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Package Summary

Tags No category tags.
Version 1.0.1
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/osrf/vrx
VCS Type hg
VCS Version default
Last Updated 2019-06-14
Dev Status DEVELOPED
Released RELEASED

Package Description

The ROS package for the RobotX competition running in Gazebo.

Additional Links

Maintainers

  • Carlos Aguero
  • Jose Luis Rivero

Authors

  • Brian Bingham
  • Carlos Aguero

vrx_gazebo

Description

This package provides gazebo models, plugins, and examples for simulating the RobotX challenge within Gazebo using ROS.

Usage

To launch gazebo with an example course layout and WAM-V platform, run:

roslaunch vrx_gazebo sandisland.launch

Course models

The following models are used in the RobotX challenge and will be included in this package.

Task Element Product Status Model
Light Buoy Custom ADDED robotx_light_buoy
Obstacle - Small PolyForm A-3 black ADDED polyform_a3
Obstacle - Medium PolyForm A-5 black ADDED polyform_a5
Obstacle - Large PolyForm A-7 black ADDED polyform_a7
Red Can buoy Sur-Mark Can Buoy 950410 ADDED surmark950410
Green Can buoy Sur-Mark Can Buoy 950400 ADDED surmark950400
White Can buoy Sur-Mark Can Buoy 46104 ADDED surmark46104
Green Totem 46104 w/ Green Cover ADDED green_totem
Yellow Totem 46104 w/ Yellow Cover ADDED yellow_totem
Blue Totem 46104 w/ Blue Cover ADDED blue_totem
Red Totem 46104 w/ Red Cover ADDED red_totem
Black Totem 46104 w/ Black Cover ADDED black_totem
Dock Material JetDock C000000008 ADDED dock_block
2016 Dock Custom Assembly ADDED robotx_dock_2016
2018 Dock Custom Assembly ADDED robotx_dock_2018
Blue Circle Symbol Custom ADDED symbol_circle
Blue Cruciform Symbol Custom ADDED symbol_cross
Blue Triangle Symbol Custom ADDED symbol_triangle
Green Circle Symbol Custom ADDED symbol_circle
Green Cruciform Symbol Custom ADDED symbol_cross
Green Triangle Symbol Custom ADDED symbol_triangle
Red Circle Symbol Custom ADDED symbol_circle
Red Cruciform Symbol Custom ADDED symbol_cross
Red Triangle Symbol Custom ADDED symbol_triangle
2016 Pinger Transit (quals) Custom Group of objects ADDED robotx_2016_qualifying_pinger_transit
2016 Pinger Transit (finals) Custom Group of objects ADDED robotx_2016_finals_pinger_transit
2018 Entrance/Exit Gate Custom Group of objects ADDED robotx_2018_entrance_gate
White placard Custom ADDED placard

*= More detailed model needed

CHANGELOG

Changelog for package vrx_gazebo

1.0.1 (2019-03-01)

1.0.0 (2019-02-28)

  • Merge from default.
  • tweak the example
  • addressing missing documentation and simplifying by removing start_index parameter
  • Removing leftovers
  • Tweaks
  • Style changes.
  • Merge from default.
  • Merged in symbols_dock_part3 (pull request #66) Scan and dock scoring plugin - Part3 Approved-by: Brian Bingham <briansbingham@gmail.com>
  • syncing with default
  • Change to use real-time pose for error calculation
  • Simplifying by removing some of the timing bits that appear to be specific to the ARIAC Population plugin
  • Renaming internal
  • Rename part 2 of 2
  • Renaming part 1
  • Adding scoring and running a quick test
  • Functional plugin prototype
  • Merge from default.
  • Two variants of the scan and dock.
  • Remove unused code.
  • updating topic names so they match tasks
  • tweak
  • now publishing waypoints as a latched GeoPath message
  • fix function name PublishWaypoints
  • only start scoring when in running state
  • fixing task names
  • Re-basing poplulation plugin to scoring_plugin and adding ROS functionality. Incomplete, but going home to work from there
  • tweak a comment
  • tweak
  • Granting extra points for docking.
  • Tweaks
  • PR feedback
  • Wrong merges.
  • Merge from default.
  • Merged in wayfinding-task (pull request #69) Wayfinding task Approved-by: Brian Bingham <briansbingham@gmail.com>
  • remove pointless latch in waypoints topic
  • fix timer
  • publish at 1 Hz, latch waypoints topic, tweaks
  • Merge from default.
  • Tweaks.
  • Merge from default.
  • Prototype of population plugin - only for a single object at a time. Moves it back to original position when done
  • Updates to PopulationPlugin
  • Prototype - using PopulationPlugin straight from ARIAC source
  • Remove warnings.
  • More vrx updates.
  • Merge from symbols_dock_part2
  • More vrx tweaks.
  • Merge from default.
  • More updates.
  • Porting to Gazebo 9
  • Custom tweaks
  • Updating the station keeping task.
  • More leftovers.
  • Rename vmrc to vrx.
  • Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Aguero <caguero@osrfoundation.org>, Carlos Ag

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

  • launch/scan_and_dock_b.launch
      • world [default: $(find vrx_gazebo)/worlds/scan_and_dock_b.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • thrust_config [default: H]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/sandisland.launch
      • world [default: $(find vrx_gazebo)/worlds/example_course.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • thrust_config [default: H]
      • camera_enabled [default: false]
      • gps_enabled [default: false]
      • imu_enabled [default: false]
      • lidar_enabled [default: false]
      • ground_truth_enabled [default: false]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/station_keeping.launch
      • world [default: $(find vrx_gazebo)/worlds/stationkeeping_task.world]
      • gui [default: true]
      • verbose [default: true]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • thrust_config [default: T]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/navigation_task.launch
      • world [default: $(find vrx_gazebo)/worlds/navigation_task.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • thrust_config [default: H]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/usv_joydrive.launch
  • launch/perception_task.launch
      • world [default: $(find vrx_gazebo)/worlds/perception_task.world]
      • gui [default: true]
      • verbose [default: false]
      • paused [default: false]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • thrust_config [default: H]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/scan_and_dock_a.launch
      • world [default: $(find vrx_gazebo)/worlds/scan_and_dock_a.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • thrust_config [default: H]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/usv_keydrive.launch
  • launch/generate_worlds.launch
      • requested [default: ]
      • world_xacro_target [default: ]
      • world_target [default: ]
  • launch/vrx.launch
      • world [default: $(find vrx_gazebo)/worlds/example_course.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • thrust_config [default: T]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/quat2rpy.launch
  • launch/wayfinding.launch
      • world [default: $(find vrx_gazebo)/worlds/wayfinding_task.world]
      • gui [default: true]
      • verbose [default: true]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • thrust_config [default: T]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/generate_wamv.launch
      • sensor_yaml [default: ]
      • thruster_yaml [default: ]
      • wamv_target

Messages

Plugins

No plugins found.

Recent questions tagged vrx_gazebo at answers.ros.org

No version for distro lunar. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.0.1
License Apache 2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/osrf/vrx
VCS Type hg
VCS Version kinetic
Last Updated 2019-06-14
Dev Status DEVELOPED
Released UNRELEASED

Package Description

The ROS package for the RobotX competition running in Gazebo.

Additional Links

Maintainers

  • Carlos Aguero
  • Jose Luis Rivero

Authors

  • Brian Bingham
  • Carlos Aguero

vrx_gazebo

Description

This package provides gazebo models, plugins, and examples for simulating the RobotX challenge within Gazebo using ROS.

Usage

To launch gazebo with an example course layout and WAM-V platform, run:

roslaunch vrx_gazebo sandisland.launch

Course models

The following models are used in the RobotX challenge and will be included in this package.

Task Element Product Status Model
Light Buoy Custom ADDED robotx_light_buoy
Obstacle - Small PolyForm A-3 black ADDED polyform_a3
Obstacle - Medium PolyForm A-5 black ADDED polyform_a5
Obstacle - Large PolyForm A-7 black ADDED polyform_a7
Red Can buoy Sur-Mark Can Buoy 950410 ADDED surmark950410
Green Can buoy Sur-Mark Can Buoy 950400 ADDED surmark950400
White Can buoy Sur-Mark Can Buoy 46104 ADDED surmark46104
Green Totem 46104 w/ Green Cover ADDED green_totem
Yellow Totem 46104 w/ Yellow Cover ADDED yellow_totem
Blue Totem 46104 w/ Blue Cover ADDED blue_totem
Red Totem 46104 w/ Red Cover ADDED red_totem
Black Totem 46104 w/ Black Cover ADDED black_totem
Dock Material JetDock C000000008 ADDED dock_block
2016 Dock Custom Assembly ADDED robotx_dock_2016
2018 Dock Custom Assembly ADDED robotx_dock_2018
Blue Circle Symbol Custom ADDED symbol_circle
Blue Cruciform Symbol Custom ADDED symbol_cross
Blue Triangle Symbol Custom ADDED symbol_triangle
Green Circle Symbol Custom ADDED symbol_circle
Green Cruciform Symbol Custom ADDED symbol_cross
Green Triangle Symbol Custom ADDED symbol_triangle
Red Circle Symbol Custom ADDED symbol_circle
Red Cruciform Symbol Custom ADDED symbol_cross
Red Triangle Symbol Custom ADDED symbol_triangle
2016 Pinger Transit (quals) Custom Group of objects ADDED robotx_2016_qualifying_pinger_transit
2016 Pinger Transit (finals) Custom Group of objects ADDED robotx_2016_finals_pinger_transit
2018 Entrance/Exit Gate Custom Group of objects ADDED robotx_2018_entrance_gate
White placard Custom ADDED placard

*= More detailed model needed

CHANGELOG

Changelog for package vrx_gazebo

1.0.1 (2019-03-01)

1.0.0 (2019-02-28)

  • Merge from default.
  • tweak the example
  • addressing missing documentation and simplifying by removing start_index parameter
  • Removing leftovers
  • Tweaks
  • Style changes.
  • Merge from default.
  • Merged in symbols_dock_part3 (pull request #66) Scan and dock scoring plugin - Part3 Approved-by: Brian Bingham <briansbingham@gmail.com>
  • syncing with default
  • Change to use real-time pose for error calculation
  • Simplifying by removing some of the timing bits that appear to be specific to the ARIAC Population plugin
  • Renaming internal
  • Rename part 2 of 2
  • Renaming part 1
  • Adding scoring and running a quick test
  • Functional plugin prototype
  • Merge from default.
  • Two variants of the scan and dock.
  • Remove unused code.
  • updating topic names so they match tasks
  • tweak
  • now publishing waypoints as a latched GeoPath message
  • fix function name PublishWaypoints
  • only start scoring when in running state
  • fixing task names
  • Re-basing poplulation plugin to scoring_plugin and adding ROS functionality. Incomplete, but going home to work from there
  • tweak a comment
  • tweak
  • Granting extra points for docking.
  • Tweaks
  • PR feedback
  • Wrong merges.
  • Merge from default.
  • Merged in wayfinding-task (pull request #69) Wayfinding task Approved-by: Brian Bingham <briansbingham@gmail.com>
  • remove pointless latch in waypoints topic
  • fix timer
  • publish at 1 Hz, latch waypoints topic, tweaks
  • Merge from default.
  • Tweaks.
  • Merge from default.
  • Prototype of population plugin - only for a single object at a time. Moves it back to original position when done
  • Updates to PopulationPlugin
  • Prototype - using PopulationPlugin straight from ARIAC source
  • Remove warnings.
  • More vrx updates.
  • Merge from symbols_dock_part2
  • More vrx tweaks.
  • Merge from default.
  • More updates.
  • Porting to Gazebo 9
  • Custom tweaks
  • Updating the station keeping task.
  • More leftovers.
  • Rename vmrc to vrx.
  • Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Aguero <caguero@osrfoundation.org>, Carlos Ag

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

  • launch/scan_and_dock_b.launch
      • world [default: $(find vrx_gazebo)/worlds/scan_and_dock_b.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: 0]
      • thrust_config [default: H]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/sandisland.launch
      • world [default: $(find vrx_gazebo)/worlds/example_course.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: 0]
      • thrust_config [default: H]
      • camera_enabled [default: false]
      • gps_enabled [default: false]
      • imu_enabled [default: false]
      • lidar_enabled [default: false]
      • ground_truth_enabled [default: false]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/station_keeping.launch
      • world [default: $(find vrx_gazebo)/worlds/stationkeeping_task.world]
      • gui [default: true]
      • verbose [default: true]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: 0]
      • thrust_config [default: T]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/navigation_task.launch
      • world [default: $(find vrx_gazebo)/worlds/navigation_task.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: 0]
      • thrust_config [default: H]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/usv_joydrive.launch
  • launch/perception_task.launch
      • world [default: $(find vrx_gazebo)/worlds/perception_task.world]
      • gui [default: true]
      • verbose [default: false]
      • paused [default: false]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: 0]
      • thrust_config [default: H]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/scan_and_dock_a.launch
      • world [default: $(find vrx_gazebo)/worlds/scan_and_dock_a.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: 0]
      • thrust_config [default: H]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/usv_keydrive.launch
  • launch/vrx.launch
      • world [default: $(find vrx_gazebo)/worlds/example_course.world]
      • gui [default: true]
      • verbose [default: false]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: 0]
      • thrust_config [default: T]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/quat2rpy.launch
  • launch/wayfinding.launch
      • world [default: $(find vrx_gazebo)/worlds/wayfinding_task.world]
      • gui [default: true]
      • verbose [default: true]
      • x [default: 0]
      • y [default: 0]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: 0]
      • thrust_config [default: T]
      • wamv_locked [default: true]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]

Messages

Plugins

No plugins found.

Recent questions tagged vrx_gazebo at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.