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(WIP) Integrated world #218

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59 changes: 59 additions & 0 deletions examples/dave_demo_launch/launch/dave_integrated_world_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_integrated.world"/>
<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_integrated.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="1007.8"/>
<arg name="y" value="999.8"/>
<arg name="z" value="-93.7"/>
<arg name="yaw" value="3.141592"/>
</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="rexrov" />
<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="rexrov"/>
</include>

</launch>
160 changes: 160 additions & 0 deletions models/dave_worlds/worlds/dave_integrated.world
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<?xml version="1.0" ?>
<!-- Modified for different Gazebo GUI camera angle -->

<sdf version="1.4">
<world name="santorini">
<physics name="default_physics" default="true" type="ode">
<max_step_size>0.002</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>500</real_time_update_rate>
</physics>

<!-- Origin placed at the center of the tile -->
<spherical_coordinates>
<latitude_deg>36.408</latitude_deg>
<longitude_deg>25.403</longitude_deg>
</spherical_coordinates>

<!-- Global light source -->
<light type="directional" name="sun1">
<pose>50 0 150 0 0 0</pose>
<diffuse>1 1 1 1</diffuse>
<specular>.1 .1 .1 1</specular>
<direction>0.3 0.3 -1</direction>
<cast_shadows>false</cast_shadows>
</light>

<!-- Global light source -->
<light type="directional" name="sun_diffuse">
<pose>-50 0 -150 0 0 0</pose>
<diffuse>0.6 0.6 0.6 1</diffuse>
<specular>0 0 0 1</specular>
<direction>-0.3 -0.3 -1</direction>
<cast_shadows>false</cast_shadows>
</light>

<!-- Virtual NED frame -->
<include>
<uri>model://ned_frame</uri>
<pose>0 0 0 0 0 0</pose>
</include>

<!-- Santorini -->
<include>
<uri>model://Santorini</uri>
<pose>0 0 0 0 0 0</pose>
</include>

<plugin name="underwater_current_plugin" filename="libdave_ocean_current_plugin.so">
<namespace>hydrodynamics</namespace>
<constant_current>
<topic>current_velocity</topic>
<velocity>
<mean>0</mean>
<min>0</min>
<max>5</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</velocity>

<horizontal_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</horizontal_angle>

<vertical_angle>
<mean>0</mean>
<min>-3.141592653589793238</min>
<max>3.141592653589793238</max>
<mu>0.0</mu>
<noiseAmp>0.0</noiseAmp>
</vertical_angle>
</constant_current>

<transient_current>
<topic_stratified>stratified_current_velocity</topic_stratified>
<!-- Database tag can accept full path or filename for .csv within the dave_worlds/worlds folder -->
<databasefilePath>transientOceanCurrentDatabase.csv</databasefilePath>
</transient_current>

<!-- transient current database CSV file (North direction value) is used as a depth variation -->
<tidal_oscillation>
<!-- Method 1: databse file https://tidesandcurrents.noaa.gov/noaacurrents/Annual?id=ACT1951_1 -->
<!-- Database tag can accept full path or filename for .csv within the dave_worlds/worlds folder -->
<databasefilePath>ACT1951_1_Annual_2021.csv</databasefilePath>

<!-- Mean direction of the tidal currents -->
<mean_direction>
<ebb>69</ebb>
<flood>255</flood>
</mean_direction>

<!-- Starting time of the simulator in GMT -->
<world_start_time_GMT>
<day>4</day>
<month>3</month>
<year>2021</year>
<hour>15</hour>
<minute>0</minute>
</world_start_time_GMT>
</tidal_oscillation>
</plugin>

<plugin name="sc_interface" filename="libdave_sc_coordinates_interface.so"/>

<!-- Electrical flying lead -->
<include>
<uri>model://plug</uri>
<pose>1005 1000 -94.84 0 -1.5707963267948966 0</pose>
</include>

<model name="platform">
<static>true</static>
<pose>1005 1000 -95 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>1 1 0.2</size>
</box>
</geometry>
</collision>

<visual name="visual">
<geometry>
<box>
<size>1 1 0.2</size>
</box>
</geometry>
</visual>
</link>
</model>

<include>
<uri>model://socket_box</uri>
<pose>1000 1000 -99.8 0 0 0</pose>
</include>

<plugin name="vehicle_docked_bay1_exterior" filename="libContainPlugin.so">
<entity>wamv::base_link</entity>
<namespace>vrx/dock_2018/bay_1_external</namespace>
<pose frame="robotx_dock_2018::dock_2018_placard1::placard::link">1000 990 -1.5 0 0 0</pose>
<geometry>
<box>
<size>8 1.5 2</size>
</box>
</geometry>
</plugin>

<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>1012 985 -73 0 0.88 1.8</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>
</world>
</sdf>