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Setting max_velocities/accelerations for X1 and X2 #453

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merged 3 commits into from
Jun 19, 2020
Merged

Setting max_velocities/accelerations for X1 and X2 #453

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271c0db
Setting max_velocities/accelerations for X1 and X2.
caguero Jun 9, 2020
2f135aa
Merge branch 'cave_feature_release3' into speed_limits
Jun 19, 2020
07a2e50
Added to other launch files
Jun 19, 2020
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23 changes: 18 additions & 5 deletions subt_ign/launch/cave_circuit.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,11 @@
end
end

$commsFadingExponent = 2.5
if $circuit == "cave"
$commsFadingExponent = 1.5
end

# spawn world offset
if $circuit == "urban"
spawnWorldXPos = 6
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -643,6 +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"
Expand Down Expand Up @@ -697,7 +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>
Expand Down Expand Up @@ -753,6 +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"
Expand Down Expand Up @@ -933,7 +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">
Expand Down Expand Up @@ -1176,7 +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">
Expand Down Expand Up @@ -1466,7 +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>
Expand Down
16 changes: 12 additions & 4 deletions subt_ign/launch/cloudsim_sim.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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"
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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"
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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>
Expand Down
35 changes: 26 additions & 9 deletions subt_ign/launch/competition.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,11 @@
end
end

$commsFadingExponent = 2.5
if $circuit == "cave"
$commsFadingExponent = 1.5
end

# spawn world offset
if $circuit == "urban"
spawnWorldXPos = 6
Expand Down Expand Up @@ -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
%>

Expand Down Expand Up @@ -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 -->
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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"
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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"
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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>
Expand Down
37 changes: 27 additions & 10 deletions subt_ign/launch/tunnel_circuit_practice.ign
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,11 @@
end
end

$commsFadingExponent = 2.5
if $circuit == "cave"
$commsFadingExponent = 1.5
end

# spawn world offset
if $circuit == "urban"
spawnWorldXPos = 6
Expand Down Expand Up @@ -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
%>

Expand Down Expand Up @@ -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 -->
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -568,7 +577,7 @@

<range_config>
<max_range>500.0</max_range>
<fading_exponent>2.5</fading_exponent>
<fading_exponent><%= $commsFadingExponent %></fading_exponent>
<L0>40</L0>
<sigma>10.0</sigma>
</range_config>
Expand Down Expand Up @@ -639,6 +648,10 @@
<wheel_separation>#{0.45649 * 1.5}</wheel_separation>
<wheel_radius>0.1651</wheel_radius>
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-3</min_acceleration>
<max_acceleration>3</max_acceleration>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
Expand All @@ -649,7 +662,7 @@
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$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 -->
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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"
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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">
Expand Down Expand Up @@ -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>
Expand Down
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