osrf · nkoenig · Aug 10, 2020 · Jul 27, 2020 · Jul 31, 2020 · Jul 31, 2020
diff --git a/docker/download_models.sh b/docker/download_models.sh
@@ -71,6 +71,11 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/R
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/EXPLORER_R2_SENSOR_CONFIG_2" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/ROBOTIKA_FREYJA_SENSOR_CONFIG_2" -v 4
 ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/Breadcrumb Node" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_2" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/CSIRO_DATA61_OZBOT_ATR_SENSOR_CONFIG_1" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/CSIRO_DATA61_OZBOT_ATR_SENSOR_CONFIG_2" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/OpenRobotics/models/CERBERUS_GAGARIN_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/cerberus_anymal_b_sensor_config_1/specifications.md b/submitted_models/cerberus_anymal_b_sensor_config_1/specifications.md
@@ -1,5 +1,5 @@
 # ANYmal
-This specifications.md file is a description and proof of virtual model validation for the CERBERUS ANYmal B with Sensor Configuration 1. This robot may be launched using a `roslaunch` command with the variable name `cerberus_anymal_b_sensor_config_1`.
+This specifications.md file is a description and proof of virtual model validation for the CERBERUS ANYmal B with Sensor Configuration 1. This robot may be launched using a `ign launch` command with the variable name `cerberus_anymal_b_sensor_config_1`.
 
 ## Description
 ANYmal is a highly sophisticated four-legged robot, designed to tackle the challenges of harsh search and rescue operations, inspections, and other surveillance duties.
@@ -11,7 +11,7 @@ To be able to control this robot model you need a few additional packages. Pleas
 ## Usage Instructions
 The vehicle can be launched with the following command:
 ```
-ign launch -v 4 competition.ign robotName1:=anymal_b robotConfig1:=CERBERUS_ANYMAL_B_SENSOR_CONFIG_1 localModel:=true
+ign launch -v 4 competition.ign robotName1:=anymal_b robotConfig1:=CERBERUS_ANYMAL_B_SENSOR_CONFIG_1
 ```
 
 In another terminal you can source the "anymal_locomotion_ws" workspace (see [Dependencies](#markdown-header-dependencies)) to start the locomotion controller node:
@@ -52,14 +52,15 @@ This ANYmal with sensor configuration 1 includes the following sensors. The spec
 * Depth Camera - Intel Realsense D435, modeled by `rgbd_camera` plugin
 * Color Camera - FLIR Blackfly S Model ##BFS-U3-16S2C-CS , modeled by `camera` plugin
 * Synchronization Board - Autonomous Systems Lab, ETH Zurich - VersaVIS, there is not (yet) an Ignition-Gazebo plugin
+* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2.
 
 ### Control
 This ANYmal is controlled by the custom `cerberus_anymal_b_control_1` package, available in the repository [cerberus_anymal_locomotion](https://github.com/leggedrobotics/cerberus_anymal_locomotion).
 
 This controller makes the robot moving at a fixed velocity, in any direction. The input twist is used only to determine the orientation of movement. The bearing angle between X-axis and the orientation specified by the linear part of the twist vector indicates the direction of motion; The positive or negative value of the yaw rate of the twist vector sets the direction of rotation around the Z-axis.
 
 ### Motion Characteristics
-Based on the tests specified in the DARPA SubT Challenge, this vehicle has the following motion constraint characteristics.
+Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics.
 
 *  _x_ velocity range from -0.45 m/s to 0.45 m/s
 *  _y_ velocity range from -0.45 m/s to 0.45 m/s
@@ -80,6 +81,8 @@ The following points highlight the differences between the submitted virtual mod
 * Robosense RS-Bpearl LIDAR is not present in simulation since its Ignition-Gazebo plugin does not exist yet. A downward Intel Realsense is used as a replacement in simulation.
 * VersaVIS board is used to time synchronize a camera with an IMU for Visual-Inertial Odometry purposes. At the moment there is no plan to develop an Ignition-Gazebo plugin for that and therefore this board is not included in simulation.
 
+* The physical robot carries 4 communication breadcrumbs. 12 breadcrumbs are included in sensor configuration 2, which is standardized to match other available models.
+
 ## ANYmal Validation and Specification Links
 * [ANYmal specification link](https://researchfeatures.com/2018/05/01/anymal-unique-quadruped-robot-conquering-harsh-environments/#)
 * [ANYbotics](https://www.anybotics.com/)

diff --git a/submitted_models/cerberus_gagarin_sensor_config_1/CMakeLists.txt b/submitted_models/cerberus_gagarin_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(cerberus_gagarin_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 ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
diff --git a/submitted_models/cerberus_gagarin_sensor_config_1/README.md b/submitted_models/cerberus_gagarin_sensor_config_1/README.md
@@ -0,0 +1,23 @@
+# darpa_virtual_model_submit
+Simulation models to submit to Darpa | CERBERUS Aerial Scouts (Gagarin)
+
+## workspace setup
+Follow these step to setup the Darpa Subt Virtual Environment: 
+
+https://github.com/osrf/subt/wiki/Get%20Started
+
+## add a new model
+
+```
+cd ~/subt_ws/src/subt/submitted_models
+
+git clone https://github.com/unr-arl/darpa_virtual_model_submit.git cerberus_gagarin_sensor_config_1
+
+cd ~/subt_ws/
+catkin_make install
+source install/setup.bash
+```
+
+## launch the simulation
+ign launch -v 4 tunnel_circuit_practice.ign worldName:=tunnel_circuit_practice_01 robotName1:=gagarin robotConfig1:=CERBERUS_GAGARIN_SENSOR_CONFIG_1 localModel:=true
+
diff --git a/submitted_models/cerberus_gagarin_sensor_config_1/launch/description.launch b/submitted_models/cerberus_gagarin_sensor_config_1/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find cerberus_gagarin_sensor_config_1)/urdf/model.xacro' name:=$(arg name)"/>
+</launch>
+
diff --git a/submitted_models/cerberus_gagarin_sensor_config_1/launch/example.ign b/submitted_models/cerberus_gagarin_sensor_config_1/launch/example.ign
@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  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")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.1, 0, 0, 0) %>
+<%= rosExecutables(robotName, $worldName) %>
+
+</ignition>
+