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Merge branch 'master' into M1chaelM/fix_p3d_xacro
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@M1chaelM
M1chaelM authored Nov 24, 2021
2 parents 96fc6a6 + 4f197c5 commit d4710bf
Showing 18 changed files with 855 additions and 999 deletions.
96 changes: 44 additions & 52 deletions vrx_gazebo/worlds/2022_practice/gymkhana0.world
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Original file line number Diff line number Diff line change
@@ -1,22 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/stationkeeping/world_xacros/stationkeeping0.world.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- COORDINATE: {'environment': 0, 'constant': 0} -->
<world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Estimated latitude/longitude of sandisland from satellite imagery -->
<scene>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<grid>0</grid>
<origin_visual>0</origin_visual>
<ambient>0.85 0.85 0.85 1</ambient>
</scene>
<?xml version="1.0" ?>
<sdf version="1.6">
<!-- COORDINATE: {'constant': 0, 'environment': 0} -->
<world name="robotx_example_course">
<!-- Estimated latitude/longitude of sydneyregatta
from satellite imagery -->
<spherical_coordinates>
<surface_model>EARTH_WGS84</surface_model>
<world_frame_orientation>ENU</world_frame_orientation>
@@ -25,38 +12,23 @@
<elevation>0.0</elevation>
<heading_deg>0.0</heading_deg>
</spherical_coordinates>

<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<gui fullscreen="0">
<camera name="user_camera">
<pose frame="">-478.101746 148.200836 13.203143 0.0 0.248344 2.936862</pose>
<pose>-478.101746 148.200836 13.203143 0.0 0.248344 2.936862</pose>
<view_controller>orbit</view_controller>
</camera>
<!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
</gui>
<include>
<include>
<!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
to go into the model file to change the altitutde/height!-->
<pose> 0 0 0.2 0 0 0 </pose>
<uri>model://sydney_regatta</uri>
</include>

<!-- The navigation course -->
<include>
<uri>model://short_navigation_course0</uri>
<pose>-524 186 0 0 0 -1.44</pose>
</include>

<!-- The obstacle course -->
<include>
<name>buoys</name>
<uri>model://obstacle_course0</uri>
<pose>-477 275 0 0 0 2.54</pose>
</include>

<!-- The posts for securing the WAM-V -->
<include>
<name>post_0</name>
@@ -73,13 +45,11 @@
<pose>-544.832825 156.671951 0.499025 -0.162625 0 0 </pose>
<uri>model://post</uri>
</include>

<!-- Antenna for communication with the WAM-V -->
<include>
<pose>-531.063721 147.668579 1.59471 -0.068142 0 -0.1</pose>
<uri>model://antenna</uri>
</include>

<!-- ground station tents -->
<include>
<name>ground_station_0</name>
@@ -96,14 +66,12 @@
<pose>-534.550537 144.910400 1.720474 -0.004994 0.020798 1.301492</pose>
<uri>model://ground_station</uri>
</include>

<!-- The projectile for the ball shooter -->
<include>
<name>blue_projectile</name>
<pose>-545 60 0.03 0 0 0</pose>
<uri>model://blue_projectile</uri>
</include>

<model name="ocean_waves">
<static>true</static>
<plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
@@ -134,7 +102,7 @@
<reflectOpacity>0.2</reflectOpacity>
<wave>
<model>PMS</model>
<period>7.0</period>
<period>5.0</period>
<number>3</number>
<scale>2.5</scale>
<gain>0.0</gain>
@@ -190,16 +158,42 @@
<!-- Wind -->
<wind_direction>240</wind_direction>
<!-- in degrees -->
<wind_mean_velocity>0</wind_mean_velocity>
<wind_mean_velocity>0.0</wind_mean_velocity>
<var_wind_gain_constants>0</var_wind_gain_constants>
<var_wind_time_constants>1</var_wind_time_constants>
<random_seed>10</random_seed>
<!-- set to zero/empty to randomize -->
<update_rate>10</update_rate>
<topic_wind_speed>/vrx/debug/wind/speed</topic_wind_speed>
<topic_wind_direction>/vrx/debug/wind/direction</topic_wind_direction>
</plugin>
<scene>
<sky>
<clouds>
<speed>12</speed>
</clouds>
</sky>
<grid>0</grid>
<origin_visual>0</origin_visual>
<ambient>

0.85 0.85 0.85 1
</ambient>
</scene>
<!-- The navigation course -->
<include>
<name>gymkhana_navigation_course</name>
<uri>model://short_navigation_course0</uri>
<pose>-524 186 0 0 0 -1.44</pose>
</include>
<!-- The obstacle course -->
<include>
<name>gymkhana_obstacle_course</name>
<uri>model://obstacle_course0</uri>
<pose>-477 275 0 0 0 -2.54</pose>
</include>
<!-- Top-level scoring plugin -->
<plugin name="gymkhana_scoring_plugin"
filename="libgymkhana_scoring_plugin.so">
<plugin filename="libgymkhana_vrx_scoring_plugin.so" name="gymkhana_scoring_plugin">
<vehicle>wamv</vehicle>
<task_name>gymkhana</task_name>
<task_info_topic>/vrx/task/info</task_info_topic>
@@ -212,10 +206,8 @@
<per_plugin_exit_on_completion>true</per_plugin_exit_on_completion>
<obstacle_penalty>1</obstacle_penalty>
</plugin>

<!-- Scoring plugin for buoy channel portion -->
<plugin name="navigation_scoring_plugin"
filename="libnavigation_scoring_plugin.so">
<plugin filename="libnavigation_scoring_plugin.so" name="navigation_scoring_plugin">
<vehicle>wamv</vehicle>
<task_name>gymkhana_channel</task_name>
<task_info_topic>/vrx/gymkhana_channel/task/info</task_info_topic>
@@ -234,7 +226,7 @@
<name>wamv_external_riser</name>
</joint>
</release_joints>
<course_name>short_navigation_course_0</course_name>
<course_name>gymkhana_navigation_course</course_name>
<obstacle_penalty>10.0</obstacle_penalty>
<gates>
<gate>
@@ -250,11 +242,10 @@
<right_marker>green_bound_2</right_marker>
</gate>
</gates>
<silent>true</silent>
</plugin>

<!-- Scoring plugin for acoustic pinger portion -->
<plugin name="stationkeeping_scoring_plugin"
filename="libstationkeeping_scoring_plugin.so">
<plugin filename="libstationkeeping_scoring_plugin.so" name="stationkeeping_scoring_plugin">
<vehicle>wamv</vehicle>
<task_name>gymkhana_blackbox</task_name>
<mean_error_topic>/vrx/gymkhana_blackbox/mean_pose_error</mean_error_topic>
@@ -283,6 +274,7 @@
<scaling>0.2 0.2 2.0</scaling>
<height>0.5</height>
</markers>
</plugin>
<silent>true</silent>
</plugin>
</world>
</sdf>
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