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Merged
merged 6 commits into from
Apr 22, 2021
Merged

Update robot classes and marsupial pairs #900

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2bfc1ff
Adding lily to include
Apr 19, 2021
a00de35
Merge branch 'master' into lily_robotclass
Apr 22, 2021
4b816e2
Added CRYSTAL, MIKE, and ROCKY
Apr 22, 2021
567aaa7
Added crystal as marsupial child
Apr 22, 2021
0dca2e2
Added new Coordinated marsupial pairs, adjusted Karen's collisions, a…
Apr 22, 2021
c390345
Remove debug statement
Apr 22, 2021
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2 changes: 1 addition & 1 deletion submitted_models/cerberus_rmf_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<spawn name="#{_name}">
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + -0.03} #{_roll} #{_pitch} #{_yaw}</pose>
<pose>#{_x} #{_y} #{_z + -0.02} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
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2 changes: 1 addition & 1 deletion submitted_models/coro_crystal_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.21} #{_roll} #{_pitch} #{_yaw}</pose>
<pose>#{_x} #{_y} #{_z + 0.061} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
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97 changes: 83 additions & 14 deletions submitted_models/coro_karen_sensor_config_1/model.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -14,21 +14,19 @@
<izz>9.733</izz>
</inertia>
</inertial>

<collision name="chassis_collision">
<pose>0 0 0.25 0 0 0</pose>
<collision name="tower_collision">
<pose>0.37 0 0.45625 0 0 0</pose>
<geometry>
<box>
<size>1.1 0.7 0.4</size>
<size>0.2 0.2 0.4125</size>
</box>
</geometry>
</collision>

<collision name="tower_collision">
<pose>0.13 0 0.27 0 0 0</pose>
<collision name="chassis_main_collision">
<pose>0 0 0.15 0 0 0</pose>
<geometry>
<box>
<size>0.2 0.2 0.34</size>
<size>1.0 0.45 0.2</size>
</box>
</geometry>
</collision>
Expand All @@ -47,6 +45,15 @@
<diffuse>0.9411764705882353 0.9411764705882353 0.9411764705882353 1</diffuse>
</material>
</visual>
<collision name="front_side_collision">
<pose>0.5 0 0.3 1.5707 0 0</pose>
<geometry>
<cylinder>
<radius>0.07</radius>
<length>0.55</length>
</cylinder>
</geometry>
</collision>

<visual name="front_side">
<pose>0.5 0 0.3 1.5707 0 0</pose>
Expand All @@ -61,7 +68,15 @@
<diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
</material>
</visual>

<collision name="back_side_collision">
<pose>-0.5 0 0.3 1.5707 0 0</pose>
<geometry>
<cylinder>
<radius>0.07</radius>
<length>0.55</length>
</cylinder>
</geometry>
</collision>
<visual name="back_side">
<pose>-0.5 0 0.3 1.5707 0 0</pose>
<geometry>
Expand All @@ -75,7 +90,15 @@
<diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
</material>
</visual>

<collision name="left_side_collision">
<pose>0 0.25 0.3 0 1.5707 0</pose>
<geometry>
<cylinder>
<radius>0.07</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="left_side">
<pose>0 0.25 0.3 0 1.5707 0</pose>
<geometry>
Expand All @@ -89,7 +112,15 @@
<diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
</material>
</visual>

<collision name="right_side_collision">
<pose>0 -0.25 0.3 0 1.5707 0</pose>
<geometry>
<cylinder>
<radius>0.07</radius>
<length>1.0</length>
</cylinder>
</geometry>
</collision>
<visual name="right_side">
<pose>0 -0.25 0.3 0 1.5707 0</pose>
<geometry>
Expand All @@ -103,8 +134,15 @@
<diffuse>0.39215686274509803 0.39215686274509803 0.9215686274509803 1</diffuse>
</material>
</visual>


<collision name="differential_collision">
<pose>-0.5 0 0.0 1.5707 0 0</pose>
<geometry>
<cylinder>
<radius>0.06</radius>
<length>0.44</length>
</cylinder>
</geometry>
</collision>
<visual name="differential_visual">
<pose>-0.5 0 0.0 1.5707 0 0</pose>
<geometry>
Expand Down Expand Up @@ -880,7 +918,14 @@
<direction>0 -1 0</direction>
<cast_shadows>1</cast_shadows>
</light>

<collision name="light_front_left_collision">
<pose>0.44 0.23 0.41 0 0 0.75</pose>
<geometry>
<box>
<size>0.01 0.12 0.08</size>
</box>
</geometry>
</collision>
<visual name="light_front_left_visual">
<pose>0.44 0.23 0.41 0 0 0.75</pose>
<geometry>
Expand All @@ -893,6 +938,14 @@
<diffuse>1.0 1.0 1.0 1.0</diffuse>
</material>
</visual>
<collision name="light_front_right_collision">
<pose>0.44 -0.23 0.41 0 0 -0.75</pose>
<geometry>
<box>
<size>0.01 0.12 0.08</size>
</box>
</geometry>
</collision>
<visual name="light_front_right_visual">
<pose>0.44 -0.23 0.41 0 0 -0.75</pose>
<geometry>
Expand All @@ -905,6 +958,14 @@
<diffuse>1.0 1.0 1.0 1.0</diffuse>
</material>
</visual>
<collision name="light_rear_left_collision">
<pose>-0.3 0.25 0.41 0 0 -0.75</pose>
<geometry>
<box>
<size>0.01 0.12 0.08</size>
</box>
</geometry>
</collision>
<visual name="light_rear_left_visual">
<pose>-0.3 0.25 0.41 0 0 -0.75</pose>
<geometry>
Expand All @@ -917,6 +978,14 @@
<diffuse>1.0 1.0 1.0 1.0</diffuse>
</material>
</visual>
<collision name="light_rear_right_collision">
<pose>-0.3 -0.25 0.41 0 0 0.75</pose>
<geometry>
<box>
<size>0.01 0.12 0.08</size>
</box>
</geometry>
</collision>
<visual name="light_rear_right_visual">
<pose>-0.3 -0.25 0.41 0 0 0.75</pose>
<geometry>
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2 changes: 1 addition & 1 deletion submitted_models/coro_pam_sensor_config_1/launch/spawner.rb
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z + 0.21} #{_roll} #{_pitch} #{_yaw}</pose>
<pose>#{_x} #{_y} #{_z + 0.187} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
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4 changes: 4 additions & 0 deletions subt_ign/include/subt_ign/RobotPlatformTypes.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ const std::vector<std::string> robotPlatformTypes = {
"ALLIE",
"ANYMAL_B",
"ANYMAL_C",
"CRYSTAL",
"DS1",
"DTR",
"FREYJA",
Expand All @@ -32,14 +33,17 @@ const std::vector<std::string> robotPlatformTypes = {
"HUSKY",
"KAREN",
"KLOUBAK",
"LILY",
"M100",
"MARV",
"MIKE",
"OZBOT_ATR",
"PAM",
"QAV500",
"R2",
"R3",
"RMF",
"ROCKY",
"SHAFTER",
"SPOT",
"TEAMBASE",
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26 changes: 19 additions & 7 deletions subt_ign/launch/cloudsim_sim.ign
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Expand Up @@ -127,28 +127,40 @@
"X1" => "base_link",
"EXPLORER_X1" => "base_link",
"EXPLORER_R2" => "Rear_Rocker_Link",
"CSIRO_DATA61_OZBOT_ATR" => "base_link"
"CSIRO_DATA61_OZBOT_ATR" => "base_link",
"CORO_ALLIE" => "base_link",
"CORO_KAREN" => "base_link",
"CORO_MIKE" => "base_link",
}

MARSUPIAL_VALID_ROBOT_PAIRS = {
"X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
"EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
"EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
"CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"]
"X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
"CORO_ALLIE" => ["CERBERUS_RMF", "CORO_CRYSTAL"],
"CORO_KAREN" => ["CERBERUS_RMF", "CORO_PAM", "CTU_CRAS_NORLAB_X500","CORO_CRYSTAL"],
"CORO_MIKE" => ["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
"EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
"EXPLORER_R2" => ["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
"CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"]
}

MARSUPIAL_PARENT_ROBOT_POSITION_OFFSETS = {
"X1" => Vector3d.new(0, 0, 0.717),
"EXPLORER_X1" => Vector3d.new(0, 0, 0.717),
"EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874),
"CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528)
"CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528),
"CORO_ALLIE" => Vector3d.new(-0.18, 0, 0.320),
"CORO_KAREN" => Vector3d.new(-0.18, 0, 0.5),
"CORO_MIKE" => Vector3d.new(-0.2, 0, 0.5775)
}

MARSUPIAL_PARENT_ROBOT_ROTATION_OFFSETS = {
"X1" => AngularVector3d.new(0, 0, 0),
"EXPLORER_X1" => AngularVector3d.new(0, 0, 0),
"EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416),
"CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416)
"CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416),
"CORO_ALLIE" => AngularVector3d.new(0, 0, 0),
"CORO_KAREN" => AngularVector3d.new(0, 0, 0),
"CORO_MIKE" => AngularVector3d.new(0, 0, 0)
}

allExecutables = ""
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26 changes: 19 additions & 7 deletions subt_ign/launch/competition.ign
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Expand Up @@ -123,28 +123,40 @@
"X1" => "base_link",
"EXPLORER_X1" => "base_link",
"EXPLORER_R2" => "Rear_Rocker_Link",
"CSIRO_DATA61_OZBOT_ATR" => "base_link"
"CSIRO_DATA61_OZBOT_ATR" => "base_link",
"CORO_ALLIE" => "base_link",
"CORO_KAREN" => "base_link",
"CORO_MIKE" => "base_link",
}

MARSUPIAL_VALID_ROBOT_PAIRS = {
"X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
"EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
"EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
"CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"]
"X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
"CORO_ALLIE" => ["CERBERUS_RMF", "CORO_CRYSTAL"],
"CORO_KAREN" => ["CERBERUS_RMF", "CORO_PAM", "CTU_CRAS_NORLAB_X500","CORO_CRYSTAL"],
"CORO_MIKE" => ["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
"EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
"EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
"CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"]
}

MARSUPIAL_PARENT_ROBOT_POSITION_OFFSETS = {
"X1" => Vector3d.new(0, 0, 0.717),
"EXPLORER_X1" => Vector3d.new(0, 0, 0.717),
"EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874),
"CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528)
"CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528),
"CORO_ALLIE" => Vector3d.new(-0.18, 0, 0.320),
"CORO_KAREN" => Vector3d.new(-0.18, 0, 0.5),
"CORO_MIKE" => Vector3d.new(-0.2, 0, 0.5775)
}

MARSUPIAL_PARENT_ROBOT_ROTATION_OFFSETS = {
"X1" => AngularVector3d.new(0, 0, 0),
"EXPLORER_X1" => AngularVector3d.new(0, 0, 0),
"EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416),
"CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416)
"CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416),
"CORO_ALLIE" => AngularVector3d.new(0, 0, 0),
"CORO_KAREN" => AngularVector3d.new(0, 0, 0),
"CORO_MIKE" => AngularVector3d.new(0, 0, 0)
}

allExecutables = ""
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