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.github/workflows/ci.yaml deleted 100644 → 0
View file @ cf978cc7
---
name: CI
on: # NOLINT
pull_request:
push:
schedule:
- cron: '0 0 */2 * *' # Every 2 days at midnight
jobs:
test_docker:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
gazebo-version: [9, 11]
# Define the Docker image(s) associated with each ROS distribution.
# The include syntax allows additional variables to be defined, like
# docker_image in this case. See documentation:
# https://help.github.com/en/actions/reference/workflow-syntax-for-github-actions#example-including-configurations-in-a-matrix-build
# Platforms are defined in REP 3, and REP 2000:
# https://ros.org/reps/rep-0003.html
# https://ros.org/reps/rep-2000.html
include:
# Foxy Fitzroy (May 2020 - May 2023)
- docker_image: ros:foxy
ros_distribution: foxy
container: ${{ matrix.docker_image }}
defaults:
run:
shell: bash
steps:
- uses: actions/checkout@v2
with:
path: src/plankton
- name: Install Tools
run: |
sudo apt update
sudo apt install -y build-essential clang cmake git wget libasio-dev libtinyxml2-dev lcov psmisc
rosdep update
sudo apt install -y python3-colcon-coveragepy-result
sudo apt install -y python3-colcon-lcov-result
- name: Install Gazebo
run: |
echo Installing Gazebo ${{ matrix.gazebo-version }}
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt update
sudo apt install -y gazebo${{ matrix.gazebo-version }}
sudo apt install -y libgazebo${{ matrix.gazebo-version }}-dev
sudo apt install -y ros-${{ matrix.ros_distribution }}-gazebo-ros-pkgs
- name: Install Dependencies
run: |
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro ${{ matrix.ros_distribution }} -y
- name: Build Packages
run: |
. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
colcon build --packages-up-to plankton --merge-install
- name: Run Unit Tests
id: action_ros_ci_step
run: |
. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
colcon test --merge-install --packages-up-to plankton --event-handlers console_cohesion+
- name: Unit Test Results
run: |
echo Results for Gazebo ${{ matrix.gazebo-version }}
. /opt/ros/${{ matrix.ros_distribution }}/setup.sh
colcon test-result --all --verbose
- name: Upload Logs
uses: actions/upload-artifact@v1
with:
name: colcon-logs-linux
path: log/
if: always()
.vscode/uuv.vscode.code-snippets deleted 100644 → 0
View file @ cf978cc7
{
"py_class_md_docstring": {
"prefix": "uuv.py.doc.class",
"scope": "python",
"description": "Python Class Docstring (Markdown)",
"body": [
"\"\"\"Class description",
"",
"> *Attributes*",
"",
"* `param` (*type:* `data_type`, *value:* `data`): Parameter description",
"",
"> *Input arguments*",
"",
"* `param` (*type:* `data_type`, *default:* `data`): Parameter description",
"",
"\"\"\""
]
},
"py_func_md_docstring": {
"prefix": "uuv.py.doc.func",
"scope": "python",
"description": "Python Function Docstring (Markdown)",
"body": [
"\"\"\"Function description",
"",
"> *Input arguments*",
"",
"* `param` (*type:* `data_type`, *default:* `data`): Parameter description",
"",
"> *Returns*",
"",
"Description of return values",
"\"\"\""
]
},
"py_module_md_docstring": {
"prefix": "uuv.py.doc.module",
"scope": "python",
"description": "Python Module Docstring (Markdown)",
"body": [
"\"\"\"Module description",
"\"\"\""
]
},
"py_param_md_docstring_snippet": {
"prefix": "uuv.py.doc.param",
"scope": "python",
"description": "Python Parameter Docstring Snippet (Markdown)",
"body": [
"* `param` (*type:* `data_type`, *default:* `data`): Parameter description"
]
},
"py_ros_publisher_md_docstring_snippet": {
"prefix": "uuv.py.doc.publisher",
"scope": "python",
"description": "Python ROS Publisher Docstring Snippet (Markdown)",
"body": [
"* `topic_name` (*message:* `data_type`): Topic description"
]
},
"py_property_md_docstring": {
"prefix": "uuv.py.doc.property",
"scope": "python",
"description": "Python Property Docstring (Markdown)",
"body": [
"\"\"\"`data_type`: Property description\"\"\""
]
},
"py_script_md_docstring": {
"prefix": "uuv.py.doc.script",
"scope": "python",
"description": "Python Script Docstring (Markdown)",
"body": [
"\"\"\"**Description**",
"",
"Script description, with some formulas",
"",
"$$",
"\t\\dot{v_c}(t) + \\mu_c v_c(t) = w_c",
"$$",
"",
"**Input ROS parameters**",
"",
"* `param` (*type:* `data_type`, *default:* `value`): Parameter description",
"",
"**Input parameters**",
"",
"* `param` (*type:* `data_type`, *default:* `value`): Parameter description",
"",
"**Usage**",
"",
"Examples of usage",
"",
"```bash",
"rosrun pkg_name node_name --param value",
"```",
"",
"**Launch file snippet**",
"",
"```xml",
"<node name=\"name\" pkg=\"pkg_name\" type=\"name\" output=\"screen\">",
"\t<rosparam subst_value=\"true\">",
"\t\tparam: value",
"\t</rosparam>",
"</node>",
"```",
"**ROS services**",
"",
"> **`service_name`**",
"",
"*Service description file*",
"",
"[`service.file`](link_to_service_file)",
"",
"*Service call*",
"",
"```bash",
"rosservice call service_name",
"```",
"",
"Description of input parameters and return values",
"",
"\"\"\""
]
},
"py_uuv_ros_test": {
"scope": "python",
"prefix": "uuv.py.ros.test",
"description": "ROS Unit Test Script (Python)",
"body": [
"#!/usr/bin/env python",
"# Copyright (c) 2016-$CURRENT_YEAR The UUV Simulator Authors.",
"# All rights reserved.",
"#",
"# Licensed under the Apache License, Version 2.0 (the \"License\");",
"# you may not use this file except in compliance with the License.",
"# You may obtain a copy of the License at",
"#",
"# http://www.apache.org/licenses/LICENSE-2.0",
"#",
"# Unless required by applicable law or agreed to in writing, software",
"# distributed under the License is distributed on an \"AS IS\" BASIS,",
"# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.",
"# See the License for the specific language governing permissions and",
"# limitations under the License.",
"import roslib",
"import unittest",
"# Other imports",
"",
"PKG = 'package_name'",
"roslib.load_manifest(PKG)",
"",
"class TestModule(unittest.TestCase):",
"\tpass",
"",
"if __name__ == '__main__':",
"\timport rosunit",
"\trosunit.unitrun(PKG, 'test_module', TestModule)"
]
},
"py_uuv_license_header": {
"scope": "python",
"prefix": "uuv.py.license",
"description": "UUV Simulator License Header (Python)",
"body": [
"# Copyright (c) 2016-$CURRENT_YEAR The UUV Simulator Authors.",
"# All rights reserved.",
"#",
"# Licensed under the Apache License, Version 2.0 (the \"License\");",
"# you may not use this file except in compliance with the License.",
"# You may obtain a copy of the License at",
"#",
"# http://www.apache.org/licenses/LICENSE-2.0",
"#",
"# Unless required by applicable law or agreed to in writing, software",
"# distributed under the License is distributed on an \"AS IS\" BASIS,",
"# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.",
"# See the License for the specific language governing permissions and",
"# limitations under the License."
]
},
"xml_uuv_license_header": {
"scope": "xml",
"prefix": "uuv.xml.license",
"description": "UUV Simulator License Header (XML)",
"body": [
"<!-- Copyright (c) 2016-$CURRENT_YEAR The UUV Simulator Authors.",
"\tAll rights reserved.",
"",
"\tLicensed under the Apache License, Version 2.0 (the \"License\");",
"\tyou may not use this file except in compliance with the License.",
"\tYou may obtain a copy of the License at",
"",
"\thttp://www.apache.org/licenses/LICENSE-2.0",
"",
"\tUnless required by applicable law or agreed to in writing, software",
"\tdistributed under the License is distributed on an \"AS IS\" BASIS,",
"\tWITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.",
"\tSee the License for the specific language governing permissions and",
"\tlimitations under the License.",
"-->"
]
},
"xml_uuv_xacro_file": {
"scope": "xml",
"prefix": "uuv.xml.xacro.file",
"description": "Xacro file (XML)",
"body": [
"<?xml version=\"1.0\"?>",
"<robot xmlns:xacro=\"http://www.ros.org/wiki/xacro\">",
"",
"</robot>"
]
},
"xml_uuv_xacro_include": {
"scope": "xml",
"prefix": "uuv.xml.xacro.include",
"description": "Xacro include (XML)",
"body": [
"<xacro:include filename=\"$(find pkg_name)/path/file.urdf.xacro\"/>"
]
},
"xml_uuv_xacro_property": {
"scope": "xml",
"prefix": "uuv.xml.xacro.property",
"description": "Xacro property (XML)",
"body": [
"<xacro:property name=\"param_name\" value=\"param_value\"/>"
]
},
"xml_uuv_xacro_macro": {
"scope": "xml",
"prefix": "uuv.xml.xacro.macro",
"description": "Xacro macro (XML)",
"body": [
"<xacro:macro name=\"macro_name\" params=\"param_1 param_2\">",
"",
"</xacro:macro>"
]
},
"xml_uuv_xacro_insert_block": {
"scope": "xml",
"prefix": "uuv.xml.xacro.insert_block",
"description": "Xacro insert block (XML)",
"body": [
"<xacro:insert_block name=\"block_name\"/>"
]
},
"xml_uuv_xacro_hydrodynamic_model_link": {
"scope": "xml",
"prefix": "uuv.xml.xacro.hydro.link",
"description": "Base for the hydrodynamic model description for one link",
"body": [
"<link name=\"link_name\">",
"\t<neutrally_buoyant>0</neutrally_buoyant>",
"",
"\t<volume>0</volume>",
"",
"\t<box>",
"\t\t<width>0</width>",
"\t\t<length>0</length>",
"\t\t<height>0</height>",
"\t</box>",
"",
"<center_of_buoyancy>0 0 0</center_of_buoyancy>",
"",
"<hydrodynamic_model>",
"",
"\t<!-- Add the desired hydrodynamic model description here -->",
"",
"</hydrodynamic_model>",
"</link>"
]
},
"xml_uuv_xacro_hydrodynamic_model_fossen": {
"scope": "xml",
"prefix": "uuv.xml.xacro.hydro.fossen",
"description": "Inputs for Fossen's hydrodynamic model (XML)",
"body": [
"<hydrodynamic_model>",
"\t<type>fossen</type>",
"",
"\t<added_mass>",
"\t\t0 0 0 0 0 0",
"\t\t0 0 0 0 0 0",
"\t\t0 0 0 0 0 0",
"\t\t0 0 0 0 0 0",
"\t\t0 0 0 0 0 0",
"\t\t0 0 0 0 0 0",
"\t</added_mass>",
"",
"\t<linear_damping>",
"\t\t0 0 0 0 0 0",
"\t</linear_damping>",
"",
"\t<linear_damping_forward_speed>",
"\t\t0 0 0 0 0 0",
"\t</linear_damping_forward_speed>",
"",
"\t<quadratic_damping>",
"\t\t0 0 0 0 0 0",
"\t</quadratic_damping>",
"</hydrodynamic_model>"
]
},
"xml_uuv_xacro_hydrodynamic_model_sphere": {
"scope": "xml",
"prefix": "uuv.xml.xacro.hydro.sphere",
"description": "Inputs for an approximated Fossen's hydrodynamic model for a sphere (XML)",
"body": [
"<hydrodynamic_model>",
"\t<type>sphere</type>",
"\t<radius>0</radius>",
"</hydrodynamic_model>"
]
},
"xml_uuv_xacro_underwater_object_plugin_sphere": {
"scope": "xml",
"prefix": "uuv.xml.xacro.hydro.sphere.underwater_object_plugin",
"description": "Snippet for the uuv_underwater_object plugin using Fossen's model for a sphere (XML)",
"body": [
"<gazebo>",
"\t<plugin name=\"uuv_plugin\" filename=\"libuuv_underwater_object_ros_plugin.so\">",
"\t\t<fluid_density>1025.0</fluid_density>",
"\t\t<flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>",
"\t\t<debug>0</debug>",
"",
"\t\t<link name=\"link_name\">",
"\t\t\t<neutrally_buoyant>0</neutrally_buoyant>",
"",
"\t\t\t<volume>0</volume>",
"",
"\t\t\t<box>",
"\t\t\t\t<width>0</width>",
"\t\t\t\t<length>0</length>",
"\t\t\t\t<height>0</height>",
"\t\t\t</box>",
"",
"\t\t<center_of_buoyancy>0 0 0</center_of_buoyancy>",
"",
"\t\t<hydrodynamic_model>",
"\t\t\t<type>sphere</type>",
"\t\t\t<radius>0</radius>",
"\t\t</hydrodynamic_model>",
"</link>",
"\t</plugin>",
"</gazebo>"
]
},
"xml_uuv_xacro_default_joint_state_publisher": {
"scope": "xml",
"prefix": "uuv.xml.xacro.joint_state_publisher",
"description": "Xacro snippet for the joint state publisher (XML)",
"body": [
"<xacro:macro name=\"default_joint_state_publisher\" params=\"namespace update_rate\">",
"\t<gazebo>",
"\t\t<plugin name=\"uuv_joint_state_publisher\" filename=\"libuuv_joint_state_publisher.so\">",
"\t\t\t<robotNamespace>${namespace}</robotNamespace>",
"\t\t\t<updateRate>${update_rate}</updateRate>",
"\t\t</plugin>",
"\t</gazebo>",
"</xacro:macro>"
]
},
"xml_uuv_xacro_underwater_object_plugin_fossen": {
"scope": "xml",
"prefix": "uuv.xml.xacro.hydro.fossen.underwater_object_plugin",
"description": "Snippet for the uuv_underwater_object plugin using Fossen's model (XML)",
"body": [
"<gazebo>",
"\t<plugin name=\"uuv_plugin\" filename=\"libuuv_underwater_object_ros_plugin.so\">",
"\t\t<fluid_density>1025.0</fluid_density>",
"\t\t<flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>",
"\t\t<debug>0</debug>",
"",
"\t\t<link name=\"link_name\">",
"\t\t\t<neutrally_buoyant>0</neutrally_buoyant>",
"",
"\t\t\t<volume>0</volume>",
"",
"\t\t\t<box>",
"\t\t\t\t<width>0</width>",
"\t\t\t\t<length>0</length>",
"\t\t\t\t<height>0</height>",
"\t\t\t</box>",
"",
"\t\t<center_of_buoyancy>0 0 0</center_of_buoyancy>",
"",
"\t\t<hydrodynamic_model>",
"\t\t\t<type>fossen</type>",
"",
"\t\t\t<added_mass>",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t</added_mass>",
"",
"\t\t\t<linear_damping>",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t</linear_damping>",
"",
"\t\t\t<linear_damping_forward_speed>",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t</linear_damping_forward_speed>",
"",
"\t\t\t<quadratic_damping>",
"\t\t\t\t0 0 0 0 0 0",
"\t\t\t</quadratic_damping>",
"\t\t</hydrodynamic_model>",
"</link>",
"\t</plugin>",
"</gazebo>"
]
},
"cpp_uuv_license_header": {
"scope": "cpp",
"prefix": "uuv.cpp.license",
"description": "UUV Simulator License Header (C++)",
"body": [
"// Copyright (c) 2016-$CURRENT_YEAR The UUV Simulator Authors.",
"// All rights reserved.",
"//",
"// Licensed under the Apache License, Version 2.0 (the \"License\");",
"// you may not use this file except in compliance with the License.",
"// You may obtain a copy of the License at",
"//",
"// http://www.apache.org/licenses/LICENSE-2.0",
"//",
"// Unless required by applicable law or agreed to in writing, software",
"// distributed under the License is distributed on an \"AS IS\" BASIS,",
"// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.",
"// See the License for the specific language governing permissions and",
"// limitations under the License."
]
}
}
\ No newline at end of file
uuv_gazebo_plugins/uuv_gazebo_ros_plugins/include/uuv_gazebo_ros_plugins/ThrusterROSPlugin.h
View file @ 9e985924
......@@ -63,6 +63,8 @@ namespace uuv_simulator_ros
/// \brief Set new set point (desired thrust [N]) for thruster.
public: void SetThrustReference(
const uuv_gazebo_ros_plugins_msgs::msg::FloatStamped::SharedPtr _msg);
public: void SetThrustReferenceFloat64(
const std_msgs::msg::Float64::SharedPtr _msg);
/// \brief Return the ROS publish period.
public: gazebo::common::Time GetRosPublishPeriod();
......@@ -127,6 +129,7 @@ namespace uuv_simulator_ros
/// \brief Subscriber reacting to new reference thrust set points.
private: rclcpp::Subscription<uuv_gazebo_ros_plugins_msgs::msg::FloatStamped>::SharedPtr mySubThrustReference;
private: rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr mySubThrustReferenceFloat64;
/// \brief Publisher for current actual thrust.
private: rclcpp::Publisher<uuv_gazebo_ros_plugins_msgs::msg::FloatStamped>::SharedPtr myPubThrust;
......
uuv_gazebo_plugins/uuv_gazebo_ros_plugins/src/ThrusterROSPlugin.cpp
View file @ 9e985924
......@@ -66,6 +66,18 @@ void ThrusterROSPlugin::SetThrustReference(
this->inputCommand = _msg->data;
}
void ThrusterROSPlugin::SetThrustReferenceFloat64(
const std_msgs::msg::Float64::SharedPtr _msg)
{
if (std::isnan(_msg->data))
{
RCLCPP_WARN(myRosNode->get_logger(), "ThrusterROSPlugin: Ignoring nan command");
return;
}
this->inputCommand = _msg->data;
}
//=============================================================================
///////////////////////////////////////////////////////////////////////////////
gazebo::common::Time ThrusterROSPlugin::GetRosPublishPeriod()
......@@ -183,7 +195,11 @@ void ThrusterROSPlugin::Load(gazebo::physics::ModelPtr _parent,
uuv_gazebo_ros_plugins_msgs::msg::FloatStamped
>(this->commandSubscriber->GetTopic(), 10,
std::bind(&ThrusterROSPlugin::SetThrustReference, this, _1));
mySubThrustReferenceFloat64 = myRosNode->create_subscription<
std_msgs::msg::Float64
>(this->commandSubscriber->GetTopic() + "/rpm", 10,
std::bind(&ThrusterROSPlugin::SetThrustReferenceFloat64, this, _1));
myPubThrust = myRosNode->create_publisher<
uuv_gazebo_ros_plugins_msgs::msg::FloatStamped
......
uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/camera_snippets.xacro
View file @ 9e985924
......@@ -139,7 +139,7 @@
</camera>
<plugin name="camera${suffix}_controller" filename="libgazebo_ros_camera.so">
<!-- <updateRate>${update_rate}</updateRate> -->
<camera_name>${namespace}/camera${suffix}</camera_name>
<camera_name>camera${suffix}</camera_name>
<!-- <cameraName>${namespace}/camera${suffix}</cameraName> -->
<frame_name>camera${suffix}_link_optical</frame_name>
<!-- <frameName>camera${suffix}_link_optical</frameName> -->
......@@ -153,6 +153,7 @@
<backgroundB>0</backgroundB>
<ros>
<namespace>${namespace}</namespace>
<!-- Use either <argument> with - -ros-args -r or remapping -->
<remapping>image_raw:=${topic}_image</remapping>
</ros>
......@@ -243,6 +244,10 @@
</camera>
<!-- TODO Check parameters for ROS 2 syntax-->
<plugin name="camera${suffix}_controller" filename="libuuv_gazebo_ros_camera_plugin.so">
<ros>
<namespace>${namespace}</namespace>
</ros>
<updateRate>${update_rate}</updateRate>
<cameraName>${namespace}/camera${suffix}</cameraName>
<frameName>${namespace}/camera${suffix}_link</frameName>
......
uuv_sensor_plugins/uuv_sensor_ros_plugins/urdf/dvl_snippets.xacro
View file @ 9e985924
......@@ -133,6 +133,7 @@
<plugin filename="libgazebo_ros_ray_sensor.so" name="dvl${suffix}_sonar${index}">
<ros>
<namespace>${namespace}</namespace>
<remapping>~/out:=${topic}_sonar${index}</remapping>
</ros>
<!-- <gaussianNoise>0.005</gaussianNoise> -->
......
uuv_teleop/launch/uuv_teleop.launch
View file @ 9e985924
......@@ -4,20 +4,20 @@
<arg name="joy_id" default="0"/>
<!-- Joystick mapping - default: XBox 360 controller -->
<!-- To activate the vehicle teleop, the deadman button has to remain pressed -->
<arg name="deadman_button" default="-1"/>
<arg name="exclusion_buttons" default="4,5"/>
<arg name="axis_roll" default="-1"/>
<arg name="axis_pitch" default="-1"/>
<arg name="axis_yaw" default="0"/>
<arg name="axis_x" default="4"/>
<arg name="axis_y" default="3"/>
<arg name="axis_z" default="1"/>
<arg name="gain_roll" default="0.0"/>
<arg name="gain_pitch" default="0.0"/>
<arg name="gain_yaw" default="0.2"/>
<arg name="gain_x" default="0.3"/>
<arg name="gain_y" default="0.3"/>
<arg name="gain_z" default="0.3"/>
<arg name="deadman_button" default="-1"/>
<arg name="exclusion_buttons" default="4,5"/>
<arg name="axis_roll" default="-1"/>
<arg name="axis_pitch" default="-1"/>
<arg name="axis_yaw" default="2"/>
<arg name="axis_x" default="1"/>
<arg name="axis_y" default="0"/>
<arg name="axis_z" default="3"/>
<arg name="gain_roll" default="0.0"/>
<arg name="gain_pitch" default="0.0"/>
<arg name="gain_yaw" default="0.2"/>
<arg name="gain_x" default="0.3"/>
<arg name="gain_y" default="0.3"/>
<arg name="gain_z" default="0.3"/>
<arg name="output_topic" default="cmd_vel"/>
<!-- The type of message can also be geometry_msgs/Accel -->
<arg name="message_type" default="twist"/>
......