Commit 865620f8 authored by Ricardo Rico Uribe's avatar Ricardo Rico Uribe
Browse files

spawn of aquanate correct with wind and waves - missing thruster input

parent d4c095dd
...@@ -37,16 +37,20 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an ...@@ -37,16 +37,20 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an
</wind_objs> </wind_objs>
</xacro:usv_wind_gazebo> </xacro:usv_wind_gazebo>
``` ```
it is configured to have no waves and no wind, also the wind and the waves move in the same direction, to activate wind and waves change the "mean_vel" and "gain" parameters respectively (recomended values are smaller than 1.0) it is configured to have no waves and no wind, also the wind and the waves move in the same direction, to activate wind and waves change the "mean_vel" and "gain" parameters respectively (recomended values are smaller than 1.0).
### run ### run
in the workspace run the command at the beginning (and every time you change a parameter) in the workspace run the command at the beginning (and every time you change a parameter)
```bash
catkin_make ```bash
``` catkin_make
```
then launch the file you created then launch the file you created
```bash
roslaunch vrx_gazebo name.launch ```bash
``` roslaunch vrx_gazebo name.launch
```
## Author ## Author
Ricardo RICO URIBE intern at U2IS in the summer of 2020 Ricardo RICO URIBE intern at U2IS in the summer of 2020
...@@ -67,7 +71,7 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020 ...@@ -67,7 +71,7 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020
<!-- Set various other gazebo arguments--> <!-- Set various other gazebo arguments-->
<arg name="extra_gazebo_args" default=""/> <arg name="extra_gazebo_args" default=""/>
<!-- Start in a default namespace --> <!-- Start in a default namespace -->
<arg name="namespace" default="wamv"/> <arg name="namespace" default="aquanaute"/>
<!-- Initial USV location and attitude--> <!-- Initial USV location and attitude-->
<arg name="x" default="0" /> <arg name="x" default="0" />
...@@ -77,11 +81,7 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020 ...@@ -77,11 +81,7 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020
<arg name="R" default="0" /> <arg name="R" default="0" />
<arg name="Y" default="0" /> <arg name="Y" default="0" />
<!-- If true, show non-competition ROS topics (/gazebo/model_states, /vrx/debug/wind/direction, etc.)--> <env name="VRX_DEBUG" value="true"/>
<arg name="non_competition_mode" default="true"/>
<arg name="enable_ros_network" value="$(arg non_competition_mode)"/>
<env name="VRX_DEBUG" value="$(arg non_competition_mode)"/>
<env unless="$(arg non_competition_mode)" name="GAZEBO_MODEL_PATH" value="$(find vrx_gazebo)/models:$(find wamv_gazebo)/models:$(find wamv_description)/models:$(optenv GAZEBO_MODEL_PATH)"/>
<!-- Allow user specified thruster configurations <!-- Allow user specified thruster configurations
H = stern trusters on each hull H = stern trusters on each hull
...@@ -103,32 +103,18 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020 ...@@ -103,32 +103,18 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020
<arg name="paused" value="$(arg paused)"/> <arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/> <arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)" /> <arg name="gui" value="$(arg gui)" />
<arg name="enable_ros_network" value="$(arg enable_ros_network)"/> <arg name="enable_ros_network" value="true"/>
<arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/> <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
</include> </include>
<!-- Load robot model --> <!-- Load robot model -->
<arg name="urdf" default="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/> <arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
<param name="$(arg namespace)/robot_description" <param name="$(arg namespace)/robot_description" command="$(find xacro)/xacro '$(arg urdf)'"/>
command="$(find xacro)/xacro &#x002D;&#x002D;inorder '$(arg urdf)'
thruster_config:=$(arg thrust_config)
camera_enabled:=$(arg camera_enabled)
gps_enabled:=$(arg gps_enabled)
imu_enabled:=$(arg imu_enabled)
lidar_enabled:=$(arg lidar_enabled)
ground_truth_enabled:=$(arg ground_truth_enabled)
namespace:=$(arg namespace) "/>
<!-- Spawn model in Gazebo, script depending on non_competition_mode --> <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
<node name="spawn_model" pkg="gazebo_ros" type="spawn_model" if="$(arg non_competition_mode)" <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x) -y $(arg y) -z $(arg z)
args="-x $(arg x) -y $(arg y) -z $(arg z)
-R $(arg R) -P $(arg P) -Y $(arg Y)
-urdf -param $(arg namespace)/robot_description -model wamv"/>
<node name="spawn_wamv" pkg="vrx_gazebo" type="spawn_wamv.bash" unless="$(arg non_competition_mode)"
args="-x $(arg x) -y $(arg y) -z $(arg z)
-R $(arg R) -P $(arg P) -Y $(arg Y) -R $(arg R) -P $(arg P) -Y $(arg Y)
--urdf $(arg urdf) --model wamv"/> -urdf -param $(arg namespace)/robot_description -model aquanaute"/>
</launch> </launch>
``` ```
### ocean.world.xacro ### ocean.world.xacro
...@@ -191,10 +177,10 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020 ...@@ -191,10 +177,10 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020
<!--Wind for the WAM-V. Note, wind parameters are set in the plug.--> <!--Wind for the WAM-V. Note, wind parameters are set in the plug.-->
<xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/> <xacro: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"> <xacro:usv_wind_gazebo direction="90" mean_vel="0.0" var_gain="5" var_time="1">
<wind_objs> <wind_objs>
<wind_obj> <wind_obj>
<name>wamv</name> <name>aquanaute</name>
<link_name>base_link</link_name> <link_name>base_link</link_name>
<coeff_vector>0.5 0.5 0.33</coeff_vector> <coeff_vector>0.5 0.5 0.33</coeff_vector>
</wind_obj> </wind_obj>
...@@ -203,6 +189,7 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020 ...@@ -203,6 +189,7 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020
</world> </world>
</sdf> </sdf>
``` ```
## License ## License
......
...@@ -159,7 +159,7 @@ ...@@ -159,7 +159,7 @@
<joint name="platform_base_joint" type="fixed"> <joint name="platform_base_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link"/>
<child link="platform_link"/> <child link="platform_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/> <origin xyz="0 0 0.35" rpy="0 0 0"/>
</joint> </joint>
<joint name="right_hull_platform_joint" type="fixed"> <joint name="right_hull_platform_joint" type="fixed">
...@@ -175,13 +175,13 @@ ...@@ -175,13 +175,13 @@
</joint> </joint>
<joint name="motor_platform_joint" type="fixed"> <joint name="motor_platform_joint" type="fixed">
<parent link="base_link"/> <parent link="platform_link"/>
<child link="motor_link"/> <child link="motor_link"/>
<origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/> <origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/>
</joint> </joint>
<joint name="sensor_frame_platform_joint" type="fixed"> <joint name="sensor_frame_platform_joint" type="fixed">
<parent link="base_link"/> <parent link="platform_link"/>
<child link="sensor_frame_link"/> <child link="sensor_frame_link"/>
<origin xyz="-0.55 0.0 0.0" rpy="0 0 0"/> <origin xyz="-0.55 0.0 0.0" rpy="0 0 0"/>
</joint> </joint>
......
...@@ -4,7 +4,7 @@ ...@@ -4,7 +4,7 @@
<!-- Include macros for dynamics plugins --> <!-- Include macros for dynamics plugins -->
<xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" /> <xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
<!-- Defines the base vehicle --> <!-- Defines the base vehicle -->
<xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" /> <xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" name="aquanaute"/>
<!-- Attach hydrodynamics plugin --> <!-- Attach hydrodynamics plugin -->
<xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/> <xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
</robot> </robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="aquanaute_gazebo">
<!-- Include macros for dynamics plugins -->
<xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
<!-- Defines the base vehicle -->
<xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" />
<!-- Attach hydrodynamics plugin -->
<xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
</xacro:macro>
</robot>
...@@ -9,9 +9,9 @@ ...@@ -9,9 +9,9 @@
<waterLevel>0</waterLevel> <waterLevel>0</waterLevel>
<waterDensity>997.8</waterDensity> <waterDensity>997.8</waterDensity>
<!-- Added mass --> <!-- Added mass -->
<xDotU>0.0</xDotU> <xDotU>10.0</xDotU>
<yDotV>0.0</yDotV> <yDotV>10.0</yDotV>
<nDotR>0.0</nDotR> <nDotR>25.0</nDotR>
<!-- Linear and quadratic drag --> <!-- Linear and quadratic drag -->
<xU>51.3</xU> <xU>51.3</xU>
<xUU>72.4</xUU> <xUU>72.4</xUU>
...@@ -24,9 +24,9 @@ ...@@ -24,9 +24,9 @@
<nRR>0.0</nRR> <nRR>0.0</nRR>
<!-- General dimensions --> <!-- General dimensions -->
<!--<boatArea>2.2</boatArea>--> <!--<boatArea>2.2</boatArea>-->
<hullRadius>0.19</hullRadius> <hullRadius>0.18</hullRadius>
<boatWidth>2</boatWidth> <boatWidth>1.8</boatWidth>
<boatLength>3</boatLength> <boatLength>3.0</boatLength>
<!-- Length discretization, AKA, "N" --> <!-- Length discretization, AKA, "N" -->
<length_n>10</length_n> <length_n>10</length_n>
<!-- Wave model --> <!-- Wave model -->
......
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