From e714f54c28ffc26bdd99c2ca7cd84ade82764783 Mon Sep 17 00:00:00 2001 From: Ricardo Rico Uribe Date: Tue, 7 Jul 2020 15:01:43 +0200 Subject: [PATCH] spawn correct - flotation incorrect --- .../launch/description.launch | 2 +- ....urdf => aquanaute_description.urdf.xacro} | 38 +---- aquanaute_gazebo/CMakeList.txt | 14 -- aquanaute_gazebo/CMakeLists.txt | 21 +++ aquanaute_gazebo/launch/empty_world.launch | 18 --- aquanaute_gazebo/launch/lac_world.launch | 13 -- .../launch/spawn_aquanaute.launch | 31 ---- aquanaute_gazebo/package.xml | 36 +++-- .../urdf/aquanaute_gazebo.urdf.xacro | 10 ++ aquanaute_gazebo/urdf/aquanaute_gazebo.xacro | 11 ++ .../aquanaute_gazebo_dynamics_plugin.xacro | 37 +++++ aquanaute_gazebo/urdf/macros.xacro | 7 + aquanaute_gazebo/worlds/empty.world | 108 ------------- aquanaute_gazebo/worlds/lac.world | 108 ------------- vrx_gazebo/launch/sandisland.launch | 7 +- vrx_gazebo/worlds/ocean.world.xacro | 1 - .../worlds/xacros/usv_wind_plugin.xacro | 2 +- .../world_models/ocean_waves/model.xacro | 146 +++++++++--------- 18 files changed, 187 insertions(+), 423 deletions(-) rename aquanaute_description/urdf/{aquanaute.urdf => aquanaute_description.urdf.xacro} (87%) delete mode 100644 aquanaute_gazebo/CMakeList.txt create mode 100644 aquanaute_gazebo/CMakeLists.txt delete mode 100644 aquanaute_gazebo/launch/empty_world.launch delete mode 100644 aquanaute_gazebo/launch/lac_world.launch delete mode 100644 aquanaute_gazebo/launch/spawn_aquanaute.launch create mode 100644 aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro create mode 100644 aquanaute_gazebo/urdf/aquanaute_gazebo.xacro create mode 100644 aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro create mode 100644 aquanaute_gazebo/urdf/macros.xacro delete mode 100644 aquanaute_gazebo/worlds/empty.world delete mode 100644 aquanaute_gazebo/worlds/lac.world diff --git a/aquanaute_description/launch/description.launch b/aquanaute_description/launch/description.launch index ad5779b..ea46911 100644 --- a/aquanaute_description/launch/description.launch +++ b/aquanaute_description/launch/description.launch @@ -1,7 +1,7 @@ - + diff --git a/aquanaute_description/urdf/aquanaute.urdf b/aquanaute_description/urdf/aquanaute_description.urdf.xacro similarity index 87% rename from aquanaute_description/urdf/aquanaute.urdf rename to aquanaute_description/urdf/aquanaute_description.urdf.xacro index 4391d40..ce3bde0 100644 --- a/aquanaute_description/urdf/aquanaute.urdf +++ b/aquanaute_description/urdf/aquanaute_description.urdf.xacro @@ -1,5 +1,5 @@ - + @@ -209,7 +209,7 @@ 100000.0 10.0 10.0 - Gazebo/Grey + Gazebo/Red @@ -217,7 +217,7 @@ 100000.0 10.0 10.0 - Gazebo/Grey + Gazebo/Red @@ -225,7 +225,7 @@ 100000.0 10.0 10.0 - Gazebo/Grey + Gazebo/Black @@ -233,35 +233,7 @@ 100000.0 10.0 10.0 - Gazebo/Grey + Gazebo/White - - - diff --git a/aquanaute_gazebo/CMakeList.txt b/aquanaute_gazebo/CMakeList.txt deleted file mode 100644 index 5ab7ed9..0000000 --- a/aquanaute_gazebo/CMakeList.txt +++ /dev/null @@ -1,14 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(aquanaute_gazebo) - -find_package(catkin REQUIRED COMPONENTS roslaunch) - -catkin_package() - -roslaunch_add_file_check(launch) - -install( - DIRECTORY launch worlds - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - diff --git a/aquanaute_gazebo/CMakeLists.txt b/aquanaute_gazebo/CMakeLists.txt new file mode 100644 index 0000000..470c639 --- /dev/null +++ b/aquanaute_gazebo/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 2.8.3) +project(aquanaute_gazebo) +find_package(catkin REQUIRED COMPONENTS + aquanaute_description + usv_gazebo_plugins + xacro +) +catkin_package( + CATKIN_DEPENDS aquanaute_description usv_gazebo_plugins xacro +) + +# Generate urdf files from xacro and install +xacro_add_files( + urdf/aquanaute_gazebo.urdf.xacro + INORDER INSTALL DESTINATION urdf +) + +# Install xacro files / macros +install(DIRECTORY urdf/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf) + diff --git a/aquanaute_gazebo/launch/empty_world.launch b/aquanaute_gazebo/launch/empty_world.launch deleted file mode 100644 index bcd6b45..0000000 --- a/aquanaute_gazebo/launch/empty_world.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/aquanaute_gazebo/launch/lac_world.launch b/aquanaute_gazebo/launch/lac_world.launch deleted file mode 100644 index 7c1faea..0000000 --- a/aquanaute_gazebo/launch/lac_world.launch +++ /dev/null @@ -1,13 +0,0 @@ - - - - - - - - - - - - - diff --git a/aquanaute_gazebo/launch/spawn_aquanaute.launch b/aquanaute_gazebo/launch/spawn_aquanaute.launch deleted file mode 100644 index aa3914c..0000000 --- a/aquanaute_gazebo/launch/spawn_aquanaute.launch +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - diff --git a/aquanaute_gazebo/package.xml b/aquanaute_gazebo/package.xml index 3c5d85a..e338bc3 100644 --- a/aquanaute_gazebo/package.xml +++ b/aquanaute_gazebo/package.xml @@ -1,21 +1,23 @@ - + aquanaute_gazebo - 0.4.2 - Aquanaute Simulator bringup - - Ricardo RICO URIBE - + 1.3.0 + + Provides templates and examples for integrating the WAM-V model into gazebo with dynamics, sensors, etc. + + Carlos Aguero + Jose Luis Rivero + Apache 2.0 + http://wiki.ros.org/wamv_gazebo + http://github.com/osrf/vrx/issues + Brian Bingham + Carlos Aguero catkin - roslaunch - controller_manager - gazebo_plugins - gazebo_ros - gazebo_ros_control - aquanaute_description - rostopic - - - + gazebo_plugins + hector_gazebo_plugins + robot_localization + usv_gazebo_plugins + velodyne_gazebo_plugins + aquanaute_description + xacro - diff --git a/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro b/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro new file mode 100644 index 0000000..09ccae7 --- /dev/null +++ b/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/aquanaute_gazebo/urdf/aquanaute_gazebo.xacro b/aquanaute_gazebo/urdf/aquanaute_gazebo.xacro new file mode 100644 index 0000000..8f76311 --- /dev/null +++ b/aquanaute_gazebo/urdf/aquanaute_gazebo.xacro @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro b/aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro new file mode 100644 index 0000000..717b7b0 --- /dev/null +++ b/aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro @@ -0,0 +1,37 @@ + + + + + + + base_link + + 0 + 997.8 + + 0.0 + 0.0 + 0.0 + + 51.3 + 72.4 + 40.0 + 0.0 + 500.0 + 50.0 + 50.0 + 400.0 + 0.0 + + + 0.19 + 2 + 3 + + 10 + + ocean_waves + + + + diff --git a/aquanaute_gazebo/urdf/macros.xacro b/aquanaute_gazebo/urdf/macros.xacro new file mode 100644 index 0000000..f8ba02b --- /dev/null +++ b/aquanaute_gazebo/urdf/macros.xacro @@ -0,0 +1,7 @@ + + + + + + diff --git a/aquanaute_gazebo/worlds/empty.world b/aquanaute_gazebo/worlds/empty.world deleted file mode 100644 index 4d3fa4d..0000000 --- a/aquanaute_gazebo/worlds/empty.world +++ /dev/null @@ -1,108 +0,0 @@ - - - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - 1 - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - - - - - 10 - - - 0 - - - 0 0 1 - 100 100 - - - - - - - - 0 - 0 - - 0 - 0 - 1 - - - - 0.01 - 1 - 100 - 0 0 -9.8 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - 16.2337 1.23674 17.6497 0 0.923643 -3.08299 - orbit - - - - - diff --git a/aquanaute_gazebo/worlds/lac.world b/aquanaute_gazebo/worlds/lac.world deleted file mode 100644 index 4d3fa4d..0000000 --- a/aquanaute_gazebo/worlds/lac.world +++ /dev/null @@ -1,108 +0,0 @@ - - - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - 1 - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - - - - - 10 - - - 0 - - - 0 0 1 - 100 100 - - - - - - - - 0 - 0 - - 0 - 0 - 1 - - - - 0.01 - 1 - 100 - 0 0 -9.8 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - - 16.2337 1.23674 17.6497 0 0.923643 -3.08299 - orbit - - - - - diff --git a/vrx_gazebo/launch/sandisland.launch b/vrx_gazebo/launch/sandisland.launch index f872e5b..17df108 100644 --- a/vrx_gazebo/launch/sandisland.launch +++ b/vrx_gazebo/launch/sandisland.launch @@ -17,7 +17,7 @@ - + @@ -37,9 +37,10 @@ - + + + command="$(find xacro)/xacro '$(arg urdf)'"/> - diff --git a/vrx_gazebo/worlds/xacros/usv_wind_plugin.xacro b/vrx_gazebo/worlds/xacros/usv_wind_plugin.xacro index 252dbf2..7fdc1d2 100644 --- a/vrx_gazebo/worlds/xacros/usv_wind_plugin.xacro +++ b/vrx_gazebo/worlds/xacros/usv_wind_plugin.xacro @@ -5,7 +5,7 @@ direction:=270 mean_vel:=0 var_gain:=0 - var_time:=1 + var_time:=0 seed:='' ros_update_rate:=10 " > diff --git a/wave_gazebo/world_models/ocean_waves/model.xacro b/wave_gazebo/world_models/ocean_waves/model.xacro index c339ae5..acbc9ec 100644 --- a/wave_gazebo/world_models/ocean_waves/model.xacro +++ b/wave_gazebo/world_models/ocean_waves/model.xacro @@ -22,83 +22,79 @@ Modified to include wave field model and visual plugins. --> - - - - - true - - false - 30 - 1000 1000 - 50 50 - - PMS - ${period} - 3 - 1.5 - S ${gain} - ${direction_x} ${direction_y} - ${angle} - 2.0 - 0.0 - 0.0 - - + + + true + + false + 30 + 500 500 + 50 50 + + PMS + ${period} + 3 + 1.5 + ${gain} + ${direction_x} ${direction_y} + ${angle} + 2.0 + 0.0 + 0.0 + + - - - - true - 0.1 - 0.2 - 0.2 - - PMS - ${period} - 3 - 1.5 - ${gain} - ${direction_x} ${direction_y} - ${angle} - 2.0 - 0.0 - 0.0 - - - - - model://ocean_waves/meshes/mesh.dae - - - - - - -1 - - - 0 0 -0.05 0 0 0 - - - model://ocean_waves/meshes/mesh_below.dae - - - - - - -1 - - - + + + + true + 0.1 + 0.2 + 0.2 + + PMS + ${period} + 3 + 1.5 + ${gain} + ${direction_x} ${direction_y} + ${angle} + 2.0 + 0.0 + 0.0 + + + + + model://ocean_waves/meshes/mesh.dae + + + + + + -1 + + + 0 0 -0.05 0 0 0 + + + model://ocean_waves/meshes/mesh_below.dae + + + + + + -1 + + + -- GitLab