CMakeLists.txt

+cmake_minimum_required(VERSION 3.8)
+project(waterstridergazebo)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(uuv_gazebo_ros_plugins_msgs REQUIRED)
+find_package(Eigen3 REQUIRED COMPONENTS system)
+
+include_directories(
+# include
+  ${EIGEN3_INCLUDE_DIRS}
+)
+
+install(DIRECTORY launch meshes robots urdf
+  DESTINATION share/${PROJECT_NAME}
+  PATTERN "*~"
+  EXCLUDE)
+
+add_executable(thrusters_controller_node src/thrusters_controller_node.cpp)
+
+ament_target_dependencies(thrusters_controller_node
+  rclcpp
+  std_msgs
+  geometry_msgs
+  uuv_gazebo_ros_plugins_msgs)
+
+install(TARGETS thrusters_controller_node
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+  PATTERN "*~"
+  EXCLUDE)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  set(DESCRIPTIONS_PYTHON_TESTS
+      test/test_urdf_files.py
+  )
+
+  foreach(T ${DESCRIPTIONS_PYTHON_TESTS})
+    get_filename_component(_test_name ${T} NAME_WE)
+    ament_add_pytest_test(${_test_name} ${T}
+      PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
+      APPEND_ENV AMENT_PREFIX_PATH=${ament_index_build_path}
+      PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}
+      TIMEOUT 120
+    )
+  endforeach()
+endif()
+
+ament_export_dependencies(EIGEN3)
+ament_package()

README.md

-# VaterstriderGazebo
-
-
-
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
+# Waterstrider simulation
+## Launch robot
+Setup source:
+```bash
+source /opt/ros/iron/setup.bash
+source $HOME/ros2_ws/install/setup.bash
+source /usr/share/gazebo/setup.sh
 ```
-cd existing_repo
-git remote add origin https://gitlab.dnouglublenie.ru/skb/vaterstridergazebo.git
-git branch -M master
-git push -uf origin master
+Launch an ocean world (Plankton package):
+```bash
+ros2 launch uuv_gazebo_worlds lake.launch
 ```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://gitlab.dnouglublenie.ru/skb/vaterstridergazebo/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
+Launch a robot in the world
+```bash
+ros2 launch waterstridergazebo upload_waterstrider_launch.py
+```
+## Teleoperation
+Launch thrusters controller for any type of teleoperation
+```bash
+ros2 launch waterstridergazebo thrusters_controller_launch.py 
+```
+Keyboard teleoperation
+```bash
+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=waterstrider/twist_command
+```
+Joystick teleoperation
+```bash
+ros2 launch waterstridergazebo joy_teleop.launch
+```
\ No newline at end of file

config/waterstrider_thrusters.yaml

+/**:
+  ros__parameters:
+    qos_overrides:
+      /parameter_events:
+        publisher:
+          depth: 1000
+          durability: volatile
+          history: keep_last
+          reliability: reliable
+    start_type_description_service: true
+    use_sim_time: false
+
+    thrusters:
+      controller_output_0:
+        enabled: true
+        f: [ -0.99, 0.01, 0.00]
+        r: [ -2.2795, -1.50, -0.8897]
+        input: [-1.0, 0.0, 1.0]
+        output: [-700.0, 0.0, 700.0]
+
+      controller_output_1:
+        enabled: true
+        f: [ -0.99, -0.01, 0.00]
+        r: [ -2.2795, 1.50, -0.8897]
+        input: [-1.0, 0.0, 1.0]
+        output: [-700.0, 0.0, 700.0]

launch/all.py

+import os
+
+from ament_index_python import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import GroupAction, IncludeLaunchDescription
+from launch_ros.actions import Node, PushRosNamespace
+                                    
+from launch_xml.launch_description_sources import XMLLaunchDescriptionSource
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    gazebo = IncludeLaunchDescription(XMLLaunchDescriptionSource(os.path.join(get_package_share_directory('uuv_gazebo_worlds'), 'launch/ocean_waves.launch')))
+    ld.add_action(gazebo)
+
+    waterstider = IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('waterstridergazebo'), 'launch/upload_waterstrider_launch.py')))
+    ld.add_action(waterstider)
+
+    thruster_controller = IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('waterstridergazebo'), 'launch/thrusters_controller_launch.py')))
+    ld.add_action(thruster_controller)
+
+    return ld
\ No newline at end of file

launch/joy_teleop.launch

+<?xml version="1.0"?>
+<launch>
+  <include file="$(find-pkg-share uuv_teleop)/launch/uuv_teleop.launch">
+    <arg name="uuv_name" value="waterstrider"/>
+    <arg name="joy_id" value="0"/>
+    <arg name="output_topic" value="twist_command"/>
+    <arg name="message_type" value="twist"/>
+
+    <arg name="gain_roll" value="0.0"/>
+    <arg name="gain_pitch" value="1.0"/>
+    <arg name="gain_yaw" value="0.6"/>
+    <arg name="gain_x" value="1.0"/>
+    <arg name="gain_y" value="1.0"/>
+    <arg name="gain_z" value="1.0"/>
+  </include>
+</launch>

launch/key.bash

+ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap cmd_vel:=waterstrider/twist_command

launch/thrusters_controller_launch.py

+import os
+
+from ament_index_python import get_package_share_directory
+
+from launch import LaunchDescription
+from launch.actions import GroupAction
+from launch_ros.actions import Node, PushRosNamespace
+from launch.substitutions import LaunchConfiguration as Lc
+from launch.actions import DeclareLaunchArgument
+from launch.actions import OpaqueFunction
+
+
+def to_bool(value: str):
+    if isinstance(value, bool):
+        return value
+    if not isinstance(value, str):
+        raise ValueError('String to bool, invalid type ' + str(value))
+
+    valid = {'true': True, '1': True,
+             'false': False, '0': False}
+
+    if value.lower() in valid:
+        return valid[value]
+
+    raise ValueError('String to bool, invalid value: %s' % value)
+
+
+def launch_setup(context, *args, **kwargs):
+    namespace = Lc('namespace').perform(context)
+
+    is_use_namespace = to_bool(Lc("is_use_namespace").perform(context))
+
+    if is_use_namespace:
+        return [GroupAction([
+            PushRosNamespace(namespace),
+            Node(
+                package='waterstridergazebo',
+                executable='thrusters_controller_node',
+                output='screen',
+                parameters=[os.path.join(
+                    get_package_share_directory('waterstridergazebo'),
+                    'config',
+                    'waterstrider_thrusters.yaml'
+                )],
+                remappings=[
+                    ('thrusters/controller_output_0', 'thrusters/id_0/input'),
+                    ('thrusters/controller_output_1', 'thrusters/id_1/input'),
+                ]
+            )
+            
+        ])]
+    return [GroupAction([
+        Node(
+            package='waterstridergazebo',
+            executable='thrusters_controller_node',
+            output='screen',
+            parameters=[os.path.join(
+                get_package_share_directory('waterstridergazebo'),
+                'config',
+                'waterstrider_thrusters.yaml'
+            )],
+            remappings=[
+                ('thrusters/controller_output_0', 'thrusters/id_0/input'),
+                ('thrusters/controller_output_1', 'thrusters/id_1/input'),
+            ]
+        )
+        
+    ])]
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument('namespace', default_value='waterstrider'),
+        DeclareLaunchArgument('is_use_namespace', default_value='true'),
+        OpaqueFunction(function=launch_setup)
+    ])

launch/upload_waterstrider_launch.py

+# Copyright (c) 2020 The Plankton Authors.
+# All rights reserved.
+#
+# This source code is derived from UUV Simulator
+# (https://github.com/uuvsimulator/uuv_simulator)
+# Copyright (c) 2016-2019 The UUV Simulator Authors
+# licensed under the Apache license, Version 2.0
+# cf. 3rd-party-licenses.txt file in the root directory of this source tree.
+#
+from launch import LaunchDescription
+from launch.launch_description_sources import AnyLaunchDescriptionSource
+from launch_ros.actions import Node, PushRosNamespace
+from launch.actions import DeclareLaunchArgument
+from launch.actions import GroupAction
+from launch.actions import OpaqueFunction
+from launch.actions import IncludeLaunchDescription
+from launch.substitutions import LaunchConfiguration as Lc
+
+import launch_testing.actions
+
+from ament_index_python.packages import get_package_share_directory
+
+import os
+import pathlib
+import xacro
+
+from plankton_utils.time import is_sim_time
+
+
+def to_bool(value: str):
+    if isinstance(value, bool):
+        return value
+    if not isinstance(value, str):
+        raise ValueError('String to bool, invalid type ' + str(value))
+
+    valid = {'true': True, '1': True,
+             'false': False, '0': False}
+
+    if value.lower() in valid:
+        return valid[value]
+
+    raise ValueError('String to bool, invalid value: %s' % value)
+
+
+# =============================================================================
+def launch_setup(context, *args, **kwargs):
+    # Perform substitutions
+    debug = Lc('debug').perform(context)
+    namespace = Lc('namespace').perform(context)
+    x = Lc('x').perform(context)
+    y = Lc('y').perform(context)
+    z = Lc('z').perform(context)
+    roll = Lc('roll').perform(context)
+    pitch = Lc('pitch').perform(context)
+    yaw = Lc('yaw').perform(context)
+    # use_sim_time = Lc('use_sim_time').perform(context)
+    use_world_ned = Lc('use_ned_frame').perform(context)
+    is_write_on_disk = Lc('write_file_on_disk').perform(context)
+
+    # Request sim time value to the global node
+    res = is_sim_time(return_param=False, use_subprocess=True)
+
+    # Xacro
+    xacro_file = os.path.join(
+        get_package_share_directory('waterstridergazebo'),
+        'robots',
+        'waterstrider_' + (Lc('mode')).perform(context) + '.xacro'
+    )
+
+    # Build the directories, check for existence
+    path = os.path.join(
+        get_package_share_directory('uuv_descriptions'),
+        'robots',
+        'generated',
+        namespace,
+    )
+
+    if not pathlib.Path(path).exists():
+        try:
+            # Create directory if required and sub-directory
+            os.makedirs(path)
+        except OSError:
+            print("Creation of the directory %s failed" % path)
+
+    output = os.path.join(
+        path,
+        'robot_description.urdf'
+    )
+
+    if not pathlib.Path(xacro_file).exists():
+        exc = 'Launch file ' + xacro_file + ' does not exist'
+        raise Exception(exc)
+
+    if to_bool(use_world_ned):
+        mappings = {'debug': debug, 'namespace': namespace, 'inertial_reference_frame': 'world_ned'}
+    else:
+        mappings = {'debug': debug, 'namespace': namespace, 'inertial_reference_frame': 'world'}
+
+    doc = xacro.process(xacro_file, mappings=mappings)
+
+    if is_write_on_disk:
+        with open(output, 'w') as file_out:
+            file_out.write(doc)
+
+    # URDF spawner
+    args = ('-x %s -y %s -z %s -R %s -P %s -Y %s -entity %s -topic robot_description'
+            % (x, y, z, roll, pitch, yaw, namespace)).split()
+
+    # Urdf spawner. NB: node namespace does not prefix the spawning service, 
+    # as using a leading /
+    # NB 2: node namespace prefixes the robot_description topic
+    urdf_spawner = Node(
+        name='urdf_spawner',
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        output='screen',
+        parameters=[{'use_sim_time': res}],
+        arguments=args,
+    )
+
+    # A joint state publisher plugin already is started with the model, no need to use the default joint state publisher
+
+    # N.B.: alternative way to generate a robot_description string:
+    # string = str('ros2 run xacro xacro ' + xacro_file + ' debug:=false namespace:=' + namespace + ' inertial_reference_frame:=world')
+    # cmd = Command(string)
+    # but it currently yields yaml parsing error due to ":" in the comments of the xacro description files
+
+    robot_state_publisher = Node(
+        name='robot_state_publisher',
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[{'use_sim_time': res}, {'robot_description': doc}],  # Use subst here
+    )
+
+    # Thrusters remapings
+    thrusters_transformers = [Node(package='topic_tools',
+                                   executable='transform',
+                                   arguments=[f'/waterstrider/thrusters/controller_output_{i}',
+                                              f'/waterstrider/thrusters/id_{i}/input',
+                                              'uuv_gazebo_ros_plugins_msgs/FloatStamped',
+                                              'uuv_gazebo_ros_plugins_msgs.msg.FloatStamped(data=m.data)',
+                                              '--wait-for-start',
+                                              '--import',
+                                              'uuv_gazebo_ros_plugins_msgs'
+                                              ]) for i in range(8)]
+
+    # Message to tf
+    message_to_tf_launch = os.path.join(
+        get_package_share_directory('uuv_assistants'),
+        'launch',
+        'message_to_tf.launch'
+    )
+
+    if not pathlib.Path(message_to_tf_launch).exists():
+        exc = 'Launch file ' + message_to_tf_launch + ' does not exist'
+        raise Exception(exc)
+
+    launch_args = [('namespace', namespace), ('world_frame', 'world'),
+                   ('child_frame_id', '/' + namespace + '/base_link'), ('use_sim_time', str(res).lower()), ]
+    message_to_tf_launch = IncludeLaunchDescription(
+        AnyLaunchDescriptionSource(message_to_tf_launch), launch_arguments=launch_args)
+
+    group = GroupAction([
+        PushRosNamespace(namespace),
+        urdf_spawner,
+        robot_state_publisher,
+        *thrusters_transformers
+    ])
+
+    return [group, message_to_tf_launch]
+
+
+# =============================================================================
+def generate_launch_description():
+    # TODO Try LaunchContext ?
+    return LaunchDescription([
+        DeclareLaunchArgument('debug', default_value='0'),
+
+        DeclareLaunchArgument('x', default_value='0'),
+        DeclareLaunchArgument('y', default_value='0'),
+        DeclareLaunchArgument('z', default_value='0'),
+        DeclareLaunchArgument('roll', default_value='0.0'),
+        DeclareLaunchArgument('pitch', default_value='0.0'),
+        DeclareLaunchArgument('yaw', default_value='3.1415926'),
+
+        DeclareLaunchArgument('mode', default_value='default'),
+        DeclareLaunchArgument('namespace', default_value='waterstrider'),
+        DeclareLaunchArgument('use_ned_frame', default_value='false'),
+        DeclareLaunchArgument('write_file_on_disk', default_value='false'),
+
+        # DeclareLaunchArgument('use_sim_time', default_value='true'),
+        OpaqueFunction(function=launch_setup)
+    ])

meshes/new_prop.mtl

+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl mat_1
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_10
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_11
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_12
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_13
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_14
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_15
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_2
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_3
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_4
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_5
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
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+# www.blender.org
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meshes/new_waterstrider.mtl

+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org
+
+newmtl mat_1
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_10
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_11
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_12
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_13
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_14
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_15
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_2
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_3
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_4
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_5
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_6
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_7
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_8
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1
+
+newmtl mat_9
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.500000
+d 1.000000
+illum 1

meshes/untitled.mtl

+# Blender 4.3.2 MTL File: 'None'
+# www.blender.org

meshes/untitled.obj

+# Blender 4.3.2
+# www.blender.org
+mtllib untitled.mtl

meshes/waterstrider.mtl

+# Exported by Open CASCADE Technology [dev.opencascade.org]
+newmtl mat_1
+Ka 0.220168 0.537099 0.394040
+Kd 0.435294 1.000000 0.745098
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_2
+Ka 0.537099 0.537099 0.537099
+Kd 1.000000 1.000000 1.000000
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_3
+Ka 0.352223 0.537099 0.528295
+Kd 0.670588 1.000000 0.984314
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_4
+Ka 0.272990 0.537099 0.407245
+Kd 0.529412 1.000000 0.768627
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_5
+Ka 0.398442 0.398442 0.398442
+Kd 0.752941 0.752941 0.752941
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_6
+Ka 0.272990 0.283995 0.283995
+Kd 0.529412 0.549020 0.549020
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_7
+Ka 0.101319 0.101319 0.101319
+Kd 0.223529 0.223529 0.223529
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_8
+Ka 0.420451 0.435857 0.499683
+Kd 0.792157 0.819608 0.933333
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_9
+Ka 0.000000 0.352223 0.510688
+Kd 0.000000 0.670588 0.952941
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_10
+Ka 0.000000 0.334615 0.484277
+Kd 0.000000 0.639216 0.905882
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_11
+Ka 0.482076 0.493081 0.493081
+Kd 0.901961 0.921569 0.921569
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_12
+Ka 0.411647 0.400643 0.389638
+Kd 0.776471 0.756863 0.737255
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_13
+Ka 0.255383 0.255383 0.255383
+Kd 0.498039 0.498039 0.498039
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_14
+Ka 0.479875 0.490880 0.497482
+Kd 0.898039 0.917647 0.929412
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000
+newmtl mat_15
+Ka 0.385236 0.308205 0.000000
+Kd 0.729412 0.592157 0.000000
+Ks 0.484529 0.484529 0.484529
+Ns 1000.000000

package.xml

+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>waterstridergazebo</name>
+  <version>1.0.0</version>
+  <description>The waterstrider description package</description>
+  <maintainer email="seawolfy60@gmail.com">Arina Aleevskaia</maintainer>
+
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>uuv_gazebo_ros_plugins_msgs</depend>
+  <build_depend>eigen</build_depend>
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>plankton_utils</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>uuv_assistants</exec_depend>
+  <exec_depend>uuv_gazebo_ros_plugins</exec_depend>
+  <exec_depend>uuv_sensor_ros_plugins</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>topic_tools</exec_depend>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>xacro</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

robots/waterstrider_default.xacro

+<?xml version="1.0"?>
+<!-- Copyright (c) 2020 The Plankton Authors.
+     All rights reserved.
+
+     This source code is derived from UUV Simulator
+     (https://github.com/uuvsimulator/uuv_simulator)
+     Copyright (c) 2016-2019 The UUV Simulator Authors
+     licensed under the Apache license, Version 2.0
+     cf. 3rd-party-licenses.txt file in the root directory of this source tree.
+     
+     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.
+-->
+
+<robot name="waterstrider" xmlns:xacro="http://www.ros.org/wiki/xacro" >
+  <xacro:arg name="debug" default="0"/>
+  <xacro:arg name="namespace" default="waterstrider"/>
+  <xacro:arg name="inertial_reference_frame" default="world"/>
+  <!-- Include the ROV macro file -->
+  <xacro:include filename="$(find waterstridergazebo)/urdf/waterstrider_base.xacro"/>
+  <xacro:include filename="$(find waterstridergazebo)/urdf/waterstrider.gazebo.xacro"/>
+
+  <!-- Create the waterstrider -->
+  <xacro:waterstrider_base
+    namespace="$(arg namespace)"
+    inertial_reference_frame="$(arg inertial_reference_frame)">
+    <!-- The underwater object plugin is given as an input block parameter to
+     allow the addition of external models of manipulator units -->
+    <gazebo>
+      <plugin name="$(arg namespace)_uuv_plugin" filename="libuuv_underwater_object_ros_plugin.so">
+        <fluid_density>1028.0</fluid_density>
+        <flow_velocity_topic>hydrodynamics/current_velocity</flow_velocity_topic>
+        <debug>$(arg debug)</debug>
+        <!-- Adding the hydrodynamic and hydrostatic parameters for the vehicle-->
+        <xacro:waterstrider_hydro_model namespace="$(arg namespace)"/>
+      </plugin>
+    </gazebo>
+  </xacro:waterstrider_base>
+
+  <!-- Joint state publisher plugin -->
+  <xacro:default_joint_state_publisher namespace="$(arg namespace)" update_rate="50"/>
+
+</robot>