/upload_glider_hybrid_whoi_kinematics.launch">
-    <arg name="use_geodetic" value="$(arg use_geodetic)"/>
+  <!-- Spawn vehicle into the world -->
+  <include file="$(dirname)/glider_hybrid_whoi_description/launch/upload_glider_hybrid_whoi_kinematics.launch">
     <arg name="robot_name" value="$(arg robot_name)"/>
   </include>