From 271c0db498fe201da5925c219a8f62b60b437918 Mon Sep 17 00:00:00 2001
From: Carlos Aguero <caguero@openrobotics.org>
Date: Tue, 9 Jun 2020 17:06:59 +0200
Subject: [PATCH 1/2] Setting max_velocities/accelerations for X1 and X2.

Signed-off-by: Carlos Aguero <caguero@openrobotics.org>
---
 subt_ign/launch/cave_circuit.ign | 16 ++++++++++++----
 1 file changed, 12 insertions(+), 4 deletions(-)

diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index a7ab6f39..44302d19 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -639,6 +639,10 @@
             <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
             <wheel_radius>0.1651</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-1</min_velocity>
+            <max_velocity>1</max_velocity>
+            <min_acceleration>-3</min_acceleration>
+            <max_acceleration>3</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -693,7 +697,7 @@
         </sdf>
       </spawn>
     HEREDOC
-  
+
     exec = <<-HEREDOC
       <executable name='x1_description'>
         <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>
@@ -749,6 +753,10 @@
             <wheel_separation>#{0.33559 * 1.23}</wheel_separation>
             <wheel_radius>0.098</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-2</min_velocity>
+            <max_velocity>2</max_velocity>
+            <min_acceleration>-6</min_acceleration>
+            <max_acceleration>6</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -929,7 +937,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1172,7 +1180,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1462,7 +1470,7 @@
            <is_performer>false</is_performer>
            <sdf version='1.6'>
              <include>
-               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri> 
+               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri>
              </include>
            </sdf>
          </spawn>

From 07a2e50befbeb90a3199fe7441bb50ca536c79ba Mon Sep 17 00:00:00 2001
From: Nate Koenig <nate@openrobotics.org>
Date: Fri, 19 Jun 2020 14:37:33 -0700
Subject: [PATCH 2/2] Added to other launch files

Signed-off-by: Nate Koenig <nate@openrobotics.org>
---
 subt_ign/launch/cave_circuit.ign            |  7 +++-
 subt_ign/launch/cloudsim_sim.ign            | 16 ++++++---
 subt_ign/launch/competition.ign             | 35 ++++++++++++++-----
 subt_ign/launch/tunnel_circuit_practice.ign | 37 +++++++++++++++------
 subt_ign/launch/urban_circuit.ign           | 35 ++++++++++++++-----
 5 files changed, 97 insertions(+), 33 deletions(-)

diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index 9b59c5d4..524b7d8f 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -63,6 +63,11 @@
     end
   end
 
+  $commsFadingExponent = 2.5
+  if $circuit == "cave"
+    $commsFadingExponent = 1.5
+  end
+
   # spawn world offset
   if $circuit == "urban"
     spawnWorldXPos = 6
@@ -572,7 +577,7 @@
 
       <range_config>
         <max_range>500.0</max_range>
-        <fading_exponent>1.5</fading_exponent>
+        <fading_exponent><%= $commsFadingExponent %></fading_exponent>
         <L0>40</L0>
         <sigma>10.0</sigma>
       </range_config>
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index 724ee75b..cde273fc 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -649,6 +649,10 @@
             <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
             <wheel_radius>0.1651</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-1</min_velocity>
+            <max_velocity>1</max_velocity>
+            <min_acceleration>-3</min_acceleration>
+            <max_acceleration>3</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -703,7 +707,7 @@
         </sdf>
       </spawn>
     HEREDOC
-  
+
     exec = <<-HEREDOC
       <executable name='x1_description'>
         <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>
@@ -759,6 +763,10 @@
             <wheel_separation>#{0.33559 * 1.23}</wheel_separation>
             <wheel_radius>0.098</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-2</min_velocity>
+            <max_velocity>2</max_velocity>
+            <min_acceleration>-6</min_acceleration>
+            <max_acceleration>6</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -939,7 +947,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1182,7 +1190,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1472,7 +1480,7 @@
            <is_performer>false</is_performer>
            <sdf version='1.6'>
              <include>
-               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri> 
+               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri>
              </include>
            </sdf>
          </spawn>
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index b2958e7e..91853638 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -60,6 +60,11 @@
     end
   end
 
+  $commsFadingExponent = 2.5
+  if $circuit == "cave"
+    $commsFadingExponent = 1.5
+  end
+
   # spawn world offset
   if $circuit == "urban"
     spawnWorldXPos = 6
@@ -193,9 +198,13 @@
 
 <%
   # disable levels for simple cave worlds
-  levels = "true"
+  $levels = "true"
   if $worldName.include?('simple_cave_')
-    levels = "false"
+    $levels = "false"
+  end
+
+  if defined?(levels) && levels != nil && !levels.empty?
+    $levels = levels.downcase == "true"
   end
 %>
 
@@ -229,7 +238,7 @@
     <update_rate><%= updateRate %></update_rate>
     <%end%>
     <run>true</run>
-    <levels><%= levels %></levels>
+    <levels><%= $levels %></levels>
     <record>
       <enabled>true</enabled>
       <!-- This path is used by cloudsim, please do not change -->
@@ -294,7 +303,7 @@
         <!-- Use the <path> element to control where to record the log file.
              The HOME path is used by default -->
         <path>/tmp/ign/logs</path>
-        <filename_prefix>subt_cave</filename_prefix>
+        <filename_prefix>subt_<%= $circuit %></filename_prefix>
       </logging>
 
       <artifact>
@@ -565,7 +574,7 @@
 
       <range_config>
         <max_range>500.0</max_range>
-        <fading_exponent>2.5</fading_exponent>
+        <fading_exponent><%= $commsFadingExponent %></fading_exponent>
         <L0>40</L0>
         <sigma>10.0</sigma>
       </range_config>
@@ -636,6 +645,10 @@
             <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
             <wheel_radius>0.1651</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-1</min_velocity>
+            <max_velocity>1</max_velocity>
+            <min_acceleration>-3</min_acceleration>
+            <max_acceleration>3</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -690,7 +703,7 @@
         </sdf>
       </spawn>
     HEREDOC
-  
+
     exec = <<-HEREDOC
       <executable name='x1_description'>
         <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>
@@ -746,6 +759,10 @@
             <wheel_separation>#{0.33559 * 1.23}</wheel_separation>
             <wheel_radius>0.098</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-2</min_velocity>
+            <max_velocity>2</max_velocity>
+            <min_acceleration>-6</min_acceleration>
+            <max_acceleration>6</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -926,7 +943,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1169,7 +1186,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1459,7 +1476,7 @@
            <is_performer>false</is_performer>
            <sdf version='1.6'>
              <include>
-               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri> 
+               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri>
              </include>
            </sdf>
          </spawn>
diff --git a/subt_ign/launch/tunnel_circuit_practice.ign b/subt_ign/launch/tunnel_circuit_practice.ign
index 77892f31..1f1016f8 100644
--- a/subt_ign/launch/tunnel_circuit_practice.ign
+++ b/subt_ign/launch/tunnel_circuit_practice.ign
@@ -63,6 +63,11 @@
     end
   end
 
+  $commsFadingExponent = 2.5
+  if $circuit == "cave"
+    $commsFadingExponent = 1.5
+  end
+
   # spawn world offset
   if $circuit == "urban"
     spawnWorldXPos = 6
@@ -196,9 +201,13 @@
 
 <%
   # disable levels for simple cave worlds
-  levels = "true"
+  $levels = "true"
   if $worldName.include?('simple_cave_')
-    levels = "false"
+    $levels = "false"
+  end
+
+  if defined?(levels) && levels != nil && !levels.empty?
+    $levels = levels.downcase == "true"
   end
 %>
 
@@ -232,7 +241,7 @@
     <update_rate><%= updateRate %></update_rate>
     <%end%>
     <run>true</run>
-    <levels><%= levels %></levels>
+    <levels><%= $levels %></levels>
     <record>
       <enabled>true</enabled>
       <!-- This path is used by cloudsim, please do not change -->
@@ -297,7 +306,7 @@
         <!-- Use the <path> element to control where to record the log file.
              The HOME path is used by default -->
         <path>/tmp/ign/logs</path>
-        <filename_prefix>subt_tunnel_practice</filename_prefix>
+        <filename_prefix>subt_<%= $circuit %></filename_prefix>
       </logging>
 
       <artifact>
@@ -568,7 +577,7 @@
 
       <range_config>
         <max_range>500.0</max_range>
-        <fading_exponent>2.5</fading_exponent>
+        <fading_exponent><%= $commsFadingExponent %></fading_exponent>
         <L0>40</L0>
         <sigma>10.0</sigma>
       </range_config>
@@ -639,6 +648,10 @@
             <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
             <wheel_radius>0.1651</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-1</min_velocity>
+            <max_velocity>1</max_velocity>
+            <min_acceleration>-3</min_acceleration>
+            <max_acceleration>3</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -649,7 +662,7 @@
             <publish_visual_pose>false</publish_visual_pose>
             <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
             <use_pose_vector_msg>true</use_pose_vector_msg>
-           <static_publisher>true</static_publisher>
+            <static_publisher>true</static_publisher>
             <static_update_frequency>1</static_update_frequency>
           </plugin>
           <!-- Battery plugin -->
@@ -693,7 +706,7 @@
         </sdf>
       </spawn>
     HEREDOC
-  
+
     exec = <<-HEREDOC
       <executable name='x1_description'>
         <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>
@@ -749,6 +762,10 @@
             <wheel_separation>#{0.33559 * 1.23}</wheel_separation>
             <wheel_radius>0.098</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-2</min_velocity>
+            <max_velocity>2</max_velocity>
+            <min_acceleration>-6</min_acceleration>
+            <max_acceleration>6</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -929,7 +946,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1172,7 +1189,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1462,7 +1479,7 @@
            <is_performer>false</is_performer>
            <sdf version='1.6'>
              <include>
-               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri> 
+               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri>
              </include>
            </sdf>
          </spawn>
diff --git a/subt_ign/launch/urban_circuit.ign b/subt_ign/launch/urban_circuit.ign
index 4345f720..7dcfada5 100644
--- a/subt_ign/launch/urban_circuit.ign
+++ b/subt_ign/launch/urban_circuit.ign
@@ -63,6 +63,11 @@
     end
   end
 
+  $commsFadingExponent = 2.5
+  if $circuit == "cave"
+    $commsFadingExponent = 1.5
+  end
+
   # spawn world offset
   if $circuit == "urban"
     spawnWorldXPos = 6
@@ -196,9 +201,13 @@
 
 <%
   # disable levels for simple cave worlds
-  levels = "true"
+  $levels = "true"
   if $worldName.include?('simple_cave_')
-    levels = "false"
+    $levels = "false"
+  end
+
+  if defined?(levels) && levels != nil && !levels.empty?
+    $levels = levels.downcase == "true"
   end
 %>
 
@@ -232,7 +241,7 @@
     <update_rate><%= updateRate %></update_rate>
     <%end%>
     <run>true</run>
-    <levels><%= levels %></levels>
+    <levels><%= $levels %></levels>
     <record>
       <enabled>true</enabled>
       <!-- This path is used by cloudsim, please do not change -->
@@ -297,7 +306,7 @@
         <!-- Use the <path> element to control where to record the log file.
              The HOME path is used by default -->
         <path>/tmp/ign/logs</path>
-        <filename_prefix>subt_urban</filename_prefix>
+        <filename_prefix>subt_<%= $circuit %></filename_prefix>
       </logging>
 
       <artifact>
@@ -568,7 +577,7 @@
 
       <range_config>
         <max_range>500.0</max_range>
-        <fading_exponent>2.5</fading_exponent>
+        <fading_exponent><%= $commsFadingExponent %></fading_exponent>
         <L0>40</L0>
         <sigma>10.0</sigma>
       </range_config>
@@ -639,6 +648,10 @@
             <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
             <wheel_radius>0.1651</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-1</min_velocity>
+            <max_velocity>1</max_velocity>
+            <min_acceleration>-3</min_acceleration>
+            <max_acceleration>3</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -693,7 +706,7 @@
         </sdf>
       </spawn>
     HEREDOC
-  
+
     exec = <<-HEREDOC
       <executable name='x1_description'>
         <command>roslaunch --wait subt_ros x1_description.launch world_name:=#{$worldName} name:=#{_name}</command>
@@ -749,6 +762,10 @@
             <wheel_separation>#{0.33559 * 1.23}</wheel_separation>
             <wheel_radius>0.098</wheel_radius>
             <topic>/model/#{_name}/cmd_vel_relay</topic>
+            <min_velocity>-2</min_velocity>
+            <max_velocity>2</max_velocity>
+            <min_acceleration>-6</min_acceleration>
+            <max_acceleration>6</max_acceleration>
           </plugin>
           <!-- Publish robot state information -->
           <plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -929,7 +946,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1172,7 +1189,7 @@
           <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
           <motorType>velocity</motorType>
         </plugin>
-        <!--Multicopter velocity controller--> 
+        <!--Multicopter velocity controller-->
         <plugin
           filename="libignition-gazebo-multicopter-control-system.so"
           name="ignition::gazebo::systems::MulticopterVelocityControl">
@@ -1462,7 +1479,7 @@
            <is_performer>false</is_performer>
            <sdf version='1.6'>
              <include>
-               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri> 
+               <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/DronePlatformX1</uri>
              </include>
            </sdf>
          </spawn>