From 242548e1aaee45c1c42cc70a37b3937841a8133d Mon Sep 17 00:00:00 2001
From: Arthur Schang <arthur.schang@parsons.com>
Date: Mon, 24 Aug 2020 10:17:28 -0400
Subject: [PATCH 1/3] Fixed missing newlines in Robotika X2 sensor config 1
 model spawner.

---
 .../robotika_x2_sensor_config_1/launch/spawner.rb         | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
index 5b2356dc..6b02a320 100644
--- a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
@@ -19,10 +19,10 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
   "      <wheel_separation>#{0.33559 * 1.23}</wheel_separation>\n"\
   "      <wheel_radius>0.098</wheel_radius>\n"\
   "      <topic>/model/#{_name}/cmd_vel_relay</topic>\n"\
-  "      <min_velocity>-2</min_velocity>
-  "      <max_velocity>2</max_velocity>
-  "      <min_acceleration>-6</min_acceleration>
-  "      <max_acceleration>6</max_acceleration>
+  "      <min_velocity>-2</min_velocity>\n"\
+  "      <max_velocity>2</max_velocity>\n"\
+  "      <min_acceleration>-6</min_acceleration>\n"\
+  "      <max_acceleration>6</max_acceleration>\n"\
   "    </plugin>\n"\
   "    <!-- Publish robot state information -->\n"\
   "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\

From 769745fe3ae84e769c3b1f611fdc037b0eb26c37 Mon Sep 17 00:00:00 2001
From: Arthur Schang <arthur.schang@parsons.com>
Date: Mon, 24 Aug 2020 10:28:32 -0400
Subject: [PATCH 2/3] Added/renamed missing model.xacro from
 robot_from_sdf.xacro for the Explorer DS1 vehicle.

---
 .../urdf/model.xacro                          | 201 ++++++++++++++++++
 1 file changed, 201 insertions(+)
 create mode 100644 submitted_models/explorer_ds1_sensor_config_1/urdf/model.xacro

diff --git a/submitted_models/explorer_ds1_sensor_config_1/urdf/model.xacro b/submitted_models/explorer_ds1_sensor_config_1/urdf/model.xacro
new file mode 100644
index 00000000..d87d32a2
--- /dev/null
+++ b/submitted_models/explorer_ds1_sensor_config_1/urdf/model.xacro
@@ -0,0 +1,201 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="ds1" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:arg name="name" default="ds1"/>
+  <xacro:property name="name" value="$(arg name)"/>
+
+  <link name='${name}/base_link'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='1.5'/>
+      <inertia ixx='0.025' ixy='0' ixz='0' iyy='0.009' iyz='0' izz='0.033'/>
+    </inertial>
+    <collision name='base_link_inertia_collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/DS1_COLLISION.STL' scale='1 1 1'/>
+      </geometry>
+    </collision>
+
+    <visual name='base_link_inertia_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/DS1.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <!-- camera_visual -->
+    <visual name='rs_up_visual'>
+      <origin xyz='0.305 0 0.11' rpy='-1.57079632679 0 1.57079632679'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rs_down_visual'>
+      <origin xyz='0.305 0 0.03' rpy='1.57079632679 0 1.57079632679'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <visual name='rs_front_visual'>
+      <origin xyz='0.325 0 0.07' rpy='0 -0 1.57079632679'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+    <!-- Lidar visual -->
+    <visual name='laser_visual_base1'>
+      <origin xyz='0.18 0 0.19' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename="package://explorer_ds1_sensor_config_1/meshes/VLP16_base_1.dae" />
+      </geometry>
+    </visual>
+    <visual name='laser_visual_base2'>
+      <origin xyz='0.18 0 0.19' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename="package://explorer_ds1_sensor_config_1/meshes/VLP16_base_2.dae" />
+      </geometry>
+    </visual>
+    <visual name='laser_visual_scan'>
+      <origin xyz='0.18 0 0.19' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename="package://explorer_ds1_sensor_config_1/meshes/VLP16_scan.dae" />
+      </geometry>
+    </visual>
+  </link>
+
+  <sensor name='imu_sensor' update_rate='250'>
+    <parent link='${name}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${name}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+
+  <sensor name='magnetometer' update_rate='20'>
+    <parent link='${name}/base_link'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+
+  <sensor name='rs_up' update_rate='20'>
+    <parent link='${name}/base_link'/>
+    <origin xyz='0.305 0 0.11' rpy='0 -1.57079632679 0'/>
+    <camera>
+      <image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+    </camera>
+  </sensor>
+
+  <sensor name='rs_down' update_rate='20'>
+    <parent link='${name}/base_link'/>
+    <origin xyz='0.305 0 0.03' rpy='0 1.57079632679 0'/>
+    <camera>
+      <image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+    </camera>
+  </sensor>
+
+  <sensor name='rs_front' update_rate='20'>
+    <parent link='${name}/base_link'/>
+    <origin xyz='0.325 0 0.07' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
+    </camera>
+  </sensor>
+
+  <sensor name='front_laser' update_rate='15'>
+    <parent link='${name}/base_link'/>
+    <origin xyz='0.18 0 0.284' rpy='0 -0 0'/>
+  </sensor>
+
+  <link name='${name}/rotor_0'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.005'/>
+      <inertia ixx='9.75e-07' ixy='0' ixz='0' iyy='4.17041e-05' iyz='0' izz='4.26041e-05'/>
+    </inertial>
+    <visual name='rotor_0_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/propeller_ccw.dae' scale='0.12 0.12 0.12'/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name='${name}/rotor_1'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.005'/>
+      <inertia ixx='9.75e-07' ixy='0' ixz='0' iyy='4.17041e-05' iyz='0' izz='4.26041e-05'/>
+    </inertial>
+    <visual name='rotor_1_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/propeller_ccw.dae' scale='0.12 0.12 0.12'/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name='${name}/rotor_2'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.005'/>
+      <inertia ixx='9.75e-07' ixy='0' ixz='0' iyy='4.17041e-05' iyz='0' izz='4.26041e-05'/>
+    </inertial>
+    <visual name='rotor_2_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/propeller_cw.dae' scale='0.12 0.12 0.12'/>
+      </geometry>
+    </visual>
+  </link>
+
+  <link name='${name}/rotor_3'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.005'/>
+      <inertia ixx='9.75e-07' ixy='0' ixz='0' iyy='4.17041e-05' iyz='0' izz='4.26041e-05'/>
+    </inertial>
+    <visual name='rotor_3_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='package://explorer_ds1_sensor_config_1/meshes/propeller_cw.dae' scale='0.12 0.12 0.12'/>
+      </geometry>
+    </visual>
+  </link>
+
+  <joint name='rotor_0_joint' type='revolute'>
+    <origin xyz='0.1644 -0.166 0.023' rpy='0 -0 0'/>
+    <parent link='${name}/base_link'/>
+    <child link='${name}/rotor_0'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+
+  <joint name='rotor_1_joint' type='revolute'>
+    <origin xyz='-0.16443 0.1661 0.023' rpy='0 -0 0'/>
+    <parent link='${name}/base_link'/>
+    <child link='${name}/rotor_1'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+
+  <joint name='rotor_2_joint' type='revolute'>
+    <origin xyz='0.16443 0.1661 0.023' rpy='0 -0 0'/>
+    <parent link='${name}/base_link'/>
+    <child link='${name}/rotor_2'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+  
+  <joint name='rotor_3_joint' type='revolute'>
+    <origin xyz='-0.16443 -0.1661 0.023' rpy='0 -0 0'/>
+    <parent link='${name}/base_link'/>
+    <child link='${name}/rotor_3'/>
+    <dynamics damping='0' friction='0' />
+    <axis xyz='0 0 1'/>
+    <limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
+  </joint>
+</robot>

From e191a17046438c212b9f98967910a45e265d8504 Mon Sep 17 00:00:00 2001
From: Arthur Schang <arthur.schang@parsons.com>
Date: Mon, 24 Aug 2020 11:25:04 -0400
Subject: [PATCH 3/3] Updated robotika_x2_sensor_config_1 spawner.rb syntax.

---
 .../launch/spawner.rb                         | 124 +++++++++---------
 1 file changed, 63 insertions(+), 61 deletions(-)

diff --git a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
index 6b02a320..04098857 100644
--- a/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
+++ b/submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
@@ -1,65 +1,67 @@
 def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
-  "<spawn name=\"#{_name}\">\n"\
-  "  <name>#{_name}</name>\n"\
-  "  <allow_renaming>false</allow_renaming>\n"\
-  "  <pose>#{_x} #{_y} #{_z+0.063494} #{_roll} #{_pitch} #{_yaw}</pose>\n"\
-  "  <world>#{$worldName}</world>\n"\
-  "  <is_performer>true</is_performer>\n"\
-  "  <sdf version='1.6'>\n"\
-  "  <include>\n"\
-  "    <name>#{_name}</name>\n"\
-  "    <uri>#{_modelURI}</uri>\n"\
-  "    <!-- Diff drive -->\n"\
-  "    <plugin filename=\"libignition-gazebo-diff-drive-system.so\"\n"\
-  "            name=\"ignition::gazebo::systems::DiffDrive\">\n"\
-  "      <left_joint>front_left_wheel_joint</left_joint>\n"\
-  "      <left_joint>rear_left_wheel_joint</left_joint>\n"\
-  "      <right_joint>front_right_wheel_joint</right_joint>\n"\
-  "      <right_joint>rear_right_wheel_joint</right_joint>\n"\
-  "      <wheel_separation>#{0.33559 * 1.23}</wheel_separation>\n"\
-  "      <wheel_radius>0.098</wheel_radius>\n"\
-  "      <topic>/model/#{_name}/cmd_vel_relay</topic>\n"\
-  "      <min_velocity>-2</min_velocity>\n"\
-  "      <max_velocity>2</max_velocity>\n"\
-  "      <min_acceleration>-6</min_acceleration>\n"\
-  "      <max_acceleration>6</max_acceleration>\n"\
-  "    </plugin>\n"\
-  "    <!-- Publish robot state information -->\n"\
-  "    <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
-  "      name=\"ignition::gazebo::systems::PosePublisher\">\n"\
-  "      <publish_link_pose>true</publish_link_pose>\n"\
-  "      <publish_sensor_pose>true</publish_sensor_pose>\n"\
-  "      <publish_collision_pose>false</publish_collision_pose>\n"\
-  "      <publish_visual_pose>false</publish_visual_pose>\n"\
-  "      <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
-  "      <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
-  "      <static_publisher>true</static_publisher>\n"\
-  "      <static_update_frequency>1</static_update_frequency>\n"\
-  "    </plugin>\n"\
-  "    <!-- Battery plugin -->\n"\
-  "    <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
-  "      name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
-  "      <battery_name>linear_battery</battery_name>\n"\
-  "      <voltage>12.694</voltage>\n"\
-  "      <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>\n"\
-  "      <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>\n"\
-  "      <initial_charge>78.4</initial_charge>\n"\
-  "      <capacity>78.4</capacity>\n"\
-  "      <resistance>0.061523</resistance>\n"\
-  "      <smooth_current_tau>1.9499</smooth_current_tau>\n"\
-  "      <power_load>6.6</power_load>\n"\
-  "      <start_on_motion>true</start_on_motion>\n"\
-  "    </plugin>\n"\
-  "    <!-- Gas Sensor plugin -->\n"\
-  "    <plugin filename=\"libGasEmitterDetectorPlugin.so\"\n"\
-  "      name=\"subt::GasDetector\">\n"\
-  "      <topic>/model/#{_name}/gas_detected</topic>\n"\
-  "      <update_rate>10</update_rate>\n"\
-  "      <type>gas</type>\n"\
-  "    </plugin>\n"\
-  "  </include>\n"\
-  "  </sdf>\n"\
-  "</spawn>\n"\
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z+0.063494} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Diff drive -->
+      <plugin filename="libignition-gazebo-diff-drive-system.so"
+              name="ignition::gazebo::systems::DiffDrive">
+        <left_joint>front_left_wheel_joint</left_joint>
+        <left_joint>rear_left_wheel_joint</left_joint>
+        <right_joint>front_right_wheel_joint</right_joint>
+        <right_joint>rear_right_wheel_joint</right_joint>
+        <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"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <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_update_frequency>1</static_update_frequency>
+      </plugin>
+      <!-- Battery plugin -->
+      <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
+        name="ignition::gazebo::systems::LinearBatteryPlugin">
+        <battery_name>linear_battery</battery_name>
+        <voltage>12.694</voltage>
+        <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
+        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+        <initial_charge>78.4</initial_charge>
+        <capacity>78.4</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>6.6</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <!-- Gas Sensor plugin -->
+      <plugin filename="libGasEmitterDetectorPlugin.so"
+        name="subt::GasDetector">
+        <topic>/model/#{_name}/gas_detected</topic>
+        <update_rate>10</update_rate>
+        <type>gas</type>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
 end
 
 def rosExecutables(_name, _worldName)