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Merged
merged 6 commits into from
Dec 1, 2020
Merged

Add cave competition worlds #706

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d03194f
Add cave competition worlds
Nov 17, 2020
fb7a4e6
Merge branch 'master' into cave_circuit_compeition_worlds
Nov 18, 2020
d49b498
updates
Nov 18, 2020
41fbcd8
add citation
angelacmaio Nov 18, 2020
bcb854f
Reduce number of workers
Nov 19, 2020
43fcd94
Merge branch 'cave_circuit_compeition_worlds' of github.com:osrf/subt…
Nov 19, 2020
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6 changes: 5 additions & 1 deletion .gitignore
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Expand Up @@ -33,4 +33,8 @@
*.out
*.app

subt_ign/worlds/cave_circuit_practice_02.dat
# Other
cave_circuit_practice_02.dat
cave_circuit_03.dat
cave_circuit_07.dat
cave_circuit_08.dat
4 changes: 2 additions & 2 deletions docker/cloudsim_sim/Dockerfile
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Expand Up @@ -108,7 +108,7 @@ WORKDIR /home/$USERNAME
RUN rosdep update

# Download the public models
RUN ign fuel download -v 4 -j 8 -u "https://fuel.ignitionrobotics.org/OpenRobotics/collections/SubT Tech Repo"
RUN ign fuel download -v 4 -j 8 --type model -u "https://fuel.ignitionrobotics.org/OpenRobotics/collections/SubT Tech Repo"

# Download niosh models, set 1.
COPY download_niosh_1.sh ./
Expand All @@ -126,7 +126,7 @@ RUN ./download_niosh_3.sh
# docker is run
RUN mkdir -p subt_ws/src \
&& cd subt_ws/src \
&& git clone https://github.com/osrf/subt -b distance_segfault
&& git clone https://github.com/osrf/subt -b cave_circuit_compeition_worlds

WORKDIR /home/$USERNAME/subt_ws

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35 changes: 34 additions & 1 deletion subt_ign/CMakeLists.txt
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Expand Up @@ -214,7 +214,7 @@ target_link_libraries(
add_executable(validate_visibility_table
src/validate_visibility_table.cc)
target_link_libraries(validate_visibility_table
PRIVATE
PRIVATE
Visibility
)
install(TARGETS validate_visibility_table
Expand Down Expand Up @@ -446,6 +446,39 @@ add_custom_command(TARGET unzip_dat PRE_BUILD
COMMENT "Unpacking cave_circuit_practice_02.dat.zip"
VERBATIM)

# Unzip the cave_circuit_03.dat.zip file
add_custom_command(TARGET unzip_dat PRE_BUILD
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/03
COMMAND ${CMAKE_COMMAND} -E tar xvf cave_circuit_03.dat.zip
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/03/cave_circuit_03.dat.zip
COMMENT "Unpacking cave_circuit_03.dat.zip"
VERBATIM)

# Unzip the cave_circuit_04.dat.zip file
add_custom_command(TARGET unzip_dat PRE_BUILD
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/04
COMMAND ${CMAKE_COMMAND} -E tar xvf cave_circuit_04.dat.zip
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/04/cave_circuit_04.dat.zip
COMMENT "Unpacking cave_circuit_04.dat.zip"
VERBATIM)

# Unzip the cave_circuit_07.dat.zip file
add_custom_command(TARGET unzip_dat PRE_BUILD
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/07/
COMMAND ${CMAKE_COMMAND} -E tar xvf cave_circuit_07.dat.zip
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/07/cave_circuit_07.dat.zip
BYPRODUCTS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/07/cave_circuit_07.dat
COMMENT "Unpacking cave_circuit_07.dat.zip"
VERBATIM)

# Unzip the cave_circuit_08.dat.zip file
add_custom_command(TARGET unzip_dat PRE_BUILD
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/08
COMMAND ${CMAKE_COMMAND} -E tar xvf cave_circuit_08.dat.zip
DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/worlds/cave_circuit/08/cave_circuit_08.dat.zip
COMMENT "Unpacking cave_circuit_08.dat.zip"
VERBATIM)

install(PROGRAMS
scripts/subt_docker.bash
scripts/subt_docker_list.bash
Expand Down
28 changes: 26 additions & 2 deletions subt_ign/src/ConnectionHelper.cc
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Expand Up @@ -137,7 +137,19 @@ std::map<std::string, std::vector<ignition::math::Vector3d>>
{"Cave U Turn Elevation Lights Type A", {{-50.0, -25.0, 0.0}, {0.0, -25.0, 25.0}}},
{"Cave Vertical Shaft Straight Bottom Lights Type A", {{0.0, 0.0, 10.0}, {0.0, 25.0, 0.0}, {0.0, -25.0, 0.0}}},
{"Cave Transition Type A to and from Type B", {{0.0, 25.0, 0.0}, {0.0, -25.0, 0.0}}},
{"Cave Transition Type A to and from Type B Lights", {{0.0, 25.0, 0.0}, {0.0, -25.0, 0.0}}}
{"Cave Transition Type A to and from Type B Lights", {{0.0, 25.0, 0.0}, {0.0, -25.0, 0.0}}},

{"Jenolan Section 01", {{401.144, 13.2017, 63.5658}}},
{"Jenolan Section 02", {{401.144, 13.2017, 63.5658}, {231.676, 5.12208, 83.5523}}},
{"Jenolan Section 03", {{231.676, 5.12208, 83.5523}, {193.48, 39.2667, 62.0974}, {173.354, 3.1715, 83.8528}, {175.939, 15.8454, 74.7845}}},
{"Jenolan Section 04", {{193.48, 39.2667, 62.0974}, {173.354, 3.1715, 83.8528}, {175.939, 15.8454, 74.7845}, {108.945, -.808552, 117.401}, {102.694, -4.59171, 47.6574}}},
{"Jenolan Section 05", {{43.2806, -4.87545, 130.876}, {108.945, -.808552, 117.401}, {102.694, -4.59171, 47.6574}, {0, 0, 12.5}}},
{"Jenolan Section 06", {{95.93, 26.3732, 146.106}, {90.7982, -7.84003, 167.789}, {-16.465, 17.3448, 159.529}, {43.2806, -4.87545, 130.876}}},
{"Jenolan Section 07", {{95.93, 26.3732, 146.106}, {90.7982, -7.84003, 167.789}}},
{"Jenolan Section 08", {{-82.6196, 39.5982, 140.961}, {-76.3975, 30.5907, 134.982}, {-71.9846, 10.5912, 139.379}, {-16.465, 17.3448, 159.529}}},
{"Jenolan Section 09", {{-194.72, -9.770950, 132.04}, {-82.6196, 39.5982, 140.961}, {-76.3975, 30.5907, 134.982}, {-71.9846, 10.5912, 139.379}}},
{"Jenolan Section 10", {{-264.458, 25.7639, 43.2923}, {-241.489, -6.8719, 112.301}, {-194.72, -9.770950, 132.04}}},
{"Jenolan Section 11", {{-264.458, 25.7639, 43.2923}, {-241.489, -6.8719, 112.301}}}
};

std::map<std::string, subt::ConnectionHelper::ConnectionType>
Expand Down Expand Up @@ -248,7 +260,19 @@ std::map<std::string, subt::ConnectionHelper::ConnectionType>
{"Cave U Turn Elevation Lights Type A", subt::ConnectionHelper::TURN},
{"Cave Vertical Shaft Straight Bottom Lights Type A", subt::ConnectionHelper::TURN},
{"Cave Transition Type A to and from Type B", subt::ConnectionHelper::STRAIGHT},
{"Cave Transition Type A to and from Type B Lights", subt::ConnectionHelper::STRAIGHT}
{"Cave Transition Type A to and from Type B Lights", subt::ConnectionHelper::STRAIGHT},

{"Jenolan Section 01", subt::ConnectionHelper::TURN},
{"Jenolan Section 02", subt::ConnectionHelper::TURN},
{"Jenolan Section 03", subt::ConnectionHelper::TURN},
{"Jenolan Section 04", subt::ConnectionHelper::TURN},
{"Jenolan Section 05", subt::ConnectionHelper::TURN},
{"Jenolan Section 06", subt::ConnectionHelper::TURN},
{"Jenolan Section 07", subt::ConnectionHelper::TURN},
{"Jenolan Section 08", subt::ConnectionHelper::TURN},
{"Jenolan Section 09", subt::ConnectionHelper::TURN},
{"Jenolan Section 10", subt::ConnectionHelper::TURN},
{"Jenolan Section 11", subt::ConnectionHelper::TURN}
};

using namespace ignition;
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4 changes: 0 additions & 4 deletions subt_ign/src/ConnectionValidatorPrivate.cc
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Expand Up @@ -98,10 +98,6 @@ bool ConnectionValidatorPrivate::LoadSdf(const std::string &_fpath)
fuel_tools::ClientConfig config;
fuel_tools::FuelClient fuelClient(config);

sdf::setFindCallback([&](const std::string &_uri) {
return fuel_tools::fetchResourceWithClient(_uri, fuelClient);
});

igndbg << "Parsing [" << _fpath << "]" << std::endl;

auto errors = sdfRoot.Load(_fpath);
Expand Down
2 changes: 1 addition & 1 deletion subt_ign/src/world_generator_cave.cc
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Expand Up @@ -966,7 +966,7 @@ void WorldGenerator::LoadTiles()
fuel_tools::ClientConfig config;
auto fuelClient = std::make_unique<fuel_tools::FuelClient>(config);

std::string baseUri = "https://fuel.ignitionrobotics.org/openrobotics/models";
std::string baseUri = "https://fuel.ignitionrobotics.org/OpenRobotics/models";

for (const auto &t : tileConnectionPoints)
{
Expand Down
Binary file added subt_ign/worlds/cave_circuit/01/cave_circuit_01.dat
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