From 0beafed9ad86c92db9ef890942b25fa7b128e86c Mon Sep 17 00:00:00 2001
From: Ricardo Rico Uribe <ricardorico0527@gmail.com>
Date: Fri, 10 Jul 2020 10:16:45 +0200
Subject: [PATCH] modified to be able to work with vrx hosted at ensta -
 missing thruster

---
 README.md                                     | 157 +-----------------
 .../urdf/aquanaute_description.urdf.xacro     |   2 +-
 aquanaute_gazebo/launch/world.launch          |  47 ++++++
 .../urdf/aquanaute_gazebo.urdf.xacro          |   4 +-
 4 files changed, 55 insertions(+), 155 deletions(-)
 create mode 100644 aquanaute_gazebo/launch/world.launch

diff --git a/README.md b/README.md
index 23db390..6381d66 100644
--- a/README.md
+++ b/README.md
@@ -5,27 +5,18 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an
 ## Installation
 
 * Clone this repo to a Catkin Workspace
-* Clone the VRX repo to the same Workspace (https://github.com/osrf/vrx)
-* In the path
-    ```
-    "workspace"/src/vrx/vrx_gazebo/launch/
-    ```
-    create a new launch file "name".launch and copy the code provided below
-* In the path
-    ```
-    "workspace"/src/vrx/vrx_gazebo/worlds/ocean.world.xacro
-    ```
-    delete the contents of the file and replace them with the code provided below
+
+* Clone the VRX repo (hosted at ensta) to the same Workspace (http://git-u2is.ensta.fr/ssh/vrx) and checkout to the branch "aquanaute"
 
 ## Usage
 ### modify wind and waves
-  in the ocean.world.xacro you have
+  in the ocean.world.xacro you have found in /vrx_gazebo/worlds
   ```xml
   <!--Waves-->
   <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
   <xacro:ocean_waves gain="0.0" period="5" direction_x="-1.0" direction_y="0.0" angle="0.0"/>
 
-  <!--Wind for the WAM-V. Note, wind parameters are set in the plug.-->
+  <!--Wind-->
   <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/>
   <xacro:usv_wind_gazebo direction="90" mean_vel="0" var_gain="5" var_time="1">
     <wind_objs>
@@ -49,149 +40,11 @@ in the workspace run the command at the beginning (and every time you change a p
 then launch the file you created
 
   ```bash
-  roslaunch vrx_gazebo name.launch
+  roslaunch aquanaute_gazebo world.launch
   ```
 ## Author
 Ricardo RICO URIBE intern at U2IS in the summer of 2020
 
-## Code
-### .launch
-```xml
-<?xml version="1.0"?>
-<launch>
-      <env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
-      <!-- Gazebo world to load -->
-      <arg name="world" default="$(find vrx_gazebo)/worlds/ocean.world" />
-      <!-- If true, run gazebo GUI -->
-      <arg name="gui" default="true" />
-      <!-- If true, run gazebo in verbose mode -->
-      <arg name="verbose" default="true"/>
-      <!-- If true, start in paused state -->
-      <arg name="paused" default="false"/>
-      <!-- Set various other gazebo arguments-->
-      <arg name="extra_gazebo_args" default=""/>
-      <!-- Start in a default namespace -->
-      <arg name="namespace" default="aquanaute"/>
-
-      <!-- Initial USV location and attitude-->
-      <arg name="x" default="0" />
-      <arg name="y" default="0" />
-      <arg name="z" default="0.1" />
-      <arg name="P" default="0" />
-      <arg name="R" default="0" />
-      <arg name="Y" default="0" />
-
-      <env name="VRX_DEBUG" value="true"/>
-     
-      <!-- Allow user specified thruster configurations
-       H = stern trusters on each hull
-       T = H with a lateral thruster
-       X = "holonomic" configuration -->
-      <arg name="thrust_config" default="H" />
-
-      <!-- Do you want to enable sensors? -->
-      <arg name="camera_enabled" default="false" />
-      <arg name="gps_enabled" default="false" />
-      <arg name="imu_enabled" default="false" />
-      <arg name="lidar_enabled" default="false" />
-      <arg name="ground_truth_enabled" default="false" />
-
-      <!-- Start Gazebo with the world file -->
-      <include file="$(find gazebo_ros)/launch/empty_world.launch">
-            <arg name="world_name" value="$(arg world)"/>
-            <arg name="verbose" value="$(arg verbose)"/>
-            <arg name="paused" value="$(arg paused)"/>
-            <arg name="use_sim_time" value="true"/>
-            <arg name="gui" value="$(arg gui)" />
-            <arg name="enable_ros_network" value="true"/>
-            <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
-      </include>
-
-      <!-- Load robot model -->
-      <arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
-      <param name="$(arg namespace)/robot_description" command="$(find xacro)/xacro '$(arg urdf)'"/>
-
-      <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
-      <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x) -y $(arg y) -z $(arg z)
-              -R $(arg R) -P $(arg P) -Y $(arg Y)
-              -urdf -param $(arg namespace)/robot_description -model aquanaute"/>
-</launch>
-```
-### ocean.world.xacro
-```xml
-<?xml version="1.0" ?>
-<!--
-  Copyright (C) 2019  Rhys Mainwaring
-
-
-   Licensed under the Apache License, Version 2.0 (the "License");
-   you may not use this file except in compliance with the License.
-   You may obtain a copy of the License at
- 
-       http://www.apache.org/licenses/LICENSE-2.0
- 
-   Unless required by applicable law or agreed to in writing, software
-   distributed under the License is distributed on an "AS IS" BASIS,
-   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-   See the License for the specific language governing permissions and
-   limitations under the License.
-
--->
-<sdf version="1.6" 
-  xmlns:xacro="http://ros.org/wiki/xacro">
-  <world name="ocean_world">
-
-    <!-- GUI -->
-    <gui>
-      <plugin name="keyboard_gui_plugin" filename="libKeyboardGUIPlugin.so"/>
-      <camera name='user_camera'>
-        <pose frame=''>40 40 20 0 0.4 180</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <!-- Scene -->
-    <scene>
-      <sky>
-        <time>10</time>
-        <sunrise>6</sunrise>
-        <sunset>18</sunset>
-        <clouds>
-          <speed>12</speed>
-          <direction>1.57079</direction>
-        </clouds>
-      </sky>
-      <grid>false</grid>
-      <origin_visual>false</origin_visual>
-    </scene>
-
-    <!-- Lights -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-
-    <!--Waves-->
-    <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
-    <xacro:ocean_waves gain="0.0" period="5" direction_x="-1.0" direction_y="0.0" angle="0.0"/>
-
-    <!--Wind for the WAM-V. Note, wind parameters are set in the plug.-->
-    <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/>
-    <xacro:usv_wind_gazebo direction="90" mean_vel="0.0" var_gain="5" var_time="1">
-      <wind_objs>
-        <wind_obj>
-          <name>aquanaute</name>
-          <link_name>base_link</link_name>
-          <coeff_vector>0.5 0.5 0.33</coeff_vector>
-        </wind_obj>
-      </wind_objs>
-    </xacro:usv_wind_gazebo>
-  </world>
-</sdf>
-
-
-```
-
 ## License
 
 
diff --git a/aquanaute_description/urdf/aquanaute_description.urdf.xacro b/aquanaute_description/urdf/aquanaute_description.urdf.xacro
index 1280b12..8813e46 100644
--- a/aquanaute_description/urdf/aquanaute_description.urdf.xacro
+++ b/aquanaute_description/urdf/aquanaute_description.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="aquanaute">
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
 
     <material name="blue">
         <color rgba="0 0 0.8 1"/>
diff --git a/aquanaute_gazebo/launch/world.launch b/aquanaute_gazebo/launch/world.launch
new file mode 100644
index 0000000..abc3151
--- /dev/null
+++ b/aquanaute_gazebo/launch/world.launch
@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<launch>
+      <env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
+      <!-- Gazebo world to load -->
+      <arg name="world" default="$(find vrx_gazebo)/worlds/ocean.world" />
+      <!-- If true, run gazebo GUI -->
+      <arg name="gui" default="true" />
+      <!-- If true, run gazebo in verbose mode -->
+      <arg name="verbose" default="true"/>
+      <!-- If true, start in paused state -->
+      <arg name="paused" default="false"/>
+      <!-- Set various other gazebo arguments-->
+      <arg name="extra_gazebo_args" default=""/>
+      <!-- Start in a default namespace -->
+      <arg name="namespace" default="aquanaute"/>
+
+      <!-- Initial USV location and attitude-->
+      <arg name="x" default="0" />
+      <arg name="y" default="0" />
+      <arg name="z" default="0.1" />
+      <arg name="P" default="0" />
+      <arg name="R" default="0" />
+      <arg name="Y" default="0" />
+
+      <env name="VRX_DEBUG" value="true"/>
+     
+      <!-- Start Gazebo with the world file -->
+      <include file="$(find gazebo_ros)/launch/empty_world.launch">
+            <arg name="world_name" value="$(arg world)"/>
+            <arg name="verbose" value="$(arg verbose)"/>
+            <arg name="paused" value="$(arg paused)"/>
+            <arg name="use_sim_time" value="true"/>
+            <arg name="gui" value="$(arg gui)" />
+            <arg name="enable_ros_network" value="true"/>
+            <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
+      </include>
+
+      <!-- Load robot model -->
+      <arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
+      <param name="$(arg namespace)/robot_description" command="$(find xacro)/xacro '$(arg urdf)'"/>
+
+      <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
+      <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x) -y $(arg y) -z $(arg z)
+              -R $(arg R) -P $(arg P) -Y $(arg Y)
+              -urdf -param $(arg namespace)/robot_description -model aquanaute"/>
+</launch>
+
diff --git a/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro b/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
index 8ccea53..7f1560c 100644
--- a/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
+++ b/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <!-- Basic WAM-V with gazebo plugins for dynamics -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="aquanaute">
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
     <!-- Include macros for dynamics plugins -->
     <xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
     <!-- Defines the base vehicle -->
-    <xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" name="aquanaute"/>
+    <xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro"/>
     <!-- Attach hydrodynamics plugin -->
     <xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
 </robot>
-- 
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