spawn in wave world

Ricardo Rico Uribe
1 parent 3ba6216e
Showing 103 changed files with 58563 additions and 0 deletions Show diff stats
.gitignore
.gitignore.swp
CMakeLists.txt
aquanaute_description/urdf/aquanaute.urdf
usv_gazebo_plugins/CHANGELOG.rst
usv_gazebo_plugins/CMakeLists.txt
usv_gazebo_plugins/include/usv_gazebo_plugins/acoustic_pinger_plugin.hh
usv_gazebo_plugins/include/usv_gazebo_plugins/buoyancy_gazebo_plugin.hh
usv_gazebo_plugins/include/usv_gazebo_plugins/polyhedron_volume.hh
usv_gazebo_plugins/include/usv_gazebo_plugins/shape_volume.hh
usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_dynamics_plugin.hh
usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_thrust_plugin.hh
usv_gazebo_plugins/include/usv_gazebo_plugins/usv_gazebo_wind_plugin.hh
usv_gazebo_plugins/launch/buoyancy_plugin_demo.launch
usv_gazebo_plugins/package.xml
usv_gazebo_plugins/src/acoustic_pinger_plugin.cc
usv_gazebo_plugins/src/buoyancy_gazebo_plugin.cc
usv_gazebo_plugins/src/polyhedron_volume.cc
usv_gazebo_plugins/src/shape_volume.cc
usv_gazebo_plugins/src/usv_gazebo_dynamics_plugin.cc
@@ -0,0 +1,613 @@
+
+# Created by https://www.toptal.com/developers/gitignore/api/linux,visualstudiocode,ros,c++,python,visualstudio,cmake
+# Edit at https://www.toptal.com/developers/gitignore?templates=linux,visualstudiocode,ros,c++,python,visualstudio,cmake
+
+### C++ ###
+# Prerequisites
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+
+### CMake ###
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+CMakeCache.txt
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+CMakeScripts
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
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+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
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+#wwwroot/
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+Generated\ Files/
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+# MSTest test Results
+[Tt]est[Rr]esult*/
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+# NUnit
+*.VisualState.xml
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+# Build Results of an ATL Project
+[Dd]ebugPS/
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+# Benchmark Results
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+# StyleCop
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+# Chutzpah Test files
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+# Visual C++ cache files
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+# Visual Studio profiler
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+coverage*[.json, .xml, .info]
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+# End of https://www.toptal.com/developers/gitignore/api/linux,visualstudiocode,ros,c++,python,visualstudio,cmake
@@ -0,0 +1 @@
+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
 \ No newline at end of file
@@ -186,6 +186,55 @@
     	<origin xyz="-0.55 0.0 0.0" rpy="0 0 0"/>
 	</joint>
  
+    <!-- * * * GAZEBO Definitions * * * -->
+
+    <gazebo reference="base_link">
+        <kp>100000.0</kp>
+        <kd>100000.0</kd>
+        <mu1>10.0</mu1>
+        <mu2>10.0</mu2>
+        <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <gazebo reference="platform_link">
+        <kp>100000.0</kp>
+        <kd>100000.0</kd>
+        <mu1>10.0</mu1>
+        <mu2>10.0</mu2>
+        <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <gazebo reference="right_hull_link">
+        <kp>100000.0</kp>
+        <kd>100000.0</kd>
+        <mu1>10.0</mu1>
+        <mu2>10.0</mu2>
+        <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <gazebo reference="left_hull_link">
+        <kp>100000.0</kp>
+        <kd>100000.0</kd>
+        <mu1>10.0</mu1>
+        <mu2>10.0</mu2>
+        <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <gazebo reference="motor_link">
+        <kp>100000.0</kp>
+        <kd>100000.0</kd>
+        <mu1>10.0</mu1>
+        <mu2>10.0</mu2>
+        <material>Gazebo/Grey</material>
+    </gazebo>
+
+    <gazebo reference="sensor_frame_link">
+        <kp>100000.0</kp>
+        <kd>100000.0</kd>
+        <mu1>10.0</mu1>
+        <mu2>10.0</mu2>
+        <material>Gazebo/Grey</material>
+    </gazebo>
     <!--
     <joint name="pitch_joint" type="revolute">
     	<parent link="roll_M1_link"/>
@@ -0,0 +1,258 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package usv_gazebo_plugins
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.3.0 (2019-12-26)
+------------------
+* Make code_check happy.
+* Mod to make use of maxCmd and update to .hgignore
+* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero
+
+1.2.6 (2019-10-04)
+------------------
+
+1.2.5 (2019-09-19)
+------------------
+* merging default into branch
+* Changes for code checker
+* Contributors: Brian Bingham <briansbingham@gmail.com>
+
+1.2.4 (2019-09-12)
+------------------
+
+1.2.3 (2019-09-12)
+------------------
+* Minor maintenance updates.
+* Fix style error.
+* Adding a default value for the length_n plugin parameter
+* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Aguero <caguero@osrfoundation.org>
+
+1.2.2 (2019-09-06)
+------------------
+
+1.2.1 (2019-09-05)
+------------------
+* updated comments
+* minor cleanup + env flag + disable z
+* Namespace tweaks.
+* Style changes.
+* gazebo 7 bug fix
+* removed from wamv
+* gazebo 7 compatibility
+* force vectors are correct; scaling added
+* Contributors: Carlos Aguero, Rumman Waqar <rumman.waqar05@gmail.com>
+
+1.2.0 (2019-08-19)
+------------------
+* Deterministic wind.
+* Add v3d plugin - this publishes a vecotr based on the world frame velocity in Gazebo
+  Update gps configuration to add gazebo gps and v3d plugins to standard configuration
+* Add plugin for ROS interface to gazebo GPS sensor.
+* added cylinder placeholder
+* incremental
+* added plate and sphere models
+* functional for cubes
+* added force visual plugin
+* Contributors: Carlos Aguero, Jonathan Wheare <jonathan.wheare@flinders.edu.au>, MarshallRawson, Rumman Waqar <rumman.waqar05@gmail.com>
+
+1.1.2 (2019-07-10)
+------------------
+* usv_gazebo_wind_plugin.hh changes
+* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Agüero <cen.aguero@gmail.com>, Rumman Waqar <rumman.waqar05@gmail.com>
+
+1.1.1 (2019-07-03)
+------------------
+* Reinterpret the wind 'gain' parameter.  Set defaults to zero
+* updated style for buoyancy plugin
+* Contributors: Brian Bingham <briansbingham@gmail.com>, Rumman Waqar <rumman.waqar05@gmail.com>
+
+1.1.0 (2019-07-01)
+------------------
+* Refactor SpinPropeller to be more clear and match style of RotateEngine
+* Publish joint state for chassis engine joint to fix tf tree issue
+* addressed Brian's comments
+* Connecting wave model to buoyancy plugin
+* buoyancy now uses wave height
+* capitalized brief sentences
+* gazebo 7 vector3[] operator lhv error fixed try 2
+* gazebo 7 vector3[] operator lhv error fixed
+* gazebo <= 8 fixes for Mass and AngularVel
+* complex objects + xacro cleanup
+* force applied in correct place
+* centroid + volume complete
+* moved shape volume into its own file and renamed classes
+* tiny refactor
+* polyhedron class finished and tests passed
+* implemented polyhedron based cube + cylinder submerged volume and cov
+* rotation bug fix
+* basic volume for box, sphere and cylinder
+* removed old volume data structure + created skeleton for volume calc
+* removed old volume data structure + created skeleton for volume calc
+* added move constructor for buoyancy object and remove copy constructor
+* added links and buoyancy object to plugin
+* minor cleanup
+* added pose for buoyancy element
+* parsed buoyancy shape now saved as unique_ptr
+* cleaned up parsing
+* updated buoyancy xacro + parsing
+* Setup buoyancy test build system + test world
+* merging with default - need to check wind
+* added wind capabilities
+* Removing gazebo::msg::Param references and cleaning up for gazebo version < 8 compatibility.
+* Removed gazebo messaging, introduces redundancy in model.sdf for ocean. USV and buoyancy plugins only get wave parameters once instead of every update.
+* Move link error message.
+* Another Nitpick fix (== nullptr) => !
+* Nitpick fix (== nullptr) => !
+* Clarify required and optional parameters, and remove unused confusing default declarations
+* Put required parameters together and make it obvious which are required
+* Retune PID for engineJoint with lower P gain, for more realistic behavior
+* Add <enableAngle> bool parameter that controls if angle is adjustable or not
+* C++ Code style fixes
+* Add documentation about maxAngle and angleTopic
+* updated documentation
+* Attempt to fix build issue with .GetAngle().Radian()
+* Attempt to fix build issue with Position() -> GetAngle() for old gazebo version
+* Implement PID controller for engine joint to set joint angle
+* changed sdf sytax for passing models to be effected by wind and addressed styling
+* Attempt to fix build issues SetAngle->SetPosition
+* Attempt to fix build issue with different setAngle setPosition implementation based on Gazebo version
+* Implement turnable thruster joint
+* Basic implementation of angle adjustable thrusters, still need to test, add joints, and change visuals
+* merging with default
+* fix build issue for gz <8
+* merged. expanded xacro capabilities
+* Rewrite implementation of setting windDirection
+* documenting wind direction
+* changing the interface from timePeriod to frequency
+* cleaning up the includes order and white spaces
+* cleanup
+* adding ROS API to probe for wind speed
+* enabling the user to input only the angle for wind direction
+* increment
+* documented
+* incremental(basic testing passed)
+* changed wind plugin(untested
+* Initial testing of random seed with print statements
+* Added wavegauge plugin to visualize physical wave height.  Setup example with buoy world.  Implemented simplified wave height calculation in WavefieldSampler for regularly spaced grid (steepness=1=0).
+* verifying with examples
+* toward buoy examples
+* merging default into named branch
+* removed currentVarVel from member variable list and fixed indentation for directives
+* made gzmsg more efficient
+* Implemented changed after PR is reviewed - V1
+  Remove Ros dependency (regarding time)
+  fixed typoes
+  fixed wrong comments
+  Exposed seed value to user
+  Updated purpose of SDF params in the header file
+  lines are now shorted than 80 chars
+  added comments around explaining the calculations done
+* made wind speed randomized
+* merging default to update the feature branch
+* Remove more trailing whitespace
+  Redundant codepath in usv_gazwebo_dynamics_plugin removed.  Euler values now derived identically between gazebo 7 and 9.
+* Fix trailing whitespace
+* Fix line breaks
+* Alter patch to use .Ign method to convert between gazebo::math and Ignition::math types
+* Add support for Kinetic/Gazebo-7
+  The ignition types are mostly kept, with code transforming from the methods deprecated in gazebo-8
+* Changing license text
+* Adding two packages from asv_wave_sim as a part of VRC
+* Issue #23: Coordinate the physics and visualization of the wave field
+  1. Use the asv_wave_sim_gazebo_plugins package for wave field visualisation and depth calculation.
+  2. Update the buoyancy and dynamics plugins for buoyancy calculations.
+  3. Update sdf and xacro for models that require buoyancy.
+  4. Replace the ocean model with ocean_waves in the sandisland world.
+* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Aguero <caguero@osrfoundation.org>, Carlos Agüero <cen.aguero@gmail.com>, Jonathan Wheare <jonathan.wheare@flinders.edu.au>, MarshallRawson, Rhys Mainwaring <rhys.mainwaring@me.com>, Rumman Waqar <rumman.waqar05@gmail.com>, Tyler Lum <tylergwlum@gmail.com>, Youssef Khaky <youssefkhaky@hotmail.com>, YoussefKhaky <youssefkhaky@hotmail.com.com>
+
+1.0.1 (2019-03-01)
+------------------
+
+1.0.0 (2019-02-28)
+------------------
+* Porting to Gazebo 9
+* Rename vmrc to vrx.
+* More progress.
+* Changed from buoyancy calculation method
+* Fixing error where buoyancy force could be applied in the negative direction (downward)
+* Add dependency on usv_msgs by usv_gazebo_pinger_plugin.  This forces the message to be built before the plugin is compiled.
+* Set the sensor WAM-V as the default model
+* Fix the doxygen generation
+* Update variable names and comments to be compliant with the Gazebo style guide.
+* Add the pinger plugin to the wamv_gazebo package.
+  The wamv_gazebo_sensors.urdf file has been modified to add support for the pinger plugin.
+* removing static tags so vessel is freee to move
+* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Aguero <caguero@osrfoundation.org>, Jonathan Wheare <jonathan.wheare@flinders.edu.au>
+
+0.3.2 (2018-10-08)
+------------------
+* Include jrivero as maintainer of the ROS packages
+* Include headers in the installation of usv_gazebo_plugins
+* Contributors: Jose Luis Rivero <jrivero@osrfoundation.org>
+
+0.3.1 (2018-10-05)
+------------------
+* Decleare eigen as dependency for usv_gazebo_plugins
+* modifying grid spacing
+* Contributors: Brian Bingham <briansbingham@gmail.com>, Jose Luis Rivero <jrivero@osrfoundation.org>
+
+0.3.0 (2018-09-28)
+------------------
+* vrx metapackage and spring cleaning.
+* adding publication of forces/moments
+* trying to get wamv to be static using a fixed joint
+* Adding publication from dynamics plugin for wave height at USV CG for Josh's thesis work
+* Tweak
+* Changelog and minor tweaks.
+* Remove extra dependency.
+* Merged in generalize-thruster-desc (pull request #34)
+  Generalize thruster desc
+  Approved-by: Brian Bingham <briansbingham@gmail.com>
+  Approved-by: Carlos Agüero <cen.aguero@gmail.com>
+* merging changes from PR branch into development branch
+* resolving merge conflict
+* Adding bits to repond to PR comments
+* adding examples for T and X thruster configurations - accessible as args to sandisland.launch. Prototype - too much redundancy in the various urdf.xacro file hierarchy, but functional.
+* Tweaks.
+* Tabs -> spaces
+* Initial style pass
+* props now spinning, removed old method of thrust implementation, removed custome UsvDrive message
+* working prototype - next remove old method
+* prior to splitting thruster into its own header
+* increment - builds, but need to go home
+* catching up with default
+* increment, pushing to work from home
+* first steps towards new structure
+* Drop log level to DEBUG for imformation unimportant to user
+* Minor style changes in the gazebo_ros_color plugin.
+* Tweak
+* Move log message to DEBUG.
+* adding a bit more doxygen, including link to Theory of Operation document
+* Tweaks.
+* adding doxygen comments
+* Doxygen and cleaning up
+* Rename buoyLinks to buoyancyLinks and remove debug output.
+* More style.
+* More tweaks.
+* Initial style changes.
+* Merge from default.
+* Apply Gazebo style.
+* Move some ROS_INFO messages to ROS_DEBUG and remove ros::init().
+* More tweaks.
+* Tweaks
+* Tweaks
+* Initial work
+* Publish joint_states from thrust plugin
+* Tweak
+* Refactor wind plugin.
+* Split the wamv xacro file.
+* Generate messages before building the Thrust plugin.
+* More modular model with spinning propellers.
+* Merge from default
+* Add message_generation.
+* Backed out changeset 8023d94fc0e1
+* Add light buoy challenge
+* Remove unsused buoyancy plugin (already in gazebo)
+* Boostrap usv_gazebo_plugins
+* Move gazebo plugins to usv_gazebo_plugins
+* Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Agüero <caguero@osrfoundation.org>, Kevin Allen <kallen@osrfoundation.org>
@@ -0,0 +1,115 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(usv_gazebo_plugins)
+find_package(catkin REQUIRED COMPONENTS gazebo_dev roscpp message_generation xacro wave_gazebo_plugins usv_msgs)
+find_package(Eigen3 REQUIRED)
+
+###################################
+## catkin specific configuration ##
+###################################
+
+catkin_package(
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS message_runtime gazebo_dev roscpp wave_gazebo_plugins
+)
+
+# Plugins require c++11
+set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
+
+include_directories( include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+)
+link_directories(
+  ${catkin_LIBRARY_DIRS}
+)
+
+## Declare a C++ library
+add_library(buoyancy_gazebo_plugin
+  src/buoyancy_gazebo_plugin.cc
+  src/shape_volume.cc
+  src/polyhedron_volume.cc
+)
+target_link_libraries(buoyancy_gazebo_plugin
+  ${catkin_LIBRARIES}
+  ${GAZEBO_LIBRARIES}
+  ${Eigen_LIBRARIES}
+)
+install(TARGETS buoyancy_gazebo_plugin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+## Declare a C++ library
+add_library(usv_gazebo_dynamics_plugin
+  src/usv_gazebo_dynamics_plugin.cc
+)
+target_link_libraries(usv_gazebo_dynamics_plugin