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[Garden] Port scan, dock, deliver - Part 1 #537

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merged 7 commits into from
Nov 18, 2022
Merged

[Garden] Port scan, dock, deliver - Part 1 #537

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df5e229
Initial layout.
caguero Nov 1, 2022
25f2318
Part 1.
caguero Nov 4, 2022
f942599
Tweaks
caguero Nov 9, 2022
2c2645b
Tweak
caguero Nov 9, 2022
c42a357
Merge from gazebosim
caguero Nov 9, 2022
e54e92d
Remove unused bridges.
caguero Nov 9, 2022
558ef4d
Only exactly three colors are allowed.
caguero Nov 18, 2022
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Merge from gazebosim 
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
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@caguero
caguero committed Nov 9, 2022
commit c42a35793ddc0e0ce4983e3c8a8d1d98149de750
2 changes: 2 additions & 0 deletions vrx_gz/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,8 @@ list(APPEND VRX_GZ_PLUGINS
BallShooterPlugin
LightBuoyPlugin
NavigationScoringPlugin
PerceptionScoringPlugin
PlacardPlugin
ScanDockScoringPlugin
SimpleHydrodynamics
StationkeepingScoringPlugin
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1 change: 1 addition & 0 deletions vrx_gz/src/vrx_gz/launch.py
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Expand Up @@ -92,6 +92,7 @@ def simulation(world_name, headless=False):
def competition_bridges(world_name):
bridges = [
vrx_gz.bridges.clock(),
vrx_gz.bridges.contacts(),
vrx_gz.bridges.task_info(),
]

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8 changes: 6 additions & 2 deletions vrx_gz/worlds/scan_dock_deliver_task.sdf
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Expand Up @@ -449,7 +449,6 @@
</include>

<!-- The projectile for the ball shooter -->
<!--
<include>
<name>blue_projectile</name>
<pose>-545 60 0.03 0 0 0</pose>
Expand Down Expand Up @@ -487,7 +486,6 @@
</wavefield>
</plugin>
</include>
-->

<wind>
<linear_velocity>0 0 0</linear_velocity>
Expand Down Expand Up @@ -530,6 +528,12 @@
</vertical>
</plugin>


<include>
<uri>dock_2022</uri>
<pose>-480 190 0 0 0 1.0</pose>
</include>

<!-- The scan, dock, deliver scoring plugin -->
<plugin
filename="libScanDockScoringPlugin.so"
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