Bathymetry for next release playground : Candiate 2. Santorini

examples/dave_demo_launch/launch/dave_Santorini_demo.launch

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+<?xml version="1.0"?>
+<launch>
+    <arg name="gui" default="true"/>
+    <arg name="paused" default="false"/>
+    <arg name="world_name" default="$(find dave_worlds)/worlds/dave_Santorini.world"/>
+    <arg name="namespace" default="rexrov"/>
+    <arg name="set_timeout" default="false"/>
+    <arg name="timeout" default="0.0"/>
+    <arg name="velocity_control" default="true"/>
+    <arg name="joy_id" default="0"/>
+
+    <!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(arg world_name)"/>
+        <arg name="paused" value="$(arg paused)"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="headless" value="false"/>
+        <arg name="debug" value="false"/>
+        <arg name="verbose" value="false"/>
+    </include>
+
+    <!-- use ned frame north east down -->
+    <include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>
+
+    <!-- timeout -->
+    <group if="$(arg set_timeout)">
+        <include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
+            <arg name="timeout" value="$(arg timeout)"/>
+        </include>
+    </group>
+
+    <!-- rexrov robot with oberon7 arm -->
+    <include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
+        <arg name="namespace" value="rexrov"/>
+        <arg name="x" value="1000"/>
+        <arg name="y" value="1000"/>
+        <arg name="z" value="-100"/>
+        <arg name="yaw" value="-1.8"/>
+    </include>
+
+    <!-- Velocity teleop (UUV stays in position when joystick is not used) -->
+    <include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
+        <arg name="uuv_name" value="$(arg namespace)" />
+        <arg name="model_name" value="rexrov" />
+        <arg name="joy_id" value="$(arg joy_id)"/>
+    </include>
+
+    <!-- joystick control for rexrov and oberon7, no velocity control-->
+    <include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
+        <arg name="model_name" value="rexrov"/>
+        <arg name="joy_id" value="$(arg joy_id)"/>
+    </include>
+
+    <!-- joint control for oberon7 -->
+    <include file="$(find oberon7_control)/launch/joint_control.launch">
+        <arg name="uuv_name" value="$(arg namespace)"/>
+    </include>
+
+</launch>

examples/dave_nodes/src/merry_go_round.py

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+#!/usr/bin/env python
+'''
+Maneuver the vehicle like merry-go-round
+
+'''
+
+# System imports
+import math
+
+# ROS/Gazebo imports
+import rospy
+import tf
+from rosgraph_msgs.msg import Clock
+
+# For GetModelState Service
+from gazebo_msgs.srv import SetModelState
+from gazebo_msgs.msg import ModelState
+from geometry_msgs.msg import Pose, Twist, Transform
+
+class MerryGoRound:
+
+    def __init__(self):
+
+        # Parse parameters
+        self.model_name = "rexrov"
+        self.xCenter = -1400
+        self.yCenter = -300
+        self.radius = 3000
+        self.depth = 0
+        self.angularSpeed = 50
+
+        # Wait for ROS init
+        self.t0 = rospy.get_time()
+        while self.t0 < 0.01:
+            rospy.logwarn("Waiting for ROS time to be received")
+            rospy.sleep(0.5)
+            self.t0 = rospy.get_time()
+            self.t0_init = self.t0
+
+        # Launch
+        self.launch()
+
+    def launch(self):
+
+        # Wait for Gazebo services
+        rospy.loginfo("Starting Merry-Go-Round maneuver...")
+        rospy.wait_for_service("/gazebo/set_model_state")
+        wait_for_sim_to_start = rospy.wait_for_message('/clock', Clock)
+
+        # Prepare initialization SetModelState service
+        self.set_model_srv = rospy.ServiceProxy("/gazebo/set_model_state", SetModelState)
+
+        rospy.loginfo("Vehicle will be maneuvered to rotate with (" \
+            + repr(self.xCenter) + "," + repr(self.yCenter) + ") with radius of " + repr(self.radius) \
+            + " [m] for " + repr(self.angularSpeed) + " [deg/sim_sec] angular speed at " + repr(self.depth) \
+            + " [m] depth")
+
+    def maneuver(self):
+
+        # Timing
+        now = rospy.get_time()
+        dt = now - self.t0
+        if dt < 1.0e-5:
+            # rospy.logwarn("Timestep is too small (%f) - skipping this update"
+            #               %dt)
+            return
+        self.t0 = now
+
+        # Generate ModelState msg
+        pose = Pose()
+        pose.position.x = self.xCenter + self.radius*math.sin(now*self.angularSpeed/180.0*math.pi)
+        pose.position.y = self.yCenter + self.radius*math.cos(now*self.angularSpeed/180.0*math.pi)
+        pose.position.z = self.depth
+
+        # meneuver
+        self.set_model_srv(ModelState(self.model_name, pose, Twist(), "world"))
+
+if __name__ == '__main__':
+
+    # Start node
+    rospy.init_node('merry_go_round')
+    MerryGoRound = MerryGoRound()
+
+    # Update rate
+    update_rate = rospy.get_param('~update_rate', 20.0)
+
+    # Spin
+    r = rospy.Rate(update_rate)
+    try:
+        while not rospy.is_shutdown():
+            MerryGoRound.maneuver()
+            r.sleep()
+    except rospy.ROSInterruptException:
+        pass

models/dave_object_models/models/Santorini/materials/scripts/texture.material

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+material Bathymetry/Santorini
+{
+    technique
+    {
+        pass
+        {
+            ambient 0.5 0.5 0.5 1.0
+            diffuse 0.5 0.5 0.5 1.0
+            specular 0.2 0.2 0.2 1.0 12.5
+
+            texture_unit
+            {
+                texture ../textures/Santorini.R_25.317_25.489_36.337_36.479.epsg3857.texture.png
+                scale 1 1
+            }
+        }
+    }
+}