Integrated World by Yadunund · Pull Request #217 · Field-Robotics-Lab/dave

Yadunund · 2022-02-22T00:17:16Z

An underwater world that showcases various simulator capabilities. See Usage below.

Pending items:

Usage

To launch the demo world

roslaunch dave_demo_launch dave_integrated_demo.launch

UUVs

The world spawns two UUVs, a single arm rexrov0 UUV which can be teloperated using a joystick connected to js0 and a dual arm rexrov UUV which can be teleoperted using a joystick connected to js1. The arms on this UUV can be commanded via the moveit interface. See Electrical Station below for more information.

Stations

The world has multiple stations where UUVs can interact with objects and the environment. A helpful script has been developed to quickly "teleport" the desired UUV to the various stations. Run the teleporter script:

roslaunch dave_nodes integrated_world_teleporter.launch

Then to teleport rexrov0 to the mudpit, type "rexrov0 mud" (without quotes) and hit enter. The UUV should automatically teleport. Gazebo does not have a service to update the camera view through a service call but this can be done in Ignition which is left for future work.
Locations include

artillery
mud
home

Home

The rexrov0 UUV spwans here

The flight_data_recorder object can be picked up. The other objects are static to reduce computational load.

Mud

The rexrov0 can pick up the anchor that is loaded with the mud plugin and drag it along the mud. The vase beside the anchor can also be picked up. The degraded vase and the narrower vase are static to reduce computational load.

Artillery

Electrical

The dual arm rexrov spawns here. The arms can be controlled with via moveit. First start the controller.

roslaunch rexrov_oberon7_moveit rexrov_dual_arm_moveit_planning_execution.launch moveit_controller_manager:=rexrov

To instruct the UUV to pick up the plug and bring it close to the recepticle

rosrun dave_nodes bimanual_integrated_world.py

The user can teleoperate the UUV via js1 to finish the insertion.

Signed-off-by: Yadunund <yadunund@gmail.com>

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

Signed-off-by: Yadunund <yadunund@gmail.com>

Scale integrated world seabed

Signed-off-by: Yadunund <yadunund@gmail.com>

j-herman · 2022-02-23T22:11:04Z

@Yadunund Are you planning to use the bathymetry plugin for tiling with the PR#203 world? Or will all of the demos be within a single tiled area?

Yadunund · 2022-02-23T23:05:57Z

@Yadunund Are you planning to use the bathymetry plugin for tiling with the PR#203 world? Or will all of the demos be within a single tiled area?

Hi @j-herman , currently the entire demo is within a single tiled area. Should we switch to relying on the bathymetry plugin instead?

j-herman · 2022-02-23T23:13:00Z

@Yadunund Are you planning to use the bathymetry plugin for tiling with the PR#203 world? Or will all of the demos be within a single tiled area?

Hi @j-herman , currently the entire demo is within a single tiled area. Should we switch to relying on the bathymetry plugin instead?

No preference on my part - just wanted to check in with your plans before I make a mud pit for you :)
Thanks!

Yadunund · 2022-02-23T23:14:23Z

@Yadunund Are you planning to use the bathymetry plugin for tiling with the PR#203 world? Or will all of the demos be within a single tiled area?

Hi @j-herman , currently the entire demo is within a single tiled area. Should we switch to relying on the bathymetry plugin instead?

No preference on my part - just wanted to check in with your plans before I make a mud pit for you :) Thanks!

Thanks for letting me know! I've already made a mud pit. Will open a PR later tonight and could really use your feedback 🙂

j-herman · 2022-02-23T23:52:05Z

@Yadunund Are you planning to use the bathymetry plugin for tiling with the PR#203 world? Or will all of the demos be within a single tiled area?

Hi @j-herman , currently the entire demo is within a single tiled area. Should we switch to relying on the bathymetry plugin instead?

No preference on my part - just wanted to check in with your plans before I make a mud pit for you :) Thanks!

Thanks for letting me know! I've already made a mud pit. Will open a PR later tonight and could really use your feedback slightly_smiling_face

You are way ahead of the game again! Awesome, can't wait to see it in action.

woensug-choi · 2022-02-24T00:09:39Z

I vote for a single tile. Tiling is for long-range search investigation scenarios. Integrated world demo is more like a local search :)

* Added current tutorial and set station location Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * Added new plug/receptacle model Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * Fix model includes Signed-off-by: Yadunund <yadunund@gmail.com> Co-authored-by: Yadunund <yadunund@gmail.com>

Signed-off-by: Yadunund <yadunund@gmail.com>

…world (#231) * teleport to home postiion Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * taking commands for multiple locations Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * added control for vehicle orientation Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * Parsing config from yaml file and accepting user commands Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * fixed capturing keyboard interrupt Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * Undo namespace deletion Signed-off-by: Yadunund <yadunund@openrobotics.org> * Install config Signed-off-by: Yadunund <yadunund@openrobotics.org> * Update script Signed-off-by: Yadunund <yadunund@openrobotics.org> Co-authored-by: Yadunund <yadunund@openrobotics.org>

* Increased height of seabed visual for silt occlusion Signed-off-by: Yadunund <yadunund@gmail.com> * Added mud pit with anchor Signed-off-by: Yadunund <yadunund@gmail.com> * Cleanup mud Signed-off-by: Yadunund <yadunund@gmail.com> * Split mud pits Signed-off-by: Yadunund <yadunund@gmail.com> * Downsampled mesh Signed-off-by: Yadunund <yadunund@gmail.com> * Add sunken ship model Signed-off-by: Yadunund <yadunund@gmail.com> * Reduce size of mesh for better performance Signed-off-by: Yadunund <yadunund@gmail.com>

* Spawn second rexrov Signed-off-by: Yadunund <yadunund@openrobotics.org> * Add moveit manager Signed-off-by: Yadunund <yadunund@openrobotics.org> * Update collision mesh for electrical panel Signed-off-by: Yadunund <yadunund@openrobotics.org> * WIP Signed-off-by: Yadunund <yadunund@openrobotics.org> * Updated script, friction, collision Signed-off-by: Yadunund <yadunund@openrobotics.org> * Able to grasp Signed-off-by: Yadunund <yadunund@openrobotics.org> * More positions Signed-off-by: Yadunund <yadunund@openrobotics.org> * Cleanup Signed-off-by: Yadunund <yadunund@openrobotics.org> * Revert mating tolerances Signed-off-by: Yadunund <yadunund@openrobotics.org> * Install bimanual script Signed-off-by: Yadunund <yadunund@openrobotics.org> * Change exec_depend to run_depend Signed-off-by: Yadunund <yadunund@openrobotics.org> * Updated launch file Signed-off-by: Yadunund <yadunund@openrobotics.org> * Update join positions and tune plug physics for better gripping Signed-off-by: Yadunund <yadunund@openrobotics.org> * Cleanup Signed-off-by: Yadunund <yadunund@openrobotics.org> * Undo dependency deletion Signed-off-by: Yadunund <yadunund@openrobotics.org>

* sprinkling new models around, ported to fuel db Signed-off-by: Dharini Dutia <dharini@openrobotics.org> * using fuel links only and corrected lionfish pose Signed-off-by: quarkytale <dharini@openrobotics.org> * static models and more ocean creatures Signed-off-by: quarkytale <dharini@openrobotics.org> * Do not let models fall to the ground on startup. Better position models and update teleport script Signed-off-by: Yadunund <yadunund@openrobotics.org> Co-authored-by: Yadunund <yadunund@openrobotics.org>

Signed-off-by: Yadunund <yadunund@openrobotics.org>

Yadunund · 2022-03-25T09:48:31Z

@bsb808 @j-herman @woensug-choi @crvogt @mabelzhang The integrated world PR is ready to be merged! All the features in the checklist have been incorporated. I've updated the PR description with a Usage section to describe all the capabilities. Once merged, I can port the description to a wiki page.

quarkytale · 2022-03-25T16:44:05Z

https://github.com/Field-Robotics-Lab/dave/wiki/Integrated-World

j-herman

I checked out all of the functionality and it is working, although the first time I tried in docker there were some issues with the controllers not loading (ros-noetic-ros-control not installed via rosdep and couldn't be found). Restarted and everything seemed ok.
Approving without CI check, so we may want to figure out that problem and run the checks here before merging (@bsb808 ?)

mabelzhang · 2022-03-25T22:50:21Z

To be cautious, we should fix the CI related to #239 and #250 before merging this. This is a big branch to merge in. If we need to revert this, it's potentially a lot of work.
Update: #254 fixes that

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>

…ture_branch Merge main into feature/integrated_world

mabelzhang · 2022-03-26T00:51:11Z

CI is green!

Yadunund added 2 commits February 21, 2022 18:01

Added scaled santorini sea bed

d8f0f34

Signed-off-by: Yadunund <yadunund@gmail.com>

Add new models

6ff1f3e

Signed-off-by: Yadunund <yadunund@gmail.com>

Yadunund mentioned this pull request Feb 22, 2022

Integrated World Checklist #215

Closed

13 tasks

quarkytale mentioned this pull request Feb 22, 2022

(WIP) Integrated world #218

Closed

quarkytale and others added 7 commits February 22, 2022 02:05

Electrical mating skeleton

d322167

Signed-off-by: Dharini Dutia <dharini@openrobotics.org>

Scale seabed and reposition uuv

13c7882

Signed-off-by: Yadunund <yadunund@gmail.com>

Fix merge conflict

778dfd5

Signed-off-by: Yadunund <yadunund@gmail.com>

Merge pull request #219 from Field-Robotics-Lab/scale_integrated_seabed

0f8ab00

Scale integrated world seabed

Renamed seabed model to SantoriniScaled

98a6b89

Signed-off-by: Yadunund <yadunund@gmail.com>

Merge branch 'master' into remove_duplicate_mesh

5912af9

Update world to load SantoriniScaled

9af0b23

Signed-off-by: Yadunund <yadunund@gmail.com>

woensug-choi mentioned this pull request Feb 24, 2022

Integrated World - multibeam sonar #222

Closed

Yadunund mentioned this pull request Feb 24, 2022

Sand occlusion and mudpit in integrated world #221

Merged

bsb808 added this to the 4.3.1 milestone Feb 25, 2022

Yadunund and others added 10 commits February 28, 2022 13:25

Merge branch 'master' into feature/integrated_world

2a4e8de

Shift electrical platform slightly backwards

0204da0

Signed-off-by: Yadunund <yadunund@gmail.com>

Merge branch 'master' into feature/integrated_world

d442038

Merge branch 'master' into feature/integrated_world

d7d8091

Add launch script to run teleporter with config

4805b56

Signed-off-by: Yadunund <yadunund@openrobotics.org>

Yadunund marked this pull request as ready for review March 25, 2022 09:47

j-herman approved these changes Mar 25, 2022

View reviewed changes

merge from main

487c3f0

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>

mabelzhang mentioned this pull request Mar 25, 2022

Merge main into feature/integrated_world #254

Merged

Merge pull request #254 from Field-Robotics-Lab/mabelzhang/253_on_fea…

85596b8

…ture_branch Merge main into feature/integrated_world

j-herman merged commit 916a5ad into master Mar 26, 2022

j-herman deleted the feature/integrated_world branch March 26, 2022 00:51

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Integrated World#217

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Pending items:

Usage

UUVs

Stations

Home

Mud

Artillery

Electrical

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