Updated robot urdf files to replace rexrov

launch/upload_rexrov.launch → launch/upload_sub.launch

@@ -9,11 +9,11 @@
   <arg name="yaw" default="0.0"/>
 
   <arg name="mode" default="default"/>
-  <arg name="namespace" default="rexrov"/>
+  <arg name="namespace" default="sub"/>
   <arg name="use_ned_frame" default="false"/>
   <!-- <arg name="use_sim_time" default="true"/> -->
 
-  <include file="$(find-pkg-share uuv_descriptions)/launch/upload_rexrov_$(var mode).launch.py">
+  <include file="$(find-pkg-share sub_descriptions)/launch/upload_$(var namespace)_$(var mode).launch">
     <arg name="debug" value="$(var debug)"/>
     <arg name="x" value="$(var x)"/>
     <arg name="y" value="$(var y)"/>

launch/upload_rexrov_default.launch → launch/upload_sub_default.launch

@@ -9,17 +9,17 @@
   <arg name="yaw" default="0.0"/>
 
   <arg name="mode" default="default"/>
-  <arg name="namespace" default="rexrov"/>
+  <arg name="namespace" default="sub"/>
   <arg name="use_ned_frame" default="false"/>
-  <arg name="generated_urdf" default="$(find-pkg-share uuv_descriptions)/robots/generated/$(var namespace)/robot_description"/>
-  <arg name="cmd" default= "$(exec-in-pkg xacro xacro) '$(find-pkg-share uuv_descriptions)/robots/rexrov_$(var mode).xacro' 
-          > $(find-pkg-share uuv_descriptions)/robots/generated/$(var namespace)/robot_description
+  <arg name="generated_urdf" default="$(find-pkg-share sub_descriptions)/robots/generated/$(var namespace)/robot_description"/>
+  <arg name="cmd" default= "$(exec-in-pkg xacro xacro) '$(find-pkg-share sub_descriptions)/robots/$(var namespace)_$(var mode).xacro' 
+          > $(find-pkg-share sub_descriptions)/robots/generated/$(var namespace)/robot_description
           --inorder
           debug:=$(var debug)
           namespace:=$(var namespace)
           inertial_reference_frame:=world_ned"/>
-  <arg name="cmdUnless" default="xacro '$(find-pkg-share uuv_descriptions)/robots/rexrov_$(var mode).xacro' 
-          > $(find-pkg-share uuv_descriptions)/robots/generated/$(var namespace)/robot_description
+  <arg name="cmdUnless" default="$(exec-in-pkg xacro xacro) '$(find-pkg-share sub_descriptions)/robots/$(var namespace)_$(var mode).xacro' 
+          > $(find-pkg-share sub_descriptions)/robots/generated/$(var namespace)/robot_description
           debug:=$(var debug)
           namespace:=$(var namespace)
           inertial_reference_frame:=world"/>
@@ -49,9 +49,6 @@
     </group>
 
     <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
-    <!-- <node node-name="urdf_spawner" pkg="uuv_descriptions" exec="spawn_model" respawn="false" output="screen"
-          args="-urdf -x $(var x) -y $(var y) -z $(var z) -R $(var roll) -P $(var pitch) -Y $(var yaw) -model $(var namespace) -file /home/jp/ros2_ws/install/uuv_descriptions/share/uuv_descriptions/robots/generated/rexrov/robot_description"/> -->
-
     <node node-name="urdf_spawner" pkg="gazebo_ros" exec="spawn_entity.py" respawn="false" output="screen"
           args="-gazebo_namespace /gazebo -x $(var x) -y $(var y) -z $(var z) -R $(var roll) -P $(var pitch) -Y $(var yaw) -entity $(var namespace) -file $(var generated_urdf)"/>
 

launch/upload_rexrov_default_noisy_pose.launch → launch/upload_sub_default_noisy_pose.launch

@@ -9,14 +9,14 @@
   <arg name="yaw" default="0.0"/>
 
   <arg name="mode" default="default"/>
-  <arg name="namespace" default="rexrov"/>
+  <arg name="namespace" default="sub"/>
   <arg name="pose_noise" default="0.02"/>
   <arg name="world_frame" default="world"/> <!-- This should actually be "/world". See https://github.com/ros-simulation/gazebo_ros_pkgs/pull/324 -->
 
-  <arg name="generated_urdf" default="$(find-pkg-share uuv_descriptions)/robots/generated/$(var namespace)/robot_description"/>
+  <arg name="generated_urdf" default="$(find-pkg-share sub_descriptions)/robots/generated/$(var namespace)/robot_description"/>
 
-  <arg name="cmd" default="xacro '$(find-pkg-share uuv_descriptions)/robots/rexrov_default_noisy_pose.xacro.xacro' 
-          > $(find-pkg-share uuv_descriptions)/robots/generated/$(var namespace)/robot_description
+  <arg name="cmd" default="xacro '$(find-pkg-share sub_descriptions)/robots/$(var namespace)_default_noisy_pose.xacro.xacro' 
+          > $(find-pkg-share sub_descriptions)/robots/generated/$(var namespace)/robot_description
           debug:=$(var debug)
           namespace:=$(var namespace)
           noise_amp:=$(var pose_noise)

launch/upload_sub_imu.launch

@@ -0,0 +1,73 @@
+<launch>
+  <arg name="debug" default="0"/>
+
+  <arg name="x" default="0"/>
+  <arg name="y" default="0"/>
+  <arg name="z" default="-10"/>
+  <arg name="roll" default="0.0"/>
+  <arg name="pitch" default="0.0"/>
+  <arg name="yaw" default="0.0"/>
+
+  <arg name="namespace" default="sub"/>
+  <arg name="use_ned_frame" default="false"/>
+  <arg name="generated_dir" default="$(find-pkg-share sub_descriptions)/robots/generated/$(var namespace)"/>
+  <arg name="generated_urdf" default="$(var generated_dir)/robot_description.urdf" />
+
+  <arg name="cmd" default= "mkdir -p $(var generated_dir) &amp;&amp; $(exec-in-pkg xacro xacro) '$(find-pkg-share sub_descriptions)/robots/$(var namespace)_imu.xacro' 
+          > $(var generated_urdf)
+          --inorder
+          debug:=$(var debug)
+          namespace:=$(var namespace)
+          inertial_reference_frame:=world_ned"/>
+  <arg name="cmdUnless" default="mkdir -p $(var generated_dir) &amp;&amp; $(exec-in-pkg xacro xacro) $(find-pkg-share sub_descriptions)/robots/$(var namespace)_imu.xacro
+          > $(var generated_urdf)
+          debug:=$(var debug)
+          namespace:=$(var namespace)
+          inertial_reference_frame:=world"/>
+
+  <arg name="use_sim_time" default="true"/>
+
+
+  <group>
+    <push-ros-namespace namespace="$(var namespace)"/>
+    <group if="$(var use_ned_frame)">
+      <executable 
+          cmd="$(var cmd)"
+          name="robot_description" 
+          output="screen" 
+          shell="true">
+      </executable>
+    </group>
+
+    <group unless="$(var use_ned_frame)">
+      <executable 
+          cmd="$(var cmdUnless)" 
+          cwd="$(find-pkg-prefix xacro)"
+          name="robot_description" 
+          output="screen" 
+          shell="true">
+      </executable>
+    </group>
+
+    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->    
+    <node node-name="urdf_spawner" pkg="gazebo_ros" exec="spawn_entity.py" respawn="false" output="screen"
+          args="-gazebo_namespace /gazebo -x $(var x) -y $(var y) -z $(var z) -R $(var roll) -P $(var pitch) -Y $(var yaw) -entity $(var namespace) -file $(var generated_urdf)"/>
+
+    <!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
+
+    <!-- Publish robot model for ROS -->
+    <node node-name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher" respawn="true" output="screen"
+      args="$(var generated_urdf)">
+      <param name="use_sim_time" value="$(var use_sim_time)"/>
+      <param name="robot_description" value="/$(var namespace)/robot_description" />
+      <!-- <param name="publish_frequency" value="5" /> -->
+    </node>
+  </group>
+
+  <include file="$(find-pkg-share uuv_assistants)/launch/message_to_tf.launch">
+    <arg name="namespace" value="$(var namespace)"/>
+    <arg name="world_frame" value="world"/>
+    <arg name="child_frame_id" value="/$(var namespace)/base_link"/>
+  </include>
+
+</launch>

launch/upload_sub_imu.launch.py

@@ -0,0 +1,63 @@
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+import xacro
+
+
+def generate_launch_description():
+    # Get the model to load
+    if 'SUB_MODEl' in os.environ:
+        model = os.environ['SUB_MODEL']
+    else:
+        model = 'sub_imu'
+    print('Using model: ' + model)
+
+    # Get the launch directory
+    br_description_dir = get_package_share_directory('sub_descriptions')
+
+    # Create the launch configuration variables
+    use_sim_time = LaunchConfiguration('use_sim_time', default='false')
+
+    declare_sim_time_cmd = DeclareLaunchArgument(
+        'use_sim_time',
+        default_value='false',
+        description='Use simulation (Gazebo) clock if true')
+
+    namespace = DeclareLaunchArgument('namespace', default_value='sub', description='node namespace of sub')
+    x_arg = DeclareLaunchArgument('x', default_value=0., description='x coordinate of sub')
+    y_arg = DeclareLaunchArgument('y', default_value=0., description='y coordinate of sub')
+    z_arg = DeclareLaunchArgument('z', default_value=0., description='z coordinate of sub')
+
+    xacro_file = os.path.join(br_description_dir, 'robots', model + '.xacro')
+    doc = xacro.process_file(xacro_file)
+    robot_desc = doc.toprettyxml(indent='  ')
+    URDF_FILE = '/tmp/sub.urdf'
+    with open(URDF_FILE, 'w') as f:
+        f.write(robot_desc)
+    params = {'use_sim_time': use_sim_time}
+
+    upload_gazebo_node = Node(
+        package='gazebo_ros',
+        node_executable='spawn_entity.py',
+        node_name='urdf_spawner',
+        output='screen',
+        arguments=[f"-gazebo_namespace /gazebo -x {LaunchConfiguration('x')} -y {LaunchConfiguration('x')} -z {LaunchConfiguration('x')} -entity {LaunchConfiguration('namespace')} -file {URDF_FILE}"]
+    )
+
+    run_state_publisher_node = Node(
+        package='robot_state_publisher',
+        node_executable='robot_state_publisher',
+        node_name='robot_state_publisher',
+        output='screen',
+        parameters=[params],
+        arguments=[URDF_FILE]
+    )
+
+    # Create the launch description and populate
+    ld = LaunchDescription([upload_gazebo_node, run_state_publisher_node, declare_sim_time_cmd, namespace, x_arg, y_arg, z_arg])
+
+    return ld

package.xml

@@ -30,6 +30,7 @@
   <test_depend>xacro</test_depend> 
 
   <export>
+    <gazebo_ros gazebo_media_path="${prefix}" gazebo_model_path="${prefix}/robots" />
     <build_type>ament_cmake</build_type>
   </export>
 </package>

robots/rexrov_default.xacro → robots/sub_default.xacro

@@ -21,16 +21,16 @@
      limitations under the License.
 -->
 
-<robot name="rexrov" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+<robot name="sub" xmlns:xacro="http://www.ros.org/wiki/xacro" >
   <xacro:arg name="debug" default="0"/>
-  <xacro:arg name="namespace" default="rexrov"/>
+  <xacro:arg name="namespace" default="sub"/>
   <xacro:arg name="inertial_reference_frame" default="world"/>
   <!-- Include the ROV macro file -->
-  <xacro:include filename="$(find uuv_descriptions)/urdf/rexrov_base.xacro"/>
-  <xacro:include filename="$(find uuv_descriptions)/urdf/rexrov.gazebo.xacro"/>
+  <xacro:include filename="$(find sub_descriptions)/urdf/sub_base.xacro"/>
+  <xacro:include filename="$(find sub_descriptions)/urdf/sub.gazebo.xacro"/>
 
-  <!-- Create the rexrov -->
-  <xacro:rexrov_base
+  <!-- Create the sub -->
+  <xacro:sub_base
     namespace="$(arg namespace)"
     inertial_reference_frame="$(arg inertial_reference_frame)">
     <!-- The underwater object plugin is given as an input block parameter to
@@ -41,10 +41,10 @@
         <flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>
         <debug>$(arg debug)</debug>
         <!-- Adding the hydrodynamic and hydrostatic parameters for the vehicle-->
-        <xacro:rexrov_hydro_model namespace="$(arg namespace)"/>
+        <xacro:sub_hydro_model namespace="$(arg namespace)"/>
       </plugin>
     </gazebo>
-  </xacro:rexrov_base>
+  </xacro:sub_base>
 
   <!-- Joint state publisher plugin -->
   <xacro:default_joint_state_publisher namespace="$(arg namespace)" update_rate="50"/>

robots/rexrov_default_noisy_pose.xacro → robots/sub_default_noisy_pose.xacro

@@ -21,18 +21,18 @@
      limitations under the License.
 -->
 
-<robot name="rexrov" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+<robot name="sub" xmlns:xacro="http://www.ros.org/wiki/xacro" >
   <xacro:arg name="debug" default="0"/>
-  <xacro:arg name="namespace" default="rexrov"/>
+  <xacro:arg name="namespace" default="sub"/>
   <xacro:arg name="noise_amp" default="0.02"/>
   <xacro:arg name="noise_sigma" default="0.002"/>
   <xacro:arg name="inertial_reference_frame" default="world"/>
   <!-- Include the ROV macro file -->
-  <xacro:include filename="$(find uuv_descriptions)/urdf/rexrov_base.xacro"/>
-  <xacro:include filename="$(find uuv_descriptions)/urdf/rexrov.gazebo.xacro"/>
+  <xacro:include filename="$(find uuv_descriptions)/urdf/sub_base.xacro"/>
+  <xacro:include filename="$(find uuv_descriptions)/urdf/sub.gazebo.xacro"/>
 
-  <!-- Create the rexrov -->
-  <xacro:rexrov_base
+  <!-- Create the sub -->
+  <xacro:sub_base
     namespace="$(arg namespace)"
     inertial_reference_frame="$(arg inertial_reference_frame)">
     <!-- The underwater object plugin is given as an input block parameter to
@@ -43,10 +43,10 @@
         <flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>
         <debug>$(arg debug)</debug>
         <!-- Adding the hydrodynamic and hydrostatic parameters for the vehicle-->
-        <xacro:rexrov_hydro_model namespace="$(arg namespace)"/>
+        <xacro:sub_hydro_model namespace="$(arg namespace)"/>
       </plugin>
     </gazebo>
-  </xacro:rexrov_base>
+  </xacro:sub_base>
 
   <!-- Joint state publisher plugin -->
   <xacro:default_joint_state_publisher namespace="$(arg namespace)" update_rate="50"/>

robots/sub_imu.xacro

@@ -0,0 +1,60 @@
+<?xml version="1.0"?>
+<!-- Copyright (c) 2020 The Plankton Authors.
+     All rights reserved.
+
+     This source code is derived from UUV Simulator
+     (https://github.com/uuvsimulator/uuv_simulator)
+     Copyright (c) 2016-2019 The UUV Simulator Authors
+     licensed under the Apache license, Version 2.0
+     cf. 3rd-party-licenses.txt file in the root directory of this source tree.
+
+     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.
+-->
+
+<robot name="sub" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+  <xacro:arg name="debug" default="0"/>
+  <xacro:arg name="namespace" default="sub"/>
+  <xacro:arg name="inertial_reference_frame" default="world"/>
+  <!-- Include the ROV macro file -->
+  <xacro:include filename="$(find sub_descriptions)/urdf/sub_base.xacro"/>
+  <xacro:include filename="$(find sub_descriptions)/urdf/sub.gazebo.xacro"/>
+
+  <!-- Create the sub -->
+  <xacro:sub_base
+    namespace="$(arg namespace)"
+    inertial_reference_frame="$(arg inertial_reference_frame)">
+    <!-- The underwater object plugin is given as an input block parameter to
+     allow the addition of external models of manipulator units -->
+    <gazebo>
+      <plugin name="$(arg namespace)_uuv_plugin" filename="libuuv_underwater_object_ros_plugin.so">
+        <fluid_density>1028.0</fluid_density>
+        <flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>
+        <debug>$(arg debug)</debug>
+        <!-- Adding the hydrodynamic and hydrostatic parameters for the vehicle-->
+        <xacro:sub_hydro_model namespace="$(arg namespace)"/>
+      </plugin>
+      <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+        <alwaysOn>true</alwaysOn>
+        <bodyName>base_footprint</bodyName>
+        <topicName>imu</topicName>
+        <serviceName>imu_service</serviceName>
+        <gaussianNoise>0.1</gaussianNoise>
+        <updateRate>20.0</updateRate>
+      </plugin>
+    </gazebo>
+  </xacro:sub_base>
+
+  <!-- Joint state publisher plugin -->
+  <xacro:default_joint_state_publisher namespace="$(arg namespace)" update_rate="50"/>
+
+</robot>

urdf/rexrov.gazebo.xacro → urdf/sub.gazebo.xacro

@@ -32,7 +32,7 @@
     <!-- Volume, see p.31 in Berg2012 -->
     <xacro:property name="volume" value="1.83826"/>
 
-    <xacro:macro name="rexrov_hydro_model" params="namespace">
+    <xacro:macro name="sub_hydro_model" params="namespace">
         <link name="${namespace}/base_link">
             <neutrally_buoyant>0</neutrally_buoyant>
             <volume>${volume}</volume>

urdf/rexrov_actuators.xacro → urdf/sub_actuators.xacro

@@ -22,7 +22,7 @@
 -->
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:property name="prop_mesh_file" value="file://$(find uuv_descriptions)/meshes/prop.dae"/>
+  <xacro:property name="prop_mesh_file" value="file://$(find sub_descriptions)/meshes/prop.dae"/>
 
   <!-- Thruster joint and link snippet -->
   <xacro:macro name="thruster_macro"