Skip to content

Integrated World - multibeam sonar #222

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
wants to merge 10 commits into from
Closed

Integrated World - multibeam sonar #222

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
d8f0f34
Added scaled santorini sea bed
Yadunund Feb 22, 2022
6ff1f3e
Add new models
Yadunund Feb 22, 2022
d322167
Electrical mating skeleton
quarkytale Feb 22, 2022
13c7882
Scale seabed and reposition uuv
Yadunund Feb 22, 2022
778dfd5
Fix merge conflict
Yadunund Feb 22, 2022
0f8ab00
Merge pull request #219 from Field-Robotics-Lab/scale_integrated_seabed
Yadunund Feb 22, 2022
98a6b89
Renamed seabed model to SantoriniScaled
Yadunund Feb 22, 2022
5912af9
Merge branch 'master' into remove_duplicate_mesh
Yadunund Feb 22, 2022
9af0b23
Update world to load SantoriniScaled
Yadunund Feb 22, 2022
4df1c3a
multibeam sonar
woensug-choi Feb 24, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
62 changes: 62 additions & 0 deletions examples/dave_demo_launch/launch/dave_integrated_demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,62 @@
<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<arg name="world_name" default="$(find dave_worlds)/worlds/dave_integrated.world"/>
<arg name="namespace" default="rexrov"/>
<arg name="set_timeout" default="false"/>
<arg name="timeout" default="0.0"/>
<arg name="velocity_control" default="true"/>
<arg name="joy_id" default="0"/>

<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="false"/>
</include>


<!-- use ned frame north east down -->
<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

<!-- timeout -->
<group if="$(arg set_timeout)">
<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
<arg name="timeout" value="$(arg timeout)"/>
</include>
</group>

<!-- rexrov robot with oberon7 arm -->
<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
<arg name="namespace" value="rexrov"/>
<arg name="x" value="-21.0"/>
<arg name="y" value="-34.0"/>
<arg name="z" value="-108.0"/>
<arg name="yaw" value="2.5"/>
</include>

<!-- Velocity teleop (UUV stays in position when joystick is not used) -->
<include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
<arg name="uuv_name" value="$(arg namespace)" />
<arg name="model_name" value="rexrov" />
<arg name="joy_id" value="$(arg joy_id)"/>
</include>

<!-- joystick control for rexrov and oberon7, no velocity control-->
<include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
<arg name="model_name" value="rexrov"/>
<arg name="joy_id" value="$(arg joy_id)"/>
</include>

<!-- joint control for oberon7 -->
<include file="$(find oberon7_control)/launch/joint_control.launch">
<arg name="uuv_name" value="$(arg namespace)"/>
</include>


</launch>
90 changes: 90 additions & 0 deletions examples/dave_demo_launch/launch/dave_integrated_demo_multibeam_sonar.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,90 @@
<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<arg name="world_name" default="$(find dave_worlds)/worlds/dave_integrated.world"/>
<arg name="namespace" default="rexrov"/>
<arg name="set_timeout" default="false"/>
<arg name="timeout" default="0.0"/>
<arg name="velocity_control" default="true"/>
<arg name="joy_id" default="0"/>

<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="false"/>
</include>

<!-- use ned frame north east down -->
<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

<!-- timeout -->
<group if="$(arg set_timeout)">
<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
<arg name="timeout" value="$(arg timeout)"/>
</include>
</group>

<!-- For Multibeam Sonar -->
<arg name="sonar_name" value="blueview_p900"/>
<arg name="sonar_image_topic" value="sonar_image"/>

<!-- rexrov robot with oberon7 arm -->
<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7_multibeam_sonar.launch">
<arg name="namespace" value="rexrov"/>
<arg name="x" value="30.0"/>
<arg name="y" value="-28.0"/>
<arg name="z" value="-115.0"/>
<arg name="yaw" value="1.5708"/>

<!-- For Multibeam Sonar -->
<arg name="sonar_name" value="$(arg sonar_name)"/>
<arg name="gpu_ray" value="true"/>
<arg name="maxDistance" value="15"/>
<!-- fidelity is only for gpu_ray == true -->
<!-- fidelity is limited by GPU RAM size and maxDistance-->
<arg name="fidelity" default="700"/>
<arg name="raySkips" value="10"/>
<arg name="sonar_image_topic" value="$(arg sonar_image_topic)"/>
<arg name="sonar_image_raw_topic" value="sonar_image_raw"/>
<arg name="plotScaler" value="0"/>
<arg name="sensorGain" value="0.04"/>
<arg name="ray_visual" value="true"/>
<arg name="writeLog" value="true"/>
<arg name="writeFrameInterval" value="5"/>
</include>

<!-- Velocity teleop (UUV stays in position when joystick is not used) -->
<include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
<arg name="uuv_name" value="$(arg namespace)" />
<arg name="model_name" value="rexrov" />
<arg name="joy_id" value="$(arg joy_id)"/>
</include>

<!-- joystick control for rexrov and oberon7, no velocity control-->
<include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
<arg name="model_name" value="rexrov"/>
<arg name="joy_id" value="$(arg joy_id)"/>
</include>

<!-- joint control for oberon7 -->
<include file="$(find oberon7_control)/launch/joint_control.launch">
<arg name="uuv_name" value="$(arg namespace)"/>
</include>

<!-- image_view for sonar image -->
<node name="image_view_sonar" pkg="image_view" type="image_view"
args="image:=/$(arg namespace)/$(arg sonar_name)/$(arg sonar_image_topic)">
<param name="window_name" value="/$(arg namespace)/$(arg sonar_name)/$(arg sonar_image_topic)" />
<param name="autosize" value="true" />
<param name="filename_format" value="/tmp/SonarImage_capture_%04i.jpg" />
</node>

<node pkg="tf" type="static_transform_publisher" name="multibeam_sonar_base_link"
args="0 0 0 0 0 0 world $(arg namespace)/$(arg sonar_name)_forward_sonar_optical_link 50" />
</launch>
21 changes: 21 additions & 0 deletions models/dave_object_models/models/SantoriniScaled/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,21 @@
<?xml version="1.0"?>

<model>
<name>SantoriniScaled</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>

<author>
<name>M. Jakuba</name>
<email>[email protected]</email>
<name>Woensug Choi</name>
<email>[email protected]</email>
</author>

<!-- <depend></depend> -->

<description>
Simplified topography/bathymetry in the region embedded in the model name. Coordinates are EPSG:3857(UTM).
https://github.com/Field-Robotics-Lab/Bathymetry_Converter for https://github.com/Field-Robotics-Lab/dave
</description>
</model>
42 changes: 42 additions & 0 deletions models/dave_object_models/models/SantoriniScaled/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,42 @@
<?xml version="1.0"?>
<sdf version="1.5">
<model name="SantoriniScaled">
<static>true</static>
<pose>0 0 0 0 0 0</pose>
<self_collide>
false
</self_collide>
<link name="terrain_link">
<visual name="terrain_visual">
<geometry>
<mesh>
<uri>model://Santorini/mesh/Santorini.R_25.317_25.489_36.337_36.479.epsg3857.obj</uri>
<scale>0.05 0.05 0.1</scale>
</mesh>
</geometry>
<material>
<script>
<uri>file://Media/materials/scripts/sand.material</uri>
<name>UUVSimulator/SandAndStones</name>
</script>
<emissive>
0.6 0.6 0.6 1.0
</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<mesh>
<uri>model://Santorini/mesh/Santorini.R_25.317_25.489_36.337_36.479.epsg3857.obj</uri>
<scale>0.05 0.05 0.1</scale>
</mesh>
</geometry>
<surface>
<contact>
<collide_bitmask>0xffff</collide_bitmask>
</contact>
</surface>
</collision>
</link>
</model>
</sdf>
Loading