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heron_gazebo package from heron_simulator repo

heron_gazebo heron_simulator

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/heron/heron_simulator.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2022-03-16
Dev Status MAINTAINED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Simulator package for Heron

Additional Links

No additional links.

Maintainers

  • Mike Purvis

Authors

  • Guy Stoppi
README
No README found. See repository README.
CHANGELOG

Changelog for package heron_gazebo

0.3.3 (2021-03-09)

  • Pass the config arg to the heron_description package correctly
  • Contributors: Chris Iverach-Brereton

0.3.2 (2021-02-19)

  • Bumped CMake version to avoid author warning.
  • Add the config, launch, and worlds folders to the install target
  • Contributors: Chris Iverach-Brereton, Tony Baltovski

0.3.1 (2021-02-12)

  • Merge pull request #11 from heron/thruster-fix Enable thruster joints in simulation
  • Enable the simulation argument so the thrusters are mobile & allow the robot to move
  • Merge pull request #10 from heron/namespace-fix Fix namespace preventing the EKF node from working
  • Use remap instead of rosparams to set the topics for the mag topic translator. This allows the node to work correctly when the namespace argument is set.
  • Contributors: Chris Iverach-Brereton, Tony Baltovski

0.3.0 (2020-09-17)

  • Add the UUV worlds dependency
  • Rename "heron_sim" to "spawn_heron" for compatibility with the new simulation environments
  • Tidy up the lake world a little, set the camera position so the initial view is a little nicer
  • Add a second world, a lake with some islands (also copied from UUV Worlds so we can modify as-necessary for a surface-only vehicle)
  • Add a copy of the world to make future modifications easier. Fix the initial camera position so that it puts the robot in-frame instead of starting underwater somewhere.
  • Add all the scripts to the cmake file
  • Remove the .py from the node scripts & update the launch file accordingly
  • Use the new (not-deprecated) MagneticField messages for the imu filter, add a simple node to translate from the old Vector3Stamped to MagneticField messges
  • Disable the mag data in the simulation; the imu filter is timing out waiting for data, which is disabling the heron_control node, making the robot permanently immobile. See RPSW-474.
  • fixed location of worlds in launch file and readme
  • Param tuning and constant thruster control being activated in simulation
  • Added missing run dependencies
  • Initialized twist_translate's zero message properly and ensured no issues with callbacks in nav_vel
  • Fixed namespace functionality to allow empty namespaces
  • Added custom spawning to heron_world.launch
  • Fixed localization when heron has nonzero initial yaw
  • New config file for simulation heron_controller params
  • Fixed name+email in copyright notices
  • Added NWU->ENU swapping here because it was removed from heron_control
  • Fixed interactive marker's vel scaling and created new PID file for simulation
  • Added translator for Vec3 to Twist for navsat/vel
  • Changed covariance limits because simulated sensors are better than the actual sensors
  • Removed mag_interpreter.py from CMakeLists.txt
  • Fixed twist_translate.py to scale and publish Twist msgs
  • Added script to convert navsat/vel from NED to ENU
  • Fixed RViz interactive markers control
  • Removed mag_interpreter.py because Gazebo's magnetometer is now used
  • Prevented z, roll, and pitch of spawn location to be changed
  • Added copyright notices to launch and script files
  • Initial commit
  • Contributors: Chris Iverach-Brereton, Guy Stoppi, Nirzvi1, Shreya Subramaniam

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/heron_world.launch
    • Software License Agreement (BSD) \file heron_world.launch \authors Guy Stoppi \copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • config [default: base]
      • x [default: 0]
      • y [default: 0]
      • yaw [default: 0]
      • namespace [default: ]
      • gui [default: true]
      • paused [default: false]
      • set_timeout [default: false]
      • timeout [default: 0.0]
  • launch/heron_lake_world.launch
    • Software License Agreement (BSD) \file heron_world.launch \authors Guy Stoppi \copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • config [default: base]
      • x [default: 0]
      • y [default: 0]
      • yaw [default: 0]
      • namespace [default: ]
      • gui [default: true]
      • paused [default: false]
      • set_timeout [default: false]
      • timeout [default: 0.0]
  • launch/spawn_heron.launch
    • Software License Agreement (BSD) \file heron_sim.launch \authors Guy Stoppi \copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • hydro_debug [default: 0]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.14]
      • yaw [default: 0]
      • namespace [default: ]
      • config [default: base]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged heron_gazebo at Robotics Stack Exchange

heron_gazebo package from heron_simulator repo

heron_gazebo heron_simulator

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.3.3
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/heron/heron_simulator.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2022-03-16
Dev Status MAINTAINED
CI status Continuous Integration : 0 / 0
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Simulator package for Heron

Additional Links

No additional links.

Maintainers

  • Mike Purvis

Authors

  • Guy Stoppi
README
No README found. See repository README.
CHANGELOG

Changelog for package heron_gazebo

0.3.3 (2021-03-09)

  • Pass the config arg to the heron_description package correctly
  • Contributors: Chris Iverach-Brereton

0.3.2 (2021-02-19)

  • Bumped CMake version to avoid author warning.
  • Add the config, launch, and worlds folders to the install target
  • Contributors: Chris Iverach-Brereton, Tony Baltovski

0.3.1 (2021-02-12)

  • Merge pull request #11 from heron/thruster-fix Enable thruster joints in simulation
  • Enable the simulation argument so the thrusters are mobile & allow the robot to move
  • Merge pull request #10 from heron/namespace-fix Fix namespace preventing the EKF node from working
  • Use remap instead of rosparams to set the topics for the mag topic translator. This allows the node to work correctly when the namespace argument is set.
  • Contributors: Chris Iverach-Brereton, Tony Baltovski

0.3.0 (2020-09-17)

  • Add the UUV worlds dependency
  • Rename "heron_sim" to "spawn_heron" for compatibility with the new simulation environments
  • Tidy up the lake world a little, set the camera position so the initial view is a little nicer
  • Add a second world, a lake with some islands (also copied from UUV Worlds so we can modify as-necessary for a surface-only vehicle)
  • Add a copy of the world to make future modifications easier. Fix the initial camera position so that it puts the robot in-frame instead of starting underwater somewhere.
  • Add all the scripts to the cmake file
  • Remove the .py from the node scripts & update the launch file accordingly
  • Use the new (not-deprecated) MagneticField messages for the imu filter, add a simple node to translate from the old Vector3Stamped to MagneticField messges
  • Disable the mag data in the simulation; the imu filter is timing out waiting for data, which is disabling the heron_control node, making the robot permanently immobile. See RPSW-474.
  • fixed location of worlds in launch file and readme
  • Param tuning and constant thruster control being activated in simulation
  • Added missing run dependencies
  • Initialized twist_translate's zero message properly and ensured no issues with callbacks in nav_vel
  • Fixed namespace functionality to allow empty namespaces
  • Added custom spawning to heron_world.launch
  • Fixed localization when heron has nonzero initial yaw
  • New config file for simulation heron_controller params
  • Fixed name+email in copyright notices
  • Added NWU->ENU swapping here because it was removed from heron_control
  • Fixed interactive marker's vel scaling and created new PID file for simulation
  • Added translator for Vec3 to Twist for navsat/vel
  • Changed covariance limits because simulated sensors are better than the actual sensors
  • Removed mag_interpreter.py from CMakeLists.txt
  • Fixed twist_translate.py to scale and publish Twist msgs
  • Added script to convert navsat/vel from NED to ENU
  • Fixed RViz interactive markers control
  • Removed mag_interpreter.py because Gazebo's magnetometer is now used
  • Prevented z, roll, and pitch of spawn location to be changed
  • Added copyright notices to launch and script files
  • Initial commit
  • Contributors: Chris Iverach-Brereton, Guy Stoppi, Nirzvi1, Shreya Subramaniam

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/heron_world.launch
    • Software License Agreement (BSD) \file heron_world.launch \authors Guy Stoppi \copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • config [default: base]
      • x [default: 0]
      • y [default: 0]
      • yaw [default: 0]
      • namespace [default: ]
      • gui [default: true]
      • paused [default: false]
      • set_timeout [default: false]
      • timeout [default: 0.0]
  • launch/heron_lake_world.launch
    • Software License Agreement (BSD) \file heron_world.launch \authors Guy Stoppi \copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • config [default: base]
      • x [default: 0]
      • y [default: 0]
      • yaw [default: 0]
      • namespace [default: ]
      • gui [default: true]
      • paused [default: false]
      • set_timeout [default: false]
      • timeout [default: 0.0]
  • launch/spawn_heron.launch
    • Software License Agreement (BSD) \file heron_sim.launch \authors Guy Stoppi \copyright Copyright (c) 2018, Clearpath Robotics, Inc., All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR- RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN- DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
      • hydro_debug [default: 0]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.14]
      • yaw [default: 0]
      • namespace [default: ]
      • config [default: base]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged heron_gazebo at Robotics Stack Exchange