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Youssef-KhakyYoussef-Khaky
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Merge pull request #40 from Field-Robotics-Lab/electrical_mating_plugin
Electrical mating plugin
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‎tutorial_pictures/collision_socket.png‎

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‎tutorial_pictures/electrical_mating_launch.png‎

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‎tutorial_pictures/plug_on_platform.png‎

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‎tutorial_pictures/socket_on_bop.png‎

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‎uuv_dave/launch/uuv_dave_electrical_mate.launch‎

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<launch>
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<arg name="gui" default="true"/>
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<arg name="paused" default="false"/>
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<arg name="world_name" default="$(find uuv_dave)/worlds/uuv_dave_electrical_mating.world"/>
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<arg name="set_timeout" default="false"/>
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<arg name="timeout" default="0.0"/>
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<!-- use Gazebo's empty_world.launch with uuv_dave_ocean_waves.world -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(arg world_name)"/>
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="true"/>
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<arg name="gui" value="$(arg gui)"/>
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<arg name="headless" value="false"/>
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<arg name="debug" value="false"/>
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<arg name="verbose" value="false"/>
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</include>
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<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>
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<group if="$(arg set_timeout)">
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<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
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<arg name="timeout" value="$(arg timeout)"/>
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</include>
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</group>
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<include file="$(find uuv_dave)/launch/upload_rexrov_oberon7.launch">
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<arg name="namespace" value="rexrov"/>
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<arg name="x" value="7.8"/>
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<arg name="y" value="-0.2"/>
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<arg name="z" value="-93.7"/>
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<arg name="yaw" value="3.141592"/>
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</include>
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<include file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
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<arg name="uuv_name" value="rexrov" />
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<arg name="model_name" value="rexrov" />
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</include>
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<include file="$(find oberon7_control)/launch/joint_control.launch">
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<arg name="uuv_name" value="rexrov"/>
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</include>
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</launch>

‎uuv_dave/models/plug/model.config‎

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<?xml version='1.0'?>
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<model>
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<name>plug</name>
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<version>1.0</version>
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<sdf >model.sdf</sdf>
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<author>
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<name>Youssef Khaky</name>
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<email>[email protected]</email>
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</author>
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<description>
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Plug to connect to electrical box
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</description>
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</model>

‎uuv_dave/models/plug/model.sdf‎

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<?xml version='1.0'?>
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<sdf version ='1.6'>
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<model name ='plug'>
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<link name ='plug'>
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<pose>0 0 0 0 0 0</pose>
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<self_collide>true</self_collide>
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<visual name ='visual'>
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<geometry>
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<mesh>
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<uri>model://Electrical-Plug.dae</uri>
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<scale>0.1 0.1 0.1</scale>
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</mesh>
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</geometry>
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</visual>
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<collision name ='collision'>
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<geometry>
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<mesh>
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<uri>model://Electrical-Plug.dae</uri>
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<scale>0.1 0.1 0.1</scale>
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</mesh>
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</geometry>
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</collision>collisionChecks
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<!-- <collision name ='stand'>
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<pose>0 0.1 -0.06 0 0 0</pose>
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<geometry>
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<box><size>0.1 0.19 0.01</size></box>
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</geometry>
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</collision> -->
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<inertial>
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<pose>0 0.1 0 0 0 0</pose>
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<inertia>
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<ixx>0.04</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.04</iyy>
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<iyz>0</iyz>
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<izz>0.04</izz>
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</inertia>
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<mass>0.5</mass>
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</inertial>
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</link>
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</model>
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</sdf>

‎uuv_dave/models/socket_box/model.config‎

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<?xml version='1.0'?>
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<model>
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<name>socket_box</name>
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<version>1.0</version>
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<sdf >model.sdf</sdf>
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<author>
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<name>Youssef Khaky</name>
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<email>[email protected]</email>
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</author>
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<description>
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Socket connected to an electrical box
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</description>
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</model>

‎uuv_dave/models/socket_box/model.sdf‎

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<?xml version='1.0'?>
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<sdf version ='1.6'>
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<model name ='socket_box'>
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<include>
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<uri>model://bop_panel</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<link name ='socket'>
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<pose>3.32 0.3 8.3 0 0 -1.570796</pose>
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<visual name ='visual'>
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<geometry>
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<mesh>
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<uri>model://Electrical-Socket.dae</uri>
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<scale>0.12 0.12 0.12</scale>
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</mesh>
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</geometry>
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</visual>
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<collision name ='collision'>
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<geometry>
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<mesh>
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<uri>model://Electrical-Socket.dae</uri>
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<scale>0.12 0.12 0.12</scale>
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</mesh>
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</geometry>
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</collision>
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</link>
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<link name ='sensor_plate'>
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<pose>3.34 0.3 8.3 0 1.570796 0</pose>
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<collision name ='collision'>
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<geometry>
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<cylinder>
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<radius>0.06</radius>
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<length>0.01</length>
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</cylinder>
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</geometry>
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</collision>
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</link>
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<joint name="sensor_plate_joint" type="fixed">
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<!-- <pose>0 0 0 0 0 0</pose> -->
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<parent>socket</parent>
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<child>sensor_plate</child>
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</joint>
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<joint name="socket_joint" type="fixed">
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<!-- <pose>0 0 10 0 0 0</pose> -->
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<parent>bop_panel::block</parent>
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<child>socket</child>
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</joint>
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</model>
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</sdf>

‎uuv_dave/worlds/uuv_dave_electrical_mating.world‎

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<?xml version="1.0" ?>
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<!-- Copyright (c) 2016 The UUV Simulator Authors.
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All rights reserved.
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<!-- Modified for different Gazebo GUI camera angle -->
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<sdf version="1.4">
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<world name="oceans_waves">
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<physics name="default_physics" default="true" type="ode">
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<max_step_size>0.002</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>500</real_time_update_rate>
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</physics>
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<scene>
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<ambient>0.01 0.01 0.01 1.0</ambient>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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<shadows>1</shadows>
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</scene>
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<!-- Origin placed somewhere in the middle of the North Sea -->
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<spherical_coordinates>
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<latitude_deg>56.71897669633431</latitude_deg>
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<longitude_deg>3.515625</longitude_deg>
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</spherical_coordinates>
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<!-- Global light source -->
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<light type="directional" name="sun1">
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<pose>50 0 150 0 0 0</pose>
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<diffuse>1 1 1 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<direction>0.3 0.3 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- Global light source -->
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<light type="directional" name="sun_diffuse">
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<pose>-50 0 -150 0 0 0</pose>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0 0 0 1</specular>
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<direction>-0.3 -0.3 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<light type="directional" name="sun_diffuse_1">
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<pose>-100 500 -20 0 0 0</pose>
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<diffuse>0.8 0.8 0.8 1</diffuse>
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<specular>1 1 1 1</specular>
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<direction>-1 -1 0</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<light type="directional" name="sun_diffuse_2">
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<pose>100 50 20 0 0 0</pose>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0 0 0 1</specular>
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<direction>-0.3 -0.3 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<light type="directional" name="sun_diffuse_3">
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<pose>-150 -130 50 0 0 0</pose>
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<diffuse>0.6 0.6 0.6 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<direction>0.5 0.5 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<light type="directional" name="sun_diffuse_4">
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<pose>20 0 -90 0 0 0</pose>
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<diffuse>0.9 0.9 0.9 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<direction>-1 0 0</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<light type="directional" name="sun_diffuse_5">
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<pose>10 0 -80 0 0 0</pose>
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<diffuse>0.9 0.9 0.9 1</diffuse>
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<specular>0.2 0.2 0.2 1</specular>
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<direction>-1 0 -1</direction>
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<cast_shadows>false</cast_shadows>
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</light>
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<!-- Virtual NED frame -->
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<include>
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<uri>model://ned_frame</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<!-- Bounding box with sea surface -->
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<include>
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<uri>model://ocean</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<plugin name="underwater_current_plugin" filename="libuuv_underwater_current_ros_plugin.so">
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<namespace>hydrodynamics</namespace>
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<constant_current>
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<topic>current_velocity</topic>
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<velocity>
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<mean>0</mean>
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<min>0</min>
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<max>5</max>
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<mu>0.0</mu>
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<noiseAmp>0.0</noiseAmp>
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</velocity>
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<horizontal_angle>
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<mean>0</mean>
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<min>-3.141592653589793238</min>
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<max>3.141592653589793238</max>
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<mu>0.0</mu>
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<noiseAmp>0.0</noiseAmp>
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</horizontal_angle>
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<vertical_angle>
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<mean>0</mean>
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<min>-3.141592653589793238</min>
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<max>3.141592653589793238</max>
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<mu>0.0</mu>
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<noiseAmp>0.0</noiseAmp>
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</vertical_angle>
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</constant_current>
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</plugin>
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<plugin name="sc_interface" filename="libuuv_sc_ros_interface_plugin.so"/>
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<include>
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<uri>model://socket_box</uri>
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<pose>0 0 -99.8 0 0 0</pose>
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</include>
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<!-- <include>
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<uri>model://bop_panel_with_socket</uri>
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<pose>0 0 -99.5 0 0 0</pose>
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</include> -->
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<include>
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<uri>model://plug</uri>
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<pose>5 0 -94.5 1.57079632679 0 -1.57079632679</pose>
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<!-- <pose>0.525207 0.978282 -97.2 1.57079632679 0 -1.57079632679</pose> -->
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</include>
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<model name="platform">
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<static>true</static>
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<pose>5 0 -95 0 0 0</pose>
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<link name="link">
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<collision name="collision">
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<geometry>
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<box>
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<size>1 1 0.2</size>
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</box>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<box>
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<size>1 1 0.2</size>
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</box>
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</geometry>
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</visual>
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</link>
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</model>
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<plugin name="vehicle_docked_bay1_exterior" filename="libContainPlugin.so">
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<entity>wamv::base_link</entity>
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<namespace>vrx/dock_2018/bay_1_external</namespace>
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<pose frame="robotx_dock_2018::dock_2018_placard1::placard::link">0 -10 -1.5 0 0 0</pose>
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<geometry>
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<box>
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<size>8 1.5 2</size>
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</box>
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</geometry>
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</plugin>
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<plugin name="uuv_mating_plugin" filename="libuuv_mating_plugin.so">
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<rollAlignmentTolerence>0.3</rollAlignmentTolerence>
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<pitchAlignmentTolerence>0.3</pitchAlignmentTolerence>
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<yawAlignmentTolerence>0.3</yawAlignmentTolerence>
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<zAlignmentTolerence>0.5</zAlignmentTolerence>
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</plugin>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>9.0 -8.0 -87.0 0.0 0.7 2.2</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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</world>
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</sdf>

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