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 2019-05-20
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/usv_joydrive.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/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/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/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/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/quat2rpy.launch
  • launch/usv_keydrive.launch
  • 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/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_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]

Messages

Plugins

No plugins found.

Recent questions tagged vrx_gazebo at answers.ros.org

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 2019-05-20
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/usv_joydrive.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]
  • 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/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/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/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/quat2rpy.launch
  • launch/usv_keydrive.launch
  • 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/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_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]

Messages

Plugins

No plugins found.

Recent questions tagged vrx_gazebo at answers.ros.org