Gazebo update robosub2024 (#1203)

* Added new models for robosub 2024 * added some more models * rough model placement * Fixing axros submodule * updated start gate colors and fixed dock physics * Changed pool from transdec to Woollett * added other lanes and created finals world * Remove su8 from world files * Add course-specific launch files * Added fog and changed buoy texture in Gazebo * fix buoy texture --------- Co-authored-by: Keith Khadar <keithkhadar@gmail.com> Co-authored-by: Cameron Brown <me@cbrxyz.com>
uf-mil · Jul 17, 2024 · a55a561 · a55a561
1 parent 18e01d5
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diff --git a/SubjuGator/command/subjugator_launch/launch/gazebo.launch b/SubjuGator/command/subjugator_launch/launch/gazebo.launch
@@ -1,8 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-	<arg name="gui" default="false" />
-	<arg name="simulate_cams" default="true" />
-    <arg name="sub" default="sub8" />
+  <arg name="gui" default="false" />
+  <arg name="simulate_cams" default="true" />
+  <arg name="sub" default="sub8" />
+  <arg name="world_file" default="robosub_2024.world"/>
+  <arg name="spawn_x" default="0"/>
+  <arg name="spawn_y" default="0"/>
+  <arg name="spawn_z" default="0"/>
+  <arg name="spawn_yaw_rad" default="0"/>
 
   <include file="$(find subjugator_launch)/launch/sub8.launch">
     <arg name="environment" value="gazebo" />
@@ -11,8 +16,13 @@
   </include>
 
   <include file="$(find subjugator_gazebo)/launch/duck.launch">
-	<arg name="gui" value="$(arg gui)" />
-	<arg name="simulate_cams" value="$(arg simulate_cams)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="simulate_cams" value="$(arg simulate_cams)" />
     <arg name="sub" value="$(arg sub)"/>
+    <arg name="world_file" value="$(arg world_file)"/>
+    <arg name="spawn_x" value="$(arg spawn_x)"/>
+    <arg name="spawn_y" value="$(arg spawn_y)"/>
+    <arg name="spawn_z" value="$(arg spawn_z)"/>
+    <arg name="spawn_yaw_rad" value="$(arg spawn_yaw_rad)"/>
   </include>
 </launch>
diff --git a/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_a.launch b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_a.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="gui" default="false" />
+  <arg name="simulate_cams" default="true" />
+  <arg name="sub" default="sub8" />
+  <arg name="spawn_x" value="-23"/>
+  <arg name="spawn_y" value="9"/>
+  <arg name="spawn_z" value="0"/>
+  <arg name="spawn_yaw_rad" value="-1.57"/>
+
+  <include file="$(find subjugator_launch)/launch/gazebo.launch">
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="simulate_cams" value="$(arg simulate_cams)" />
+    <arg name="sub" value="$(arg sub)"/>
+    <arg name="spawn_x" value="$(arg spawn_x)"/>
+    <arg name="spawn_y" value="$(arg spawn_y)"/>
+    <arg name="spawn_z" value="$(arg spawn_z)"/>
+    <arg name="spawn_yaw_rad" value="$(arg spawn_yaw_rad)"/>
+  </include>
+</launch>
diff --git a/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_b.launch b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_b.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="gui" default="false" />
+  <arg name="simulate_cams" default="true" />
+  <arg name="sub" default="sub8" />
+  <arg name="spawn_x" value="-6"/>
+  <arg name="spawn_y" value="-9"/>
+  <arg name="spawn_z" value="0"/>
+  <arg name="spawn_yaw_rad" value="1.57"/>
+
+  <include file="$(find subjugator_launch)/launch/gazebo.launch">
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="simulate_cams" value="$(arg simulate_cams)" />
+    <arg name="sub" value="$(arg sub)"/>
+    <arg name="spawn_x" value="$(arg spawn_x)"/>
+    <arg name="spawn_y" value="$(arg spawn_y)"/>
+    <arg name="spawn_z" value="$(arg spawn_z)"/>
+    <arg name="spawn_yaw_rad" value="$(arg spawn_yaw_rad)"/>
+  </include>
+</launch>
diff --git a/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_c.launch b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_c.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="gui" default="false" />
+  <arg name="simulate_cams" default="true" />
+  <arg name="sub" default="sub8" />
+  <arg name="spawn_x" value="10"/>
+  <arg name="spawn_y" value="9"/>
+  <arg name="spawn_z" value="0"/>
+  <arg name="spawn_yaw_rad" value="-1.57"/>
+
+  <include file="$(find subjugator_launch)/launch/gazebo.launch">
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="simulate_cams" value="$(arg simulate_cams)" />
+    <arg name="sub" value="$(arg sub)"/>
+    <arg name="spawn_x" value="$(arg spawn_x)"/>
+    <arg name="spawn_y" value="$(arg spawn_y)"/>
+    <arg name="spawn_z" value="$(arg spawn_z)"/>
+    <arg name="spawn_yaw_rad" value="$(arg spawn_yaw_rad)"/>
+  </include>
+</launch>
diff --git a/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_d.launch b/SubjuGator/command/subjugator_launch/launch/simulated_tasks/course_d.launch
@@ -0,0 +1,20 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="gui" default="false" />
+  <arg name="simulate_cams" default="true" />
+  <arg name="sub" default="sub8" />
+  <arg name="spawn_x" value="22"/>
+  <arg name="spawn_y" value="-9"/>
+  <arg name="spawn_z" value="0"/>
+  <arg name="spawn_yaw_rad" value="1.57"/>
+
+  <include file="$(find subjugator_launch)/launch/gazebo.launch">
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="simulate_cams" value="$(arg simulate_cams)" />
+    <arg name="sub" value="$(arg sub)"/>
+    <arg name="spawn_x" value="$(arg spawn_x)"/>
+    <arg name="spawn_y" value="$(arg spawn_y)"/>
+    <arg name="spawn_z" value="$(arg spawn_z)"/>
+    <arg name="spawn_yaw_rad" value="$(arg spawn_yaw_rad)"/>
+  </include>
+</launch>
diff --git a/SubjuGator/simulation/subjugator_gazebo/launch/duck.launch b/SubjuGator/simulation/subjugator_gazebo/launch/duck.launch
@@ -6,13 +6,23 @@
   <arg name="simulate_cams" default="true" />
   <arg name="sub" default="sub8"/>
 
+  <arg name="world_file" default="robosub_2024.world"/>
+  <arg name="spawn_x" default="0"/>
+  <arg name="spawn_y" default="0"/>
+  <arg name="spawn_z" default="0"/>
+  <arg name="spawn_yaw_rad" default="0"/>
+
   <!-- start gazebo server-->
   <node name="gazebo" pkg="gazebo_ros" type="gzserver" respawn="false"
-    args="$(find subjugator_gazebo)/worlds/robosub_2022.world --verbose" />
+    args="$(find subjugator_gazebo)/worlds/$(arg world_file) --verbose" />
   <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" if="$(arg gui)" />
 
   <include file="$(find subjugator_gazebo)/launch/spawn.launch" >
 	<arg name="simulate_cams" value="$(arg simulate_cams)" />
     <arg name="sub" value="$(arg sub)"/>
+    <arg name="spawn_x" default="$(arg spawn_x)"/>
+    <arg name="spawn_y" default="$(arg spawn_y)"/>
+    <arg name="spawn_z" default="$(arg spawn_z)"/>
+    <arg name="spawn_yaw_rad" default="$(arg spawn_yaw_rad)"/>
   </include>
 </launch>
diff --git a/SubjuGator/simulation/subjugator_gazebo/launch/spawn.launch b/SubjuGator/simulation/subjugator_gazebo/launch/spawn.launch
@@ -2,6 +2,10 @@
 <launch>
   <arg name="simulate_cams" default="true"/>
   <arg name="sub" default="sub8"/>
-  <node if="$(arg simulate_cams)" name="spawn_sub" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description       -x 0. -y 0. -z 0 -model $(arg sub) -w water" output="screen"/>
-  <node unless="$(arg simulate_cams)" name="spawn_sub" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description       -x 0. -y 0. -z 0 -model sub8_no_cams -w water" output="screen"/>
+  <arg name="spawn_x" default="0"/>
+  <arg name="spawn_y" default="0"/>
+  <arg name="spawn_z" default="0"/>
+  <arg name="spawn_yaw_rad" default="0"/>
+  <node if="$(arg simulate_cams)" name="spawn_sub" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description       -x $(arg spawn_x) -y $(arg spawn_y) -z $(arg spawn_z) -Y $(arg spawn_yaw_rad) -model $(arg sub) -w water" output="screen"/>
+  <node unless="$(arg simulate_cams)" name="spawn_sub" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description       -x $(arg spawn_x) -y $(arg spawn_y) -z $(arg spawn_z) -Y $(arg spawn_yaw_rad) -model sub8_no_cams -w water" output="screen"/>
 </launch>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/03_OceanTemp.png b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/03_OceanTemp.png
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/bin.dae b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/bin.dae
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/bin.sdf b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/bin.sdf
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+  <model name='bin_2024'>
+    <static>true</static>
+    <link name='base_link'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.166667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.166667</iyy>
+          <iyz>0</iyz>
+          <izz>0.166667</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://bin_2024/bin.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://bin_2024/bin.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/bin_2024/model.config
@@ -0,0 +1,13 @@
+<model>
+  <name>Bin 2024</name>
+  <version>1.0</version>
+  <sdf version='1.0'>bin.sdf</sdf>
+
+  <author>
+    <name>Keith Khadar</name>
+  </author>
+
+  <description>
+    This is the model for Task 03 Ocean Temperature for RoboSub 2024.
+  </description>
+</model>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/buoy_2024/buoy.dae b/SubjuGator/simulation/subjugator_gazebo/models/buoy_2024/buoy.dae
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/buoy_2024/buoy.sdf b/SubjuGator/simulation/subjugator_gazebo/models/buoy_2024/buoy.sdf
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+  <model name='buoy_2024'>
+    <static>true</static>
+    <link name='base_link'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.166667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.166667</iyy>
+          <iyz>0</iyz>
+          <izz>0.166667</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://buoy_2024/buoy.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://buoy_2024/buoy.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/buoy_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/buoy_2024/model.config
@@ -0,0 +1,13 @@
+<model>
+  <name>Buoy 2024</name>
+  <version>1.0</version>
+  <sdf version='1.0'>buoy.sdf</sdf>
+
+  <author>
+    <name>Keith Khadar</name>
+  </author>
+
+  <description>
+    This is the model for Task 02 Hydrothermal Vent for RoboSub 2024.
+  </description>
+</model>
diff --git a/...Gator/simulation/subjugator_gazebo/models/buoy_2024/polyform_A0_red.png.001.png b/...Gator/simulation/subjugator_gazebo/models/buoy_2024/polyform_A0_red.png.001.png
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/collection_table_2024/collection_table.dae b/SubjuGator/simulation/subjugator_gazebo/models/collection_table_2024/collection_table.dae
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/collection_table_2024/collection_table.sdf b/SubjuGator/simulation/subjugator_gazebo/models/collection_table_2024/collection_table.sdf
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+  <model name='collection_table_2024'>
+    <static>true</static>
+    <link name='base_link'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.166667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.166667</iyy>
+          <iyz>0</iyz>
+          <izz>0.166667</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://collection_table_2024/collection_table.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://collection_table_2024/collection_table.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/collection_table_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/collection_table_2024/model.config
@@ -0,0 +1,13 @@
+<model>
+  <name>Collection Table 2024</name>
+  <version>1.0</version>
+  <sdf version='1.0'>collection_table.sdf</sdf>
+
+  <author>
+    <name>Keith Khadar</name>
+  </author>
+
+  <description>
+    This is the model for Task 05 Collect Samples for RoboSub 2024.
+  </description>
+</model>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/coral_2024/coral.dae b/SubjuGator/simulation/subjugator_gazebo/models/coral_2024/coral.dae
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/coral_2024/coral.sdf b/SubjuGator/simulation/subjugator_gazebo/models/coral_2024/coral.sdf
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+  <model name='coral_2024'>
+    <static>true</static>
+    <link name='base_link'>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+      <inertial>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <mass>1</mass>
+        <inertia>
+          <ixx>0.166667</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.166667</iyy>
+          <iyz>0</iyz>
+          <izz>0.166667</izz>
+        </inertia>
+      </inertial>
+      <collision name='base_link_collision'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://coral_2024/coral.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+      <visual name='base_link_visual'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>file://coral_2024/coral.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/coral_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/coral_2024/model.config
@@ -0,0 +1,13 @@
+<model>
+  <name>Coral 2024</name>
+  <version>1.0</version>
+  <sdf version='1.0'>coral.sdf</sdf>
+
+  <author>
+    <name>Keith Khadar</name>
+  </author>
+
+  <description>
+    This is the model for Task 05 Collect Samples for RoboSub 2024.
+  </description>
+</model>
diff --git a/SubjuGator/simulation/subjugator_gazebo/models/dock_2024/model.config b/SubjuGator/simulation/subjugator_gazebo/models/dock_2024/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>dock_2024</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>