diff --git a/docker/download_models.sh b/docker/download_models.sh index f456ba8f..e07f4010 100755 --- a/docker/download_models.sh +++ b/docker/download_models.sh @@ -56,6 +56,7 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/S ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/SOPHISTICATED_ENGINEERING_X4_SENSOR_CONFIG_1" -v 4 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/DronePlatformX1" -v 4 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/ROBOTIKA_KLOUBAK_SENSOR_CONFIG_1" -v 4 +ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/ROBOTIKA_FREYJA_SENSOR_CONFIG_1" -v 4 # Download the tunnel circuit models ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/subt_tunnel_staging_area" -v 4 diff --git a/submitted_models/robotika_freyja_sensor_config_1/CMakeLists.txt b/submitted_models/robotika_freyja_sensor_config_1/CMakeLists.txt new file mode 100644 index 00000000..4f672e32 --- /dev/null +++ b/submitted_models/robotika_freyja_sensor_config_1/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 2.8.3) +project(robotika_freyja_sensor_config_1) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/description.launch b/submitted_models/robotika_freyja_sensor_config_1/launch/description.launch new file mode 100644 index 00000000..5f4597c7 --- /dev/null +++ b/submitted_models/robotika_freyja_sensor_config_1/launch/description.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/example.ign b/submitted_models/robotika_freyja_sensor_config_1/launch/example.ign new file mode 100644 index 00000000..a0e34efd --- /dev/null +++ b/submitted_models/robotika_freyja_sensor_config_1/launch/example.ign @@ -0,0 +1,170 @@ + + + +<% + require_relative 'spawner' + + # Modify these as needed + $enableGroundTruth = true + $headless = local_variables.include?(:headless) ? :headless : false + +%> + +<% + + unless local_variables.include?(:robotName) + raise "missing parameters. robotName is a required parameter" + end + + # This assumes that this launch file is in a directory below the model + modelURI = File.expand_path("../", File.dirname(__FILE__)) + $worldName = 'example' + worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") + +%> + + + + IGN_GAZEBO_SYSTEM_PLUGIN_PATH + $LD_LIBRARY_PATH + + + + + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + + + + <%= worldFile %> + true + false + + false + + + + + + + ogre2 + + + + + + + + + + + + + + + + <%if !$headless %> + + + <%= $worldName %> + SubT Simulator + <%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg + + + 3D View + false + docked + + + ogre2 + scene + 0.2 0.2 0.1 + 0.8 0.8 0.8 + -6.3 -4.2 3.6 0 0.268 0.304 + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/pose/info + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/scene/deletion + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + true + /world/<%= $worldName %>/control + /world/<%= $worldName %>/stats + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/<%= $worldName %>/stats + + + + <%end%> + +<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> +<%= rosExecutables(robotName, $worldName) %> + + + diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb new file mode 100644 index 00000000..b527fa44 --- /dev/null +++ b/submitted_models/robotika_freyja_sensor_config_1/launch/spawner.rb @@ -0,0 +1,76 @@ +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + <<-HEREDOC + + #{_name} + false + #{_x} #{_y} #{_z + 0.15} #{_roll} #{_pitch} #{_yaw} + #{_worldName} + true + + + #{_name} + #{_modelURI} + + + front_left_wheel_joint + rear_left_wheel_joint + front_right_wheel_joint + rear_right_wheel_joint + 0.38 + 0.1275 + /model/#{_name}/cmd_vel_relay + -2.5 + 2.5 + -10.6 + 10.6 + + + + true + true + false + false + #{$enableGroundTruth} + true + true + 1 + + + + linear_battery + 25.2 + 25.2 + -7.2 + 5 + 5 + 0.0052 + 5.0 + 1.2552 + true + + " + + /model/#{_name}/gas_detected + 10 + gas + + + + + HEREDOC +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait robotika_freyja_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name} + + + roslaunch --wait robotika_freyja_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} + + HEREDOC +end diff --git a/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch new file mode 100644 index 00000000..4a124a48 --- /dev/null +++ b/submitted_models/robotika_freyja_sensor_config_1/launch/vehicle_topics.launch @@ -0,0 +1,230 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_left.dae b/submitted_models/robotika_freyja_sensor_config_1/meshes/wheel_left.dae new file mode 100644 index 00000000..77fd2726 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This robot may be launched using +a `roslaunch` command with the variable name `robotika_freyja_sensor_config_1`. +## Description +Freyja is a four-wheel all-terrain ground vehicle. With weight under 30 kg and its +medium size, Freyja can be transported by a single person as a check-in baggage on an +airplane. + +## Cost and Scale +Robotika's Freyja has an estimated commercial cost of USD 7,000. It weighs approximately +29.6 kg. + +## Sensors +Freyja in Sensor Configuration 1 is equipped with forward-looking and backward looking +medium-fps RGB & Depth cameras with wide field of view (Mynte Eye D), four even +wider-field-of-view color cameras looking all around (KAYETON), two planar lidars +(SICK TIM881P), and with other sensors, such as imu combined with a magnetic compass +(CMPS14), an altimeter (Infineon DPS310), a CO2 sensor (MH-Z19B) and in-wheel encoders. + +The specifications for these instruments are provided below in +the [Validation Links](#validation_links) section. + +The following specific sensors are declared payloads of this vehicle: + +* 2x RGBD camera — Mynt Eye D, modeled by `rgbd_camera` plugin. +* 2x Planar lidar — SICK TIM881P, modeled by `gpu_lidar` plugin. +* 4x Monocular camera — KAYETON, modeled by `camera` plugin. +* Tilt-compensated compass — CMPS14, modeled by `imu` and `magnetometer` +plugins. +* Altimeter — Infineon DPS310, modeled by `air_pressure` plugin. +* Wheel odometry - wheel encoders modelled by `pose-publisher` +plugin. +* Gas sensor — Winsen MH-Z19B, modeled by GasEmitterDetector plugin. +## Control +Freyja is controlled by the open-source Osgar framework or by custom Erro framework. +## Motion Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation +Guide](https://subtchallenge.com/\), this vehicle has the following motion +constraint characteristics: + +* _x_ velocity range from -2.5 m/s to 2.5 m/s +* _x_ acceleration range from -10.6 m/s2 to 10.6 m/s2 +* Turning radius of 0.0 m + +The constraints can be found in the following locations within the simulation model +package: + +* Front left wheel maximum velocity and torque — model.sdf, lines 1415 and 1417 +* Other wheels — just below Front Left wheel in the same file. + +## Endurance Characteristics +Based on the tests specified in the DARPA SubT Challenge [Model Preparation +Guide](https://subtchallenge.com/\), this vehicle has the following +endurance characteristics: + +* Battery life of 14400 seconds + +## Diversions from Physical Hardware of Freyja +Virtual Freyja is a faithful representation of real-world Freya both in appearance and +in physical properties. It does not model long-range low-bandwidth (LoRa) mesh +communication of the real robot. + +# Freyja Validation and Specification Links + +* https://www.uumotor.com/10-inch-single-shaft-brushless-motor-sensorless.html +* https://www.robot-electronics.co.uk/cmps14-tilt-compensated-compass.html +* Nearest public documentation to TIM881P: https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344 +* https://www.kayetoncctv.com/global-shutter-high-speed-120fps-hd-720p-webcam-uvc-plug-play-driverless-usb-camera-module-for-android-linux-windows-mac/ +* https://www.infineon.com/cms/en/product/sensor/pressure-sensors/absolute-pressure-sensors-map-bap/dps310/ +* https://www.winsen-sensor.com/sensors/co2-sensor/mh-z19b.html +* https://youtu.be/cHJ-ZloPmhE (speed test) +* https://youtu.be/bZ83Zneuhf8 (rotation test) +* https://drive.google.com/drive/folders/1M8W3vjP1G0Pz7oeB7dAkBjXhYE05hvxA?usp=sharing +* https://heltec.org/project/wifi-lora-32/ 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b/submitted_models/robotika_freyja_sensor_config_1/thumbnails/4.png new file mode 100644 index 00000000..86d27552 Binary files /dev/null and b/submitted_models/robotika_freyja_sensor_config_1/thumbnails/4.png differ diff --git a/submitted_models/robotika_freyja_sensor_config_1/thumbnails/5.png b/submitted_models/robotika_freyja_sensor_config_1/thumbnails/5.png new file mode 100644 index 00000000..43cbc03b Binary files /dev/null and b/submitted_models/robotika_freyja_sensor_config_1/thumbnails/5.png differ diff --git a/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf new file mode 100644 index 00000000..f354a7db --- /dev/null +++ b/submitted_models/robotika_freyja_sensor_config_1/urdf/model.urdf @@ -0,0 +1,526 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_4_-1 + -9.2 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_4_1 + -9.2 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-9.5_-2 + 10.5 -8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-9.5_2 + 10.5 8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_-2 + -12 -8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_-1 + -12 -4.3 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_0 + -12 0.0 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_1 + -12 4.3 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_2 + -12 8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + + + true + base_station + -8 0 0 0 0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station + + +