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Clean up launch files and world files for colav
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@Andeshog
Andeshog committed Aug 9, 2024
1 parent 53409e3 commit c06b757
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Showing 3 changed files with 5 additions and 225 deletions.
8 changes: 1 addition & 7 deletions vrx_gz/launch/competition.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -44,17 +44,11 @@ def launch(context, *args, **kwargs):
with open(config_file, 'r') as stream:
models = Model.FromConfig(stream)
else:
# m = Model('wamv', 'wam-v', [-537, 186, 0, 0, 0, np.pi/2]) # Maneuvering and navigation
m = Model('wamv', 'wam-v', [-535, 197.5, 0, 0, 0, 0]) # Task 3.1
m = Model('wamv', 'wam-v', [-537, 186, 0, 0, 0, np.pi/2])
if robot_urdf and robot_urdf != '':
m.set_urdf(robot_urdf)
models.append(m)

# Otter colav
otter = Model('otter', 'wam-v', [-515, 185, 0, 0, 0, np.pi/2])
otter.set_urdf(robot_urdf)
models.append(otter)

world_name, ext = os.path.splitext(world_name)
launch_processes.extend(vrx_gz.launch.simulation(world_name, headless,
gz_paused, extra_gz_args))
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3 changes: 1 addition & 2 deletions vrx_gz/launch/njord_colav_with_otter.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,7 @@ def launch(context, *args, **kwargs):

# Vortex Njord Collision avoidance tasks
# otter = Model('otter', 'wam-v', [-513, 177, 0, 0, 0, np.pi/2]) # Task 3.1
otter = Model('otter', 'wam-v', [-486, 187, 0, 0, 0, np.pi]) # Task 3.2

otter = Model('otter', 'wam-v', [-515, 185, 0, 0, 0, np.pi/2])
otter.set_urdf(robot_urdf)
models.append(otter)

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219 changes: 3 additions & 216 deletions vrx_gz/worlds/njord_colav_tasks.sdf → vrx_gz/worlds/Njord_docking.sdf
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<?xml version="1.0" ?>

<sdf version="1.9">
<world name="njord_colav_tasks">
<world name="Njord_docking">

<physics name="4ms" type="dart">
<max_step_size>0.004</max_step_size>
Expand All @@ -22,7 +22,7 @@
<scene>scene</scene>
<ambient_light>0.4 0.4 0.4</ambient_light>
<background_color>0.8 0.8 0.8</background_color>
<camera_pose>-512.76 164.2 16.97 0 0.61 1.64</camera_pose>
<camera_pose>-515.67 165.8 22.4 0 0.6453 1.5823</camera_pose>
<camera_clip>
<near>0.25</near>
<far>10000</far>
Expand Down Expand Up @@ -352,221 +352,8 @@
<uri>coast_waves</uri>
</include> -->

<include>
<name>mb_marker_buoy_red</name>
<pose>-530 200 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red</uri>

<plugin name="vrx::PolyhedraBuoyancyDrag"
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 -0.3 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.325</radius>
<length>0.1</length>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<topic>/vrx/wavefield/parameters</topic>
</wavefield>
</plugin>
</include>

<include>
<name>mb_marker_buoy_red_1</name>
<pose>-523 200 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red</uri>

<plugin name="vrx::PolyhedraBuoyancyDrag"
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 -0.3 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.325</radius>
<length>0.1</length>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<topic>/vrx/wavefield/parameters</topic>
</wavefield>
</plugin>
</include>

<include>
<name>mb_marker_buoy_red_2</name>
<pose>-503 200 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red</uri>

<plugin name="vrx::PolyhedraBuoyancyDrag"
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 -0.3 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.325</radius>
<length>0.1</length>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<topic>/vrx/wavefield/parameters</topic>
</wavefield>
</plugin>
</include>

<include>
<name>mb_marker_buoy_red_3</name>
<pose>-496 200 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_red</uri>

<plugin name="vrx::PolyhedraBuoyancyDrag"
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 -0.3 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.325</radius>
<length>0.1</length>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<topic>/vrx/wavefield/parameters</topic>
</wavefield>
</plugin>
</include>

<include>
<name>mb_marker_buoy_green</name>
<pose>-530 195 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green</uri>

<plugin name="vrx::PolyhedraBuoyancyDrag"
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 -0.3 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.325</radius>
<length>0.1</length>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<topic>/vrx/wavefield/parameters</topic>
</wavefield>
</plugin>
</include>

<include>
<name>mb_marker_buoy_green_1</name>
<pose>-523 195 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green</uri>

<plugin name="vrx::PolyhedraBuoyancyDrag"
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 -0.5 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.325</radius>
<length>0.1</length>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<topic>/vrx/wavefield/parameters</topic>
</wavefield>
</plugin>
</include>

<include>
<name>mb_marker_buoy_green_2</name>
<pose>-503 195 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green</uri>

<plugin name="vrx::PolyhedraBuoyancyDrag"
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 -0.3 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.325</radius>
<length>0.1</length>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<topic>/vrx/wavefield/parameters</topic>
</wavefield>
</plugin>
</include>

<include>
<name>mb_marker_buoy_green_3</name>
<pose>-496 195 0 0 0 0</pose>
<uri>https://fuel.gazebosim.org/1.0/openrobotics/models/mb_marker_buoy_green</uri>

<plugin name="vrx::PolyhedraBuoyancyDrag"
filename="libPolyhedraBuoyancyDrag.so">
<fluid_density>1000</fluid_density>
<fluid_level>0.0</fluid_level>
<linear_drag>25.0</linear_drag>
<angular_drag>2.0</angular_drag>
<buoyancy name="collision_outer">
<link_name>link</link_name>
<pose>0 0 -0.3 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.325</radius>
<length>0.1</length>
</cylinder>
</geometry>
</buoyancy>
<wavefield>
<topic>/vrx/wavefield/parameters</topic>
</wavefield>
</plugin>
</include>
<!-- pose first buoy: -530 200 -->

<!-- The posts for securing the WAM-V -->
<include>
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