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Cave feature release1 #426

Merged
merged 49 commits into from
May 25, 2020
Merged

Cave feature release1 #426

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8525667
Adding breadcrumbs to x1 config 7 & 8
Apr 16, 2020
c4d4001
Added additional breadcrumbs
Apr 16, 2020
5f7697a
Prevent breadcrumb topics
Apr 23, 2020
db2aa77
Merge branch 'master' into breadcrumb_models
nkoenig Apr 23, 2020
fe173a8
Added breadcrumb handling to more launch files
Apr 23, 2020
5e01ced
Merge branch 'breadcrumb_models' of github.com:osrf/subt into breadcr…
Apr 23, 2020
8841390
Apply patch
Apr 28, 2020
a1a886b
Adjust spawn location of the breadcrumbs
Apr 28, 2020
be97ede
Update cave_circuit.ign to call the corect spawner method (#409)
azeey Apr 29, 2020
1b29050
Add disable_physics_time param to breadcrumb plugin to auto disable them
iche033 Apr 30, 2020
7baee30
Adding team base
May 1, 2020
240a57d
One team base only
May 1, 2020
7e6f070
Merge pull request #398 from osrf/breadcrumb_models
nkoenig May 5, 2020
3225249
Updates based on review
May 6, 2020
c94f34e
Missed one pose publisher
May 6, 2020
5ef7adb
Merge pull request #411 from osrf/teambase
nkoenig May 11, 2020
5541b2b
Merge pull request #410 from osrf/breadcrumbs_static
nkoenig May 13, 2020
6f689bc
Azeey/marsupial (#424)
nkoenig May 20, 2020
f27805e
Merged with master
May 20, 2020
e470e98
Add missing changes from PRs #402 and #403
azeey May 20, 2020
651c8ca
Merge branch 'master' into cave_feature_release1
May 20, 2020
a1837a1
Adjust platform height
May 20, 2020
e31ae65
Add level generator (#416)
iche033 May 20, 2020
f28dec0
worlds
May 21, 2020
69165e2
Merge branch 'master' into cave_feature_release1
May 21, 2020
17489e7
Merge branch 'cave_feature_release1' into cpw
May 21, 2020
62e2270
Update tile_22
May 22, 2020
1f06bb8
openrobotics to OpenRobotics
May 22, 2020
9dd68bf
merged
May 22, 2020
18429f7
Missed a few
May 22, 2020
fe58b44
Fix download_models
May 22, 2020
0e154f8
Remove std::regex from CommsBrokerPlugin. (#430)
caguero May 23, 2020
e1e2c50
tweaks
May 23, 2020
809cbde
Merge branch 'cave_feature_release1' into cpw
May 23, 2020
e2066d3
remove transport unlimited buffers
May 23, 2020
faeca1c
all caps teambase
May 24, 2020
dc561d8
Uppercase
May 24, 2020
adac38f
Merge branch 'cave_feature_release1' into cpw
May 24, 2020
064f8c2
Merge branch 'cpw' of github.com:osrf/subt into cpw
May 24, 2020
1a10de6
fix
May 24, 2020
f6a0690
fix capitalization
May 24, 2020
b832724
Fix deadlock
May 24, 2020
a0eb03f
teambase update
May 25, 2020
d7bfdd2
teambase update
May 25, 2020
f5d62af
Fix a deadlock (#431)
nkoenig May 25, 2020
cff3342
Graceful fail if teambase is used multiple times in the config
May 25, 2020
8092480
Merge branch 'cave_feature_release1' into cpw
May 25, 2020
5bad774
Update gitignore
May 25, 2020
3bf277d
Fix docker
May 25, 2020
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2 changes: 2 additions & 0 deletions .gitignore
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Expand Up @@ -32,3 +32,5 @@
*.exe
*.out
*.app

subt_ign/worlds/cave_circuit_practice_02.dat
280 changes: 146 additions & 134 deletions docker/download_models.sh
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10 changes: 9 additions & 1 deletion docker/json2docker.rb
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Expand Up @@ -183,6 +183,13 @@
robotStr += "robotName#{index+1}:=#{robot['name']} robotConfig#{index+1}:=#{robot['type']} "
end

marsupialChildren = []
submission['marsupials'].each_with_index do |(parent, child), index|
robotStr += "marsupial#{index+1}:=#{parent}:#{child} "
marsupialChildren.append(child)
end


# Set where the output is going
if options['run']
output = Tempfile.new()
Expand Down Expand Up @@ -225,10 +232,11 @@

# Output bridge and solution definitions
submission['robots'].each_with_index do |robot, index|
marsupialStr = "marsupial:=true" if marsupialChildren.include? robot['name']
output.puts <<EOF
bridge#{index+1}:
image: #{options['bridge_image']}
command: circuit:=#{submission['circuit']} worldName:=#{submission['world']} robotName1:=#{robot['name']} robotConfig1:=#{robot['type']}
command: circuit:=#{submission['circuit']} worldName:=#{submission['world']} robotName1:=#{robot['name']} robotConfig1:=#{robot['type']} #{marsupialStr}
networks:
relay_net#{index+1}:
ipv4_address: 172.#{29+index}.1.1
Expand Down
38 changes: 19 additions & 19 deletions ign_migration_scripts/worlds/preview.sdf
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Expand Up @@ -65,110 +65,110 @@
<static>true</static>
<name>staging_area</name>
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area</uri>
</include>

<!-- Barriers -->
<include>
<name>barrier_0_-1</name>
<pose>8.0 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_0_1</name>
<pose>8.0 11 0 0 0 0 </pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_1_-1</name>
<pose>3.7 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_1_1</name>
<pose>3.7 11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_2_-1</name>
<pose>-0.5999999999999996 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_2_1</name>
<pose>-0.5999999999999996 11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_3_-1</name>
<pose>-4.899999999999999 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_3_1</name>
<pose>-4.899999999999999 11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_4_-1</name>
<pose>-9.2 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_4_1</name>
<pose>-9.2 11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-9.5_-2</name>
<pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-9.5_2</name>
<pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_-2</name>
<pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_-1</name>
<pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_0</name>
<pose>-12 0.0 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_1</name>
<pose>-12 4.3 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_2</name>
<pose>-12 8.6 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>


Expand All @@ -177,7 +177,7 @@
<static>true</static>
<name>base_station</name>
<pose>-8 0 0 0 0 -1.5708</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station</uri>
</include>
</world>
</sdf>
38 changes: 19 additions & 19 deletions ign_migration_scripts/worlds/preview_standalone.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -170,110 +170,110 @@
<static>true</static>
<name>staging_area</name>
<pose>0 0 0 0 0 0</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/subt_tunnel_staging_area</uri>
</include>

<!-- Barriers -->
<include>
<name>barrier_0_-1</name>
<pose>8.0 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_0_1</name>
<pose>8.0 11 0 0 0 0 </pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_1_-1</name>
<pose>3.7 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_1_1</name>
<pose>3.7 11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_2_-1</name>
<pose>-0.5999999999999996 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_2_1</name>
<pose>-0.5999999999999996 11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_3_-1</name>
<pose>-4.899999999999999 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_3_1</name>
<pose>-4.899999999999999 11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_4_-1</name>
<pose>-9.2 -11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_4_1</name>
<pose>-9.2 11 0 0 0 0</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-9.5_-2</name>
<pose>10.5 -8.6 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-9.5_2</name>
<pose>10.5 8.6 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_-2</name>
<pose>-12 -8.6 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_-1</name>
<pose>-12 -4.3 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_0</name>
<pose>-12 0.0 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_1</name>
<pose>-12 4.3 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>

<include>
<name>barrier_-32_2</name>
<pose>-12 8.6 0 0 0 1.5707963267948966</pose>
<uri> https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier </uri>
<uri> https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey Barrier </uri>
</include>


Expand All @@ -282,7 +282,7 @@
<static>true</static>
<name>base_station</name>
<pose>-8 0 0 0 0 -1.5708</pose>
<uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Base Station</uri>
</include>
</world>
</sdf>
5 changes: 2 additions & 3 deletions submitted_models/costar_husky_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
@@ -1,7 +1,6 @@
def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<<-HEREDOC
<plugin name="ignition::launch::GazeboFactory"
filename="libignition-launch-gazebo-factory.so">
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
Expand Down Expand Up @@ -57,7 +56,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
</plugin>
</include>
</sdf>
</plugin>
</spawn>
HEREDOC
end

Expand Down
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