Package Summary

Tags No category tags.
Version 1.2.6
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 2019-10-20
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

1.2.6 (2019-10-04)

  • new worlds with only one dock
  • Scan and dock worlds - models are aleady present
  • Merged in stationkeeping_wind (pull request #187) Default Wind for Tasks Approved-by: Brian Bingham <briansbingham@gmail.com>
  • Adding stdout messages when to help with debugging color sequence checking service
  • Adding navigation course models and worlds.
  • Adding practice perception worlds.
  • adding dock worlds and associated models to support dress rehearsal practice
  • style
  • Functionality to turn off color checker in the scan_dock_scoring_plugin
  • restore rms_error topic name
  • merging default
  • Merged in issue_164 (pull request #188) Fixing dock scoring plugin for Gazebo 9 Approved-by: Brian Bingham <briansbingham@gmail.com>
  • tweak to generator to allow calling same macro more than once
  • towards permutations
  • adding empty directory
  • Remove dock_2018_dynamic/model.sdf
  • fix meanError equation
  • switching from RMS error to mean pose error
  • new heading error formula
  • adding model_name paramter to dock.xacro for flexibility in generating automated tasks
  • state diagram
  • images for wiki
  • Tweak
  • Double activation zone.
  • Style.
  • removing activation zone viz from world.xacro
  • adding gzmsgs
  • merging with issue_164 and moving dock closer to WAMV
  • increment
  • Moving dock closer to WAMV
  • Functional
  • temporary
  • working on brute force docking solution
  • easier setup, but not working?
  • adding insert blocks to generate debug markers for wayfinding and stationkeeping tasks
  • Tweak
  • Fixing dock scoring plugin for Gazebo 9.
  • Move lock_guard.
  • code check whitespace
  • reinit when getting new color seq.
  • adding default wind to dock, scan-dock and wayfinding tasks
  • connecting usv_wind_plugin to stationkeeping world
  • Model default is off.
  • adding params to dock.xacro for task/trial generation
  • adds light buoys
  • changes to debugging messages to help find issues with docking
  • More Python3 tweaks.
  • Remove .keys().
  • Easy docking example for testing
  • adding wamv_locked argument to vrx.launch
  • adding fog and ambient elements to sandisland xacro
  • messing with plugins
  • simple macro for inserting a model - useful for task generation
  • a bit of a hack, but allows us repeated use of same macro
  • Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Ag

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/station_keeping.launch
      • world [default: $(find vrx_gazebo)/worlds/stationkeeping_task.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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/generate_worlds.launch
      • requested
      • world_xacro_target
      • world_target
  • launch/usv_keydrive.launch
      • max_angle [default: $(eval pi/2)]
  • launch/wayfinding.launch
      • world [default: $(find vrx_gazebo)/worlds/wayfinding_task.world]
      • gui [default: true]
      • verbose [default: true]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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: $(find vrx_gazebo)/src/vrx_gazebo_python/generator_scripts/wamv_config/example_sensor_config.yaml]
      • thruster_yaml [default: $(find vrx_gazebo)/src/vrx_gazebo_python/generator_scripts/wamv_config/example_thruster_config.yaml]
      • wamv_target
  • launch/dock.launch
      • world [default: $(find vrx_gazebo)/worlds/dock.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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.launch
      • world [default: $(find vrx_gazebo)/worlds/scan_and_dock.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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/vrx.launch
      • world [default: $(find vrx_gazebo)/worlds/example_course.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • wamv_locked [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: T]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/playback.launch
      • log_file
      • paused [default: false]
      • verbose [default: false]
  • launch/perception_task.launch
      • world [default: $(find vrx_gazebo)/worlds/perception_task.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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/sandisland.launch
      • world [default: $(find vrx_gazebo)/worlds/example_course.world]
      • gui [default: true]
      • verbose [default: false]
      • paused [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • non_competition_mode [default: true]
      • 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_joydrive.launch

Plugins

No plugins found.

Recent questions tagged vrx_gazebo at answers.ros.org

Package Summary

Tags No category tags.
Version 1.2.6
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 2019-10-20
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

1.2.6 (2019-10-04)

  • new worlds with only one dock
  • Scan and dock worlds - models are aleady present
  • Merged in stationkeeping_wind (pull request #187) Default Wind for Tasks Approved-by: Brian Bingham <briansbingham@gmail.com>
  • Adding stdout messages when to help with debugging color sequence checking service
  • Adding navigation course models and worlds.
  • Adding practice perception worlds.
  • adding dock worlds and associated models to support dress rehearsal practice
  • style
  • Functionality to turn off color checker in the scan_dock_scoring_plugin
  • restore rms_error topic name
  • merging default
  • Merged in issue_164 (pull request #188) Fixing dock scoring plugin for Gazebo 9 Approved-by: Brian Bingham <briansbingham@gmail.com>
  • tweak to generator to allow calling same macro more than once
  • towards permutations
  • adding empty directory
  • Remove dock_2018_dynamic/model.sdf
  • fix meanError equation
  • switching from RMS error to mean pose error
  • new heading error formula
  • adding model_name paramter to dock.xacro for flexibility in generating automated tasks
  • state diagram
  • images for wiki
  • Tweak
  • Double activation zone.
  • Style.
  • removing activation zone viz from world.xacro
  • adding gzmsgs
  • merging with issue_164 and moving dock closer to WAMV
  • increment
  • Moving dock closer to WAMV
  • Functional
  • temporary
  • working on brute force docking solution
  • easier setup, but not working?
  • adding insert blocks to generate debug markers for wayfinding and stationkeeping tasks
  • Tweak
  • Fixing dock scoring plugin for Gazebo 9.
  • Move lock_guard.
  • code check whitespace
  • reinit when getting new color seq.
  • adding default wind to dock, scan-dock and wayfinding tasks
  • connecting usv_wind_plugin to stationkeeping world
  • Model default is off.
  • adding params to dock.xacro for task/trial generation
  • adds light buoys
  • changes to debugging messages to help find issues with docking
  • More Python3 tweaks.
  • Remove .keys().
  • Easy docking example for testing
  • adding wamv_locked argument to vrx.launch
  • adding fog and ambient elements to sandisland xacro
  • messing with plugins
  • simple macro for inserting a model - useful for task generation
  • a bit of a hack, but allows us repeated use of same macro
  • Contributors: Brian Bingham <briansbingham@gmail.com>, Carlos Aguero, Carlos Ag

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/station_keeping.launch
      • world [default: $(find vrx_gazebo)/worlds/stationkeeping_task.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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/generate_worlds.launch
      • requested
      • world_xacro_target
      • world_target
  • launch/usv_keydrive.launch
      • max_angle [default: $(eval pi/2)]
  • launch/wayfinding.launch
      • world [default: $(find vrx_gazebo)/worlds/wayfinding_task.world]
      • gui [default: true]
      • verbose [default: true]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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: $(find vrx_gazebo)/src/vrx_gazebo_python/generator_scripts/wamv_config/example_sensor_config.yaml]
      • thruster_yaml [default: $(find vrx_gazebo)/src/vrx_gazebo_python/generator_scripts/wamv_config/example_thruster_config.yaml]
      • wamv_target
  • launch/dock.launch
      • world [default: $(find vrx_gazebo)/worlds/dock.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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.launch
      • world [default: $(find vrx_gazebo)/worlds/scan_and_dock.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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/vrx.launch
      • world [default: $(find vrx_gazebo)/worlds/example_course.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • wamv_locked [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: T]
      • vrx_sensors_enabled [default: true]
      • urdf [default: $(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro]
  • launch/playback.launch
      • log_file
      • paused [default: false]
      • verbose [default: false]
  • launch/perception_task.launch
      • world [default: $(find vrx_gazebo)/worlds/perception_task.world]
      • gui [default: true]
      • verbose [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • 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/sandisland.launch
      • world [default: $(find vrx_gazebo)/worlds/example_course.world]
      • gui [default: true]
      • verbose [default: false]
      • paused [default: false]
      • extra_gazebo_args [default: ]
      • namespace [default: wamv]
      • x [default: 158]
      • y [default: 108]
      • z [default: 0.1]
      • P [default: 0]
      • R [default: 0]
      • Y [default: -2.76]
      • non_competition_mode [default: true]
      • 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_joydrive.launch

Plugins

No plugins found.

Recent questions tagged vrx_gazebo at answers.ros.org