diff --git a/examples/dave_demo_launch/launch/dave_integrated_demo.launch b/examples/dave_demo_launch/launch/dave_integrated_demo.launch new file mode 100644 index 00000000..8727d579 --- /dev/null +++ b/examples/dave_demo_launch/launch/dave_integrated_demo.launch @@ -0,0 +1,106 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/dave_nodes/CMakeLists.txt b/examples/dave_nodes/CMakeLists.txt index 97d927ab..5fe35ae3 100644 --- a/examples/dave_nodes/CMakeLists.txt +++ b/examples/dave_nodes/CMakeLists.txt @@ -37,6 +37,11 @@ install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} PATTERN "*~" EXCLUDE) +# for config +install(DIRECTORY config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + PATTERN "*~" EXCLUDE) + # for Python scripts catkin_install_python(PROGRAMS src/simple_box_motion.py @@ -45,4 +50,6 @@ catkin_install_python(PROGRAMS src/dvl_state_and_gradient_dsl.py src/dvl_state_and_gradient_uuvsim.py src/bimanual_simple_demo.py + src/teleport_vehicle.py + src/bimanual_integrated_world.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/examples/dave_nodes/config/integrated_world_places.yaml b/examples/dave_nodes/config/integrated_world_places.yaml new file mode 100644 index 00000000..399fc61d --- /dev/null +++ b/examples/dave_nodes/config/integrated_world_places.yaml @@ -0,0 +1,14 @@ +# Config for teleport script +places: + home: { + 'robot_pose': [7.087382,-8.720616,-116.360490,0.011443,0.060502,0.304482], + 'camera_pose': [7.087382,-8.720616,-116.360490,0.011443,0.060502,0.304482] + } + artillery: { + 'robot_pose': [-150.113998,97.727378,-155.246244,-0.011886,0.016902,1.687642], + 'camera_pose': [-150.113998,97.727378,-155.246244,-0.011886,0.016902,1.687642] + } + mud: { + 'robot_pose': [-66.099145,-208.337754,-145.292877,-0.010855,0.030645,-3.086439], + 'camera_pose': [-66.099145,-208.337754,-145.292877,-0.010855,0.030645,-3.086439] + } diff --git a/examples/dave_nodes/launch/integrated_world_teleporter.launch b/examples/dave_nodes/launch/integrated_world_teleporter.launch new file mode 100644 index 00000000..32a8dc47 --- /dev/null +++ b/examples/dave_nodes/launch/integrated_world_teleporter.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/examples/dave_nodes/package.xml b/examples/dave_nodes/package.xml index 0668df5e..967b6dc0 100644 --- a/examples/dave_nodes/package.xml +++ b/examples/dave_nodes/package.xml @@ -7,7 +7,7 @@ Apache2 dtd --> catkin - + moveit_commander diff --git a/examples/dave_nodes/src/bimanual_integrated_world.py b/examples/dave_nodes/src/bimanual_integrated_world.py new file mode 100644 index 00000000..6332bcbb --- /dev/null +++ b/examples/dave_nodes/src/bimanual_integrated_world.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python + +from __future__ import print_function +from six.moves import input + +import sys +import copy +import rospy +import moveit_commander +import moveit_msgs.msg +import geometry_msgs.msg +import tf +import numpy as np + +from gazebo_msgs.msg import ModelStates, ModelState + +try: + from math import pi, tau, dist, fabs, cos +except: + from math import pi, fabs, cos, sqrt + + tau = 2.0 * pi + + def dist(p, q): + return sqrt(sum((p_i - q_i) ** 2.0 for p_i, q_i in zip(p, q))) + + +from std_msgs.msg import String +from moveit_commander.conversions import pose_to_list + + +class MoveGroupPythonInterface(object): + def __init__(self): + super(MoveGroupPythonInterface, self).__init__() + + # Initialize `moveit_commander` and node: + moveit_commander.roscpp_initialize(sys.argv) + rospy.init_node("move_group_python_interface", anonymous=True) + + # Instantiate a `RobotCommander` object. Provides robot's + # kinematic model and current joint states + self.robot = moveit_commander.RobotCommander() + + # Instantiate a `PlanningSceneInterface` object. Provides a remote interface + # for getting, setting, and updating robot's state + self.scene = moveit_commander.PlanningSceneInterface() + + ## Instantiate a `MoveGroupCommander`_ object. This object is an interface + ## to a planning group (group of joints). + self.move_group_hand_r = moveit_commander.MoveGroupCommander("hand_r") + self.move_group_hand_l = moveit_commander.MoveGroupCommander("hand_l") + self.move_group_arm_r = moveit_commander.MoveGroupCommander("arm_r") + self.move_group_arm_l = moveit_commander.MoveGroupCommander("arm_l") + + ## Set planner + self.move_group_arm_r.set_planner_id("RRTConnect") + self.move_group_arm_l.set_planner_id("RRTConnect") + + ## Create a `DisplayTrajectory`_ ROS publisher which is used to display + ## trajectories in Rviz: + self.display_trajectory_publisher = rospy.Publisher( + "/move_group/display_planned_path", + moveit_msgs.msg.DisplayTrajectory, + queue_size=20, + ) + + # Print the entire state of the robot: + print("============ Printing robot state") + print(self.robot.get_current_state()) + print("") + + # Misc variables + self.box_name = "" + + # Logging starting pose. There are better ways to do this. + self.arm_l_start = self.move_group_arm_l.get_current_pose().pose + self.arm_r_start = self.move_group_arm_r.get_current_pose().pose + + self.rate = rospy.Rate(1.0) + + def move_gripper(self, gripper='right', command='open'): + print() + print(f"=========={gripper} gripper will {command}...==========") + + move_group = self.move_group_hand_r + if gripper == "left": + move_group = self.move_group_hand_l + + joint_goal = move_group.get_current_joint_values() + print(f"gripper current joints:{joint_goal}") + joint_goal[0] = 0.5 + joint_goal[1] = 0.0 + joint_goal[2] = 0.5 + joint_goal[3] = 0.0 + if command == 'close': + close = 0.17453292519943295 + # 0.1144640137963143 + joint_goal[0] = close/10.0 + joint_goal[2] = close + + move_group.go(joint_goal, wait=True) + move_group.stop() + print(self.robot.get_current_state()) + + def move_arm(self, arm='right', joint_angles=[]): + print() + print(f"==========Moving {arm} to goal:{joint_angles}...==========") + + if len(joint_angles) < 6: + print("Error: Fewer than 6 joint angles provided. Aborting...") + return + + move_group = self.move_group_arm_r + if arm == 'left': + move_group = self.move_group_arm_l + # Call the planner to compute the plan and execute it. + plan = move_group.go(joint_angles, wait=True) + # Call `stop()` to ensure there is no residual movement + move_group.stop() + # Clear your targets after planning with poses. + move_group.clear_pose_targets() + + print(self.robot.get_current_state()) + + + def cartesian_move_z(self, move_group, z, scale=1): + waypoints = [] + wpose = move_group.get_current_pose().pose + wpose.position.z += z + waypoints.append(copy.deepcopy(wpose)) + (plan, fraction) = move_group.compute_cartesian_path( + waypoints, 0.01, 0.0) + move_group.execute(plan, wait=True) + # return plan, fraction + +def main(): + try: + print("Setting up moveit commander") + bimanual_demo = MoveGroupPythonInterface() + bimanual_demo.move_gripper('left', 'close') + bimanual_demo.move_arm( + 'left', + [0.2725458466968526, 0.3199954120186353, 0.27050573169303094, -0.05612724177451451, -0.3366234745727277, 0.27816477039994353]) + bimanual_demo.move_gripper('left', 'open') + bimanual_demo.move_arm( + 'left', + [0.2525493202907798, -0.20498309678016832, 0.8860128543728201, -0.026684396779588802, -0.4685281195659303, 0.25894079241234275]) + bimanual_demo.move_gripper('left', 'close') + bimanual_demo.move_arm( + 'left', + [0.22463184903468725,0.5640109055722806,-0.010189445663893758,-0.0029447975262430984,-0.40265756418968657,0.2046361271467092]) + bimanual_demo.move_arm( + 'left', + [-0.4396898837134099,0.5321104980211642,0.1817969793457925,0.2751617627062951,-0.5456892082990646,-0.7223044226272037]) + bimanual_demo.move_arm( + 'left', + [-0.5076864582614361, 0.6430632572402184, -0.1964135304533572, 0.4261104261543335, -0.31872944826848815, -1.014079334617769]) + bimanual_demo.move_arm( + 'left', + [-0.5605443400556704, 0.6194194950284646, -0.43562651809666936, -0.6993978537986612, 0.6179626637170913, 0.0903226598271187]) + + except rospy.ROSInterruptException: + return + except KeyboardInterrupt: + return + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/examples/dave_nodes/src/teleport_vehicle.py b/examples/dave_nodes/src/teleport_vehicle.py new file mode 100644 index 00000000..64c20fd2 --- /dev/null +++ b/examples/dave_nodes/src/teleport_vehicle.py @@ -0,0 +1,108 @@ +#!/usr/bin/env python3 +''' +Teleport the vehicle to different locations in any world + +''' + +# System imports +import sys +import signal +import argparse +import yaml + +# ROS/Gazebo imports +import rospy +import tf + +# For GetModelState Service +from gazebo_msgs.srv import SetModelState +from gazebo_msgs.msg import ModelState +from geometry_msgs.msg import Pose, Twist + +# Signal handler for graceful exit +def signal_handler(sig, frame): + rospy.loginfo("Shutting down teleport_vehicle!") + sys.exit(0) + +class Poses: + def __init__(self, name:str, robot_pose:list, camera_pose:list): + self.name = name + self.robot_pose = robot_pose + self.camera_pose = camera_pose + + +def get_pose(pose: list): + ''' Convert a list of x,y,z,roll,pitch,yaw into geometry_msgs/Pose ''' + pose_msg = Pose() + print(f"Pose:{len(pose)}") + if len(pose) < 6: + return None + pose_msg.position.x = pose[0] + pose_msg.position.y = pose[1] + pose_msg.position.z = pose[2] + quaternion = tf.transformations.quaternion_from_euler(pose[3],\ + pose[4], pose[5]) + pose_msg.orientation.x = quaternion[0] + pose_msg.orientation.y = quaternion[1] + pose_msg.orientation.z = quaternion[2] + pose_msg.orientation.w = quaternion[3] + return pose_msg + + +def teleport(places: dict): + set_model_srv = rospy.ServiceProxy("/gazebo/set_model_state", SetModelState) + while not rospy.is_shutdown(): + print('Enter NAME PLACE:') + user_input = input() + entires = user_input.strip().split(' ') + if len(entires) < 2: + print("Invalid input. See usage") + continue + uuv_name = str(entires[0]) + place_name = str(entires[1]) + if place_name not in places: + rospy.logerr("Invalid PLACE. See configured places.") + continue + place = places[place_name] + rospy.wait_for_service("/gazebo/set_model_state") + pose_msg = get_pose(place.robot_pose) + if pose_msg is None: + rospy.logerr("Unable to generate Pose msg for configured pose. Skipping...") + continue + set_model_srv(ModelState(uuv_name, pose_msg, Twist(), "world")) + rospy.loginfo(f"Teleported UUV [{uuv_name}] to {place.name}:{place.robot_pose}") + + +def main(argv=sys.argv): + parser = argparse.ArgumentParser( + prog="teleport_vehicle", + description="A script to teleport UUVs within underwater environments") + parser.add_argument("-c", "--config", type=str, required=True, + help="Path to the config.yaml file") + args, _ = parser.parse_known_args(argv[1:]) + config_yaml = None + print(f"Config path: {args.config}") + with open(args.config, "r") as f: + config_yaml = yaml.safe_load(f) + + # Map place name to poses + places = {} + for place, poses in config_yaml['places'].items(): + places[place] = Poses(place, poses['robot_pose'], poses['camera_pose']) + + rospy.init_node('teleport_vehicle') + signal.signal(signal.SIGINT, signal_handler) + + print('#####################') + print('Usage:\n To teleport a UUV with name NAME to place PLACE, enter NAME PLACE: ') + print(f' Configured places: {list(places.keys())}') + print('#####################') + + try: + teleport(places) + except rospy.ROSInterruptException: + sys.exit(0) + + +if __name__ == '__main__': + main(sys.argv) diff --git a/models/dave_object_models/models/SantoriniScaled/meshes/mud.dae b/models/dave_object_models/models/SantoriniScaled/meshes/mud.dae new file mode 100644 index 00000000..724200e7 --- /dev/null +++ b/models/dave_object_models/models/SantoriniScaled/meshes/mud.dae @@ -0,0 +1,147 @@ + + + + + Blender User + Blender 2.82.7 + + 2022-03-08T15:38:39 + 2022-03-08T15:38:39 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.8 0.8 0.8 1 + + + 1.45 + + + + + + + + + + + + + + + + + 0.6215117 1.278665 -0.05003297 0.9712543 -0.8855643 -0.06712073 1.513133 -0.1906793 -0.009761154 0.1569395 -1.700486 -0.0590828 1.764642 1.313061 -0.04495668 1.207729 -0.9383838 0.00109601 0.08485418 -2.260078 -0.00167334 0.4788227 1.429123 -0.01210647 -1.987997 -0.8582552 -0.0136125 -1.987884 -3.387551 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Coordinates are EPSG:3857(UTM). + https://github.com/Field-Robotics-Lab/Bathymetry_Converter for https://github.com/Field-Robotics-Lab/dave + + diff --git a/models/dave_object_models/models/SantoriniScaled/model.sdf b/models/dave_object_models/models/SantoriniScaled/model.sdf new file mode 100644 index 00000000..563dd438 --- /dev/null +++ b/models/dave_object_models/models/SantoriniScaled/model.sdf @@ -0,0 +1,44 @@ + + + + true + 0 0 0 0 0 0 + + false + + + + 0 0 0.05 0 0 0 + + + model://Santorini/mesh/Santorini.R_25.317_25.489_36.337_36.479.epsg3857.obj + 0.05 0.05 0.1 + + + + + + 0.6 0.6 0.6 1.0 + + + + + 0 0 0 0 0 0 + + + model://Santorini/mesh/Santorini.R_25.317_25.489_36.337_36.479.epsg3857.obj + 0.05 0.05 0.1 + + + + + 0xffff + + + + + + diff --git a/models/dave_object_models/models/electrical_panel/meshes/COLLISION-Underwater-Frame.dae b/models/dave_object_models/models/electrical_panel/meshes/COLLISION-Underwater-Frame.dae index be1e7fd5..d25535ff 100644 --- 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4933 2160 26 4934 2100 1 4935 2061 1 4936 771 1 4937 2083 419 4938 2079 419 4939 2167 419 4940 847 4 4941 2162 4 4942 2161 4 4943 2076 19 4944 2065 19 4945 893 19 4946 2163 26 4947 2167 26 4948 2168 26 4949 2148 421 4950 2138 797 4951 2154 440 4952 2108 26 4953 2134 26 4954 885 26 4955 873 19 4956 886 19 4957 2123 19 4958 875 4 4959 874 4 4960 866 4 4961 886 19 4962 2090 19 4963 2107 19 4964 889 1 4965 2137 1 4966 2139 1 4967 845 5 4968 2173 5 4969 2144 5 4970 2080 443 4971 2063 26 4972 855 434 4973 2145 11 4974 2182 11 4975 841 11 4976 770 19 4977 768 19 4978 873 19 4979 895 11 4980 894 11 4981 899 11 4982 876 812 4983 888 812 4984 891 812 4985 2138 799 4986 825 799 4987 772 799 4988 896 1 4989 2175 1 4990 2142 1 4991 2141 813 4992 2174 813 4993 873 813 4994 2157 448 4995 897 814 4996 898 449 4997 2164 815 4998 893 815 4999 873 815 5000 2008 4 5001 1991 4 5002 2183 4 5003 801 816 5004 903 816 5005 2179 816 5006 2006 817 5007 902 817 5008 2178 817 5009 789 818 5010 804 818 5011 900 818 5012 2001 19 5013 1997 19 5014 2181 19 5015 2013 819 5016 905 819 5017 2176 819 5018 784 5 5019 1999 5 5020 904 5 5021 2003 26 5022 2004 26 5023 793 26 5024 906 11 5025 908 11 5026 796 11 5027 1942 11 5028 909 11 5029 907 11 5030 2185 11 5031 2184 11 5032 2187 11 5033 913 1 5034 914 1 5035 2189 1 5036 2188 820 5037 916 820 5038 2191 820 5039 917 4 5040 915 4 5041 910 4 5042 1991 821 5043 762 821 5044 2183 821 5045 2185 26 5046 1960 26 5047 1991 26 5048 2192 19 5049 2195 19 5050 2193 19 5051 2185 11 5052 2194 11 5053 2087 11 5054 1960 5 5055 2193 5 5056 1991 5 5057 1991 1 5058 2195 1 5059 2185 1 5060 2087 4 5061 2192 4 5062 1960 4 5063 2185 26 5064 2087 26 5065 1960 26 5066 2192 19 5067 2194 19 5068 2195 19 5069 2185 11 5070 2195 11 5071 2194 11 5072 1960 5 5073 2192 5 5074 2193 5 5075 1991 1 5076 2193 1 5077 2195 1 5078 2087 4 5079 2194 4 5080 2192 4 5081

 diff --git a/models/dave_object_models/models/electrical_panel/model.sdf b/models/dave_object_models/models/electrical_panel/model.sdf index 85c4ece6..59111f49 100644 --- a/models/dave_object_models/models/electrical_panel/model.sdf +++ b/models/dave_object_models/models/electrical_panel/model.sdf @@ -86,6 +86,7 @@ m_to_f_sensor_plate m_to_f_plug m_to_f_plug + 0.0 0.3 0.3 0.3 diff --git a/models/dave_object_models/models/m_to_f_plug/model.sdf b/models/dave_object_models/models/m_to_f_plug/model.sdf index 8a39049d..d24d3ae2 100644 --- a/models/dave_object_models/models/m_to_f_plug/model.sdf +++ b/models/dave_object_models/models/m_to_f_plug/model.sdf @@ -24,6 +24,21 @@ 0.1 0.1 0.1 + + + + 1e6 + 1.0 + 0.001 + + + + + 100.0 + 50.0 + + + + + + + + + 0.002 + 1 + 500 + + + 0.01 0.01 0.01 1.0 + + + 12 + + + 1 + + + + + 56.71897669633431 + 3.515625 + + + + + 50 0 150 0 0 0 + 1 1 1 1 + .1 .1 .1 1 + 0.3 0.3 -1 + false + + + + + -50 0 -150 0 0 0 + 0.6 0.6 0.6 1 + 0 0 0 1 + -0.3 -0.3 -1 + false + + + + -100 500 -20 0 0 0 + 0.8 0.8 0.8 1 + 1 1 1 1 + -1 -1 0 + false + + + + -150 -130 50 0 0 0 + 0.6 0.6 0.6 1 + 0.2 0.2 0.2 1 + 0.5 0.5 -1 + false + + + + + model://ned_frame + 0 0 0 0 0 0 + + + + + true + + + + 0 0 0 0 0 0 + false + + + file://Media/models/sea_surface_1000m_x_1000m.dae + 2 2 2 + + + + + + + + + 0 0 0 3.14 0 0 + false + + + file://Media/models/sea_surface_1000m_x_1000m.dae + 2 2 2 + + + + + + + + + + + + model://SantoriniScaled + 0 0 -120.0 0 0 0 + + + + hydrodynamics + + current_velocity + + 0 + 0 + 5 + 0.0 + 0.0 + + + + 0 + -3.141592653589793238 + 3.141592653589793238 + 0.0 + 0.0 + + + + 0 + -3.141592653589793238 + 3.141592653589793238 + 0.0 + 0.0 + + + + + + + + + model://m_to_f_plug + -189.80 114.41 -157.611077 0 -1.570777 0 + + + + model://f_to_m_plug + -191.06 118 -155.84 0 -1.570777 0 + + + + true + -191.06 117.5 -155.8 0 0 0 + + + + + 0.5 1.83 0.1 + + + + + + + + 0.5 1.83 0.1 + + + + + + + + + + + model://bop_panel + -195 115 -160 0 0 0 + true + + + + + -35 -106.0 -84.0 0.0 0.226 1.206 + orbit + perspective + + + + + mud_anchor + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Mud Anchor + -68.759591 -208.309946 -147.679795 -0.072901 -1.166020 1.635320 + + + + + 0 0 -120 0 0 0 + true + + + + model://SantoriniScaled/meshes/mud.dae + + + + true + + + + + + model://SantoriniScaled/meshes/mud.dae + + + + + + 0.6 0.6 0.6 1.0 + + + + + true + 1 + + collision + + + + + link/mud_contact + 0.0 + 60.0 + mud_anchor::drag_anchor + + + + + + + + mbari_mars + 14.455148 -7.161097 -118.670557 -0.036799 0.065912 0.178707 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS + true + + + + flight_data_recorder + 9.044796 -6.663643 -118.380028 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder + false + + + + niskin + 9.046633 -7.605316 -118.217148 -0.918770 -1.547187 0 + + + model://niskin + true + + + + + Lionfish1 + 13 -11 -118 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish + true + + + + Coral1 + 13 -12 -118.3 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral01 + true + + + + Kelp1 + 13 -12 -118.3 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 01 + true + + + + Kelp2 + 12 -12 -118.3 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 02 + true + + + + + sunken_ship + -75 -200 -147 0.25 0 0.65 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship + true + + + + sunken_ship_distorted + 17 -200 -150 0 0 0 + model://sunken_ship_distorted + true + + + + sunken_vase + -70.221956 -206.729503 -147.769372 0.102539 -0.035175 -0.004790 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase + + + + sunken_vase_distorted + -72 -208.695 -148.1 -0.757396 0.467511 -0.402810 + + + model://sunken_vase_distorted + true + + + + sunken_vase2 + -72 -208 -148 -0.932434 -0.195466 0.528508 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02 + true + + + + Lionfish2 + -72 -209 -147 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish + true + + + + Coral2 + -70 -208 -147.9 0.15 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral02 + true + + + + Kelp3 + -70 -208 -148 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 03 + true + + + + Kelp4 + -70 -209 -148 0 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 04 + true + + + + + Rock3 + 26 182 -139 -1.55 0 0 + https://fuel.ignitionrobotics.org/1.0/Cole/models/Ocean Rock 03 + true + + + + + hardhat_standard + -185 115 -158.224 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard + true + + + + hardhat_ribbed + -185 116 -158.238 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed + true + + + + hardhat_superribbed + -184 115 -158.199 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed + true + + + + hardhat_octagonal + -185.4 96 -158.106 1.13 -0105 0.245 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal + true + + + + + torpedo_mk46 + -158 100 -158 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46 + true + + + + torpedo_mk48 + -158 105 -158 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48 + true + + + + sonobuoy + -158 104 -158 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy + true + + + + uxo_a + -140 103 -158 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A + true + + + + uxo_b + -140 102 -158 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B + true + + + + uxo_c + -140 101 -158 0 0 0 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C + true + + + + diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world index 4685e04c..8f843664 100644 --- a/models/dave_worlds/worlds/dave_ocean_models.world +++ b/models/dave_worlds/worlds/dave_ocean_models.world @@ -132,76 +132,76 @@ - + torpedo_mk46 13 -1 -94 0 0 0 - model://torpedo_mk46 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46 torpedo_mk48 13 -1.5 -94 0 0 0 - model://torpedo_mk48 + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48 sonobuoy 13 -2 -94 0 0 0 - model://sonobuoy + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy flight_data_recorder 13 -3 -94 0 0 0 - model://flight_data_recorder + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder uxo_a 13 -4 -94 0 0 0 - model://uxo_a + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A uxo_b 13 -5 -94 0 0 0 - model://uxo_b + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B uxo_c 13 -6 -94 0 0 0 - model://uxo_c + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C hardhat_standard 13 0 -94 0 0 0 - model://hardhat_standard + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard hardhat_ribbed 13 1 -94 0 0 0 - model://hardhat_ribbed + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed hardhat_superribbed 13 2 -94 0 0 0 - model://hardhat_superribbed + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed hardhat_octagonal 13 3 -94 0 0 0 - model://hardhat_octagonal + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal mbari_mars 13 6 -94 0 0 0 - model://mbari_mars + https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS diff --git a/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_moveit.launch b/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_moveit.launch index 99abd6eb..778cddc5 100644 --- a/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_moveit.launch +++ b/urdf/robots/rexrov_description/launch/upload_rexrov_oberon7_moveit.launch @@ -6,9 +6,11 @@ + + - - \ No newline at end of file + + diff --git a/urdf/robots/rexrov_oberon7_moveit/config/rexrov.srdf b/urdf/robots/rexrov_oberon7_moveit/config/rexrov.srdf index ac823a4f..c48bb9e6 100644 --- a/urdf/robots/rexrov_oberon7_moveit/config/rexrov.srdf +++ b/urdf/robots/rexrov_oberon7_moveit/config/rexrov.srdf @@ -192,6 +192,7 @@ + diff --git a/urdf/robots/rexrov_oberon7_moveit/package.xml b/urdf/robots/rexrov_oberon7_moveit/package.xml index c264e0dd..c271f74b 100755 --- a/urdf/robots/rexrov_oberon7_moveit/package.xml +++ b/urdf/robots/rexrov_oberon7_moveit/package.xml @@ -17,15 +17,15 @@ catkin roscpp - moveit_ros_move_group + moveit_commander moveit_fake_controller_manager moveit_kinematics + moveit_planners_chomp moveit_planners_ompl + moveit_ros_move_group moveit_ros_visualization moveit_setup_assistant moveit_simple_controller_manager - moveit_commander - moveit_planners joint_state_publisher joint_state_publisher_gui robot_state_publisher