Skip to content

Populating with new object models #242

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
Yadunund merged 5 commits into from
Mar 25, 2022
Merged

Populating with new object models #242

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
726bd73
sprinkling new models around, ported to fuel db
quarkytale Mar 18, 2022
b667d2a
using fuel links only and corrected lionfish pose
quarkytale Mar 23, 2022
84fb535
static models and more ocean creatures
quarkytale Mar 25, 2022
2122a5e
Merge branch 'feature/integrated_world' into yadu/add_models
Yadunund Mar 25, 2022
b419074
Do not let models fall to the ground on startup. Better position mode…
Yadunund Mar 25, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 6 additions & 4 deletions examples/dave_demo_launch/launch/dave_integrated_demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,10 +39,12 @@
<!-- rexrov robot with oberon7 arm -->
<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
<arg name="namespace" value="rexrov0"/>
<arg name="x" value="-21.0"/>
<arg name="y" value="-34.0"/>
<arg name="z" value="-108.0"/>
<arg name="yaw" value="2.5"/>
<arg name="x" value="7.087382"/>
<arg name="y" value="-8.720616"/>
<arg name="z" value="-116.360490"/>
<arg name="roll" value="0.011443"/>
<arg name="pitch" value="0.060502"/>
<arg name="yaw" value="0.304482"/>
</include>

<!-- Velocity teleop (UUV stays in position when joystick is not used) -->
Expand Down
16 changes: 8 additions & 8 deletions examples/dave_nodes/config/integrated_world_places.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
# Config for teleport script
places:
home: {
'robot_pose': [-21,-34,-108,0,0,2.5],
'camera_pose': [-21,-34,-108,0,0,2.5]
'robot_pose': [7.087382,-8.720616,-116.360490,0.011443,0.060502,0.304482],
'camera_pose': [7.087382,-8.720616,-116.360490,0.011443,0.060502,0.304482]
}
electrical: {
'robot_pose': [-187,117,-154,0,0,3.14],
'camera_pose': [-187,117,-154,0,0,3.14]
artillery: {
'robot_pose': [-150.113998,97.727378,-155.246244,-0.011886,0.016902,1.687642],
'camera_pose': [-150.113998,97.727378,-155.246244,-0.011886,0.016902,1.687642]
}
mud: {
'robot_pose': [-140,-190,-145,0,0,0],
'camera_pose': [-140,-190,-145,0,0,0]
}
'robot_pose': [-66.099145,-208.337754,-145.292877,-0.010855,0.030645,-3.086439],
'camera_pose': [-66.099145,-208.337754,-145.292877,-0.010855,0.030645,-3.086439]
}
200 changes: 178 additions & 22 deletions models/dave_worlds/worlds/dave_integrated.world
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -207,16 +207,16 @@

<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>14.0 -26.0 -110.0 0.0 0.25 0.53</pose>
<pose frame=''>-35 -106.0 -84.0 0.0 0.226 1.206</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>
</gui>

<include>
<uri>model://mud_anchor</uri>
<name>mud_anchor</name>
<pose>-78.2 -181 -130 -0.22 0.13 0.0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Mud Anchor</uri>
<pose>-68.759591 -208.309946 -147.679795 -0.072901 -1.166020 1.635320</pose>
</include>

<!-- Mud pit -->
Expand Down Expand Up @@ -270,48 +270,204 @@
</model>


<!-- Models in the world -->
<!-- Other models in the world -->
<!-- Monitoring equipment -->
<include>
<name>sunken_ship_1</name>
<pose>82 -150 -150 0 0 0</pose>
<name>mbari_mars</name>
<pose>14.455148 -7.161097 -118.670557 -0.036799 0.065912 0.178707</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
<static>true</static>
</include>

<include>
<name>flight_data_recorder</name>
<pose>9.044796 -6.663643 -118.380028 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
<static>false</static>
</include>

<include>
<name>niskin</name>
<pose>9.046633 -7.605316 -118.217148 -0.918770 -1.547187 0</pose>
<!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
<!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
<uri>model://niskin</uri>
<static>true</static>
</include>

<!-- Ocean creatures -->
<include>
<name>Lionfish1</name>
<pose>13 -11 -118 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
<static>true</static>
</include>

<include>
<name>Coral1</name>
<pose>13 -12 -118.3 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral01</uri>
<static>true</static>
</include>

<include>
<name>Kelp1</name>
<pose>13 -12 -118.3 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 01</uri>
<static>true</static>
</include>

<include>
<name>Kelp2</name>
<pose>12 -12 -118.3 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 02</uri>
<static>true</static>
</include>

<!-- Sunken ships and objects-->
<include>
<name>sunken_ship</name>
<pose>-75 -200 -147 0.25 0 0.65</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
<static>true</static>
</include>

<include>
<name>sunken_ship_distorted</name>
<pose>17 -200 -150 0 0 0</pose>
<uri>model://sunken_ship_distorted</uri>
<static>true</static>
</include>

<include>
<name>sunken_vase</name>
<pose>-70.221956 -206.729503 -147.769372 0.102539 -0.035175 -0.004790</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri>
</include>

<include>
<name>sunken_vase_distorted</name>
<pose>-72 -208.695 -148.1 -0.757396 0.467511 -0.402810</pose>
<!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
<!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
<uri>model://sunken_vase_distorted</uri>
<static>true</static>
</include>

<include>
<name>sunken_vase2</name>
<pose>-72 -208 -148 -0.932434 -0.195466 0.528508</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
<static>true</static>
</include>

<include>
<name>Lionfish2</name>
<pose>-72 -209 -147 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
<static>true</static>
</include>

<include>
<name>Coral2</name>
<pose>-70 -208 -147.9 0.15 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral02</uri>
<static>true</static>
</include>

<include>
<name>Kelp3</name>
<pose>-70 -208 -148 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 03</uri>
<static>true</static>
</include>

<include>
<name>Kelp4</name>
<pose>-70 -209 -148 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 04</uri>
<static>true</static>
</include>

<!-- Ocean rocks -->
<include>
<name>Rock3</name>
<pose>26 182 -139 -1.55 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Ocean Rock 03</uri>
<static>true</static>
</include>

<!-- Hardhats -->
<include>
<name>hardhat_standard</name>
<pose>-185 115 -158.224 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
<static>true</static>
</include>

<!-- <include>
<include>
<name>hardhat_ribbed</name>
<pose>-185 116 -158.238 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
<static>true</static>
</include>

<include>
<name>hardhat_superribbed</name>
<pose>-184 115 -158.199 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
<static>true</static>
</include>

<include>
<name>hardhat_octagonal</name>
<pose>-185.4 96 -158.106 1.13 -0105 0.245</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
<static>true</static>
</include>

<!-- Military equipment -->
<include>
<name>torpedo_mk46</name>
<pose>27 -16 -115 0 0 0</pose>
<uri>model://torpedo_mk46</uri>
<pose>-158 100 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
<static>true</static>
</include>

<include>
<name>sonobuoy</name>
<pose>23 -14 -115 0 0 0</pose>
<uri>model://sonobuoy</uri>
<name>torpedo_mk48</name>
<pose>-158 105 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
<static>true</static>
</include>

<include>
<name>flight_data_recorder</name>
<pose>26 -17 -115 0 0 0</pose>
<uri>model://flight_data_recorder</uri>
<name>sonobuoy</name>
<pose>-158 104 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
<static>true</static>
</include>

<include>
<name>uxo_a</name>
<pose>24 -15 -115 0 0 0</pose>
<uri>model://uxo_a</uri>
<pose>-140 103 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
<static>true</static>
</include>

<include>
<name>uxo_b</name>
<pose>26 -18 -115 0 0 0</pose>
<uri>model://uxo_b</uri>
<pose>-140 102 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
<static>true</static>
</include>

<include>
<name>uxo_c</name>
<pose>27 -17 -117 0 0 0</pose>
<uri>model://uxo_c</uri>
</include> -->
<pose>-140 101 -158 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
<static>true</static>
</include>

</world>
</sdf>
26 changes: 13 additions & 13 deletions models/dave_worlds/worlds/dave_ocean_models.world
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -132,76 +132,76 @@
</gui>

<!-- Add some models as examples -->
<include>
<include>
<name>torpedo_mk46</name>
<pose>13 -1 -94 0 0 0</pose>
<uri>model://torpedo_mk46</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
</include>

<include>
<name>torpedo_mk48</name>
<pose>13 -1.5 -94 0 0 0</pose>
<uri>model://torpedo_mk48</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
</include>

<include>
<name>sonobuoy</name>
<pose>13 -2 -94 0 0 0</pose>
<uri>model://sonobuoy</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
</include>

<include>
<name>flight_data_recorder</name>
<pose>13 -3 -94 0 0 0</pose>
<uri>model://flight_data_recorder</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
</include>

<include>
<name>uxo_a</name>
<pose>13 -4 -94 0 0 0</pose>
<uri>model://uxo_a</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
</include>

<include>
<name>uxo_b</name>
<pose>13 -5 -94 0 0 0</pose>
<uri>model://uxo_b</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
</include>

<include>
<name>uxo_c</name>
<pose>13 -6 -94 0 0 0</pose>
<uri>model://uxo_c</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
</include>

<include>
<name>hardhat_standard</name>
<pose>13 0 -94 0 0 0</pose>
<uri>model://hardhat_standard</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
</include>

<include>
<name>hardhat_ribbed</name>
<pose>13 1 -94 0 0 0</pose>
<uri>model://hardhat_ribbed</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
</include>

<include>
<name>hardhat_superribbed</name>
<pose>13 2 -94 0 0 0</pose>
<uri>model://hardhat_superribbed</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
</include>

<include>
<name>hardhat_octagonal</name>
<pose>13 3 -94 0 0 0</pose>
<uri>model://hardhat_octagonal</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
</include>

<include>
<name>mbari_mars</name>
<pose>13 6 -94 0 0 0</pose>
<uri>model://mbari_mars</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
</include>

<include>
Expand Down