diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/.gitignore b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/.gitignore new file mode 100644 index 00000000..811af414 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/.gitignore @@ -0,0 +1,3 @@ +model.sdf.urdf +meshes/*.blend +meshes/*.blend1 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/CMakeLists.txt new file mode 100644 index 00000000..ae7779e3 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 3.10) +project(ctu_cras_norlab_trailer_sensor_config_1) + +find_package(catkin REQUIRED roscpp subt_communication_broker subt_msgs subt_ros) + +catkin_package() + +include_directories(${catkin_INCLUDE_DIRS}) + +add_executable(test_comms nodes/test_comms.cc) +target_link_libraries(test_comms ${catkin_LIBRARIES}) + +install(DIRECTORY launch meshes urdf worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS + scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/README.md b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/README.md new file mode 100644 index 00000000..a2344183 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/README.md @@ -0,0 +1,53 @@ +# CTU\_CRAS\_NORLAB\_TRAILER\_SENSOR\_CONFIG\_1 + +This package contains sensor config 1 of CTU-CRAS-Norlab comms extension trailer. +It is a passive robot that is tethered to the teambase via wired Ethernet. It is +expected to be dragged by a UGV as a marsupial. + +The cable length is 100 m. When distance between the trailer and teambase is +longer, they can only communicate via standard SubT comms model. If they are +close enough, their communication has unlimited bandwidth and they are treated +as if they were in the very same place. + +For the "wire-like" behavior, this robot's name has to be COMMS_EXTENDER and +teambase's name has to be TEAMBASE. + +## Testing the communication + +To get better idea what's happening, open `subt_communication_broker/src/subt_communication_broker.cpp`, +find function `DispatchMessages()` and scroll to a line reading `std::tie(sendPacket, rssi) =`. +A little above it you'll find the logic that decides whether the communication should go +"over the wire". And there are two debug printouts which might come handy when testing this +feature. So uncomment them and rebuild your workspace. + +This package provides a program called `test_comms` that can be used to create a high amount of +SubT comms traffic, on which it will be apparent that the comms going "over the wire" helps the +resulting speed of transfer. + +Start simulator: + + LANG=C ign launch -v4 competition.ign robotName1:=TEAMBASE robotConfig1:=TEAMBASE robotName2:=COMMS_EXTENDER robotConfig2:=X1_SENSOR_CONFIG_1 circuit:=cave worldName:=simple_cave_01 + +Then open another terminal and start + + ROS_NAMESPACE=COMMS_EXTENDER ./test_comms + +And yet another terminal and start + + ROS_NAMESPACE=TEAMBASE ./test_comms _robot_name:=TEAMBASE _dst_name:=COMMS_EXTENDER + +Now you should see the nodes printing about statistics about the transferred data. And the terminal +with simulator should show you the debug printouts. If you did not rebuild it with the debug +printouts, you can still tell that the comms is going over the wire from the VisibilityRfTable debug +printouts, where you'll see `Range: 0`. Now move the comms extender somewhere and watch for the +distance. As soon as it gets 100 m from the teambase, comms start dropping in both signal quality and +delivery success ratio. + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/trailer.xacro` file and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited. \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/description.launch b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/description.launch new file mode 100644 index 00000000..15503c18 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/description.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/example.ign new file mode 100644 index 00000000..ed2eab79 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/example.ign @@ -0,0 +1,189 @@ + + + +<% + #require_relative 'spawner' + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") + + # Modify these as needed + $enableGroundTruth = true + $headless = local_variables.include?(:headless) ? :headless : false + +%> + +<% + unless local_variables.include?(:robotName) + raise "missing parameters. robotName is a required parameter" + end + + # This assumes that this launch file is in a directory below the model + modelURI = File.expand_path(_base_dir, File.dirname(__FILE__)) + $worldName = 'example' + worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") + +%> + + + + IGN_GAZEBO_SYSTEM_PLUGIN_PATH + $LD_LIBRARY_PATH + + + LC_ALL + C + + + + +<% if local_variables.include?(:ros) and ros %> + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + +<% end %> + +<% if local_variables.include?(:teleop) and teleop %> + + roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 teleop.launch + +<% end %> + + + <%= worldFile %> + true + false + + false + + + + + + + ogre2 + + + + + + + + + + + + + + + + <%if !$headless %> + + + <%= $worldName %> + SubT Simulator + <%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg + + + 3D View + false + docked + + + ogre2 + scene + 0.2 0.2 0.1 + 0.8 0.8 0.8 + -6.3 -4.2 3.6 0 0.268 0.304 + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/pose/info + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/scene/deletion + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + false + /world/<%= $worldName %>/control + /world/<%= $worldName %>/stats + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/<%= $worldName %>/stats + + + + <%end%> + + +<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0) %> + + +<% if local_variables.include?(:ros) and ros %> + <%= rosExecutables(robotName, $worldName) %> +<% end %> + + + diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/spawner.rb new file mode 100644 index 00000000..e63f2f1f --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/spawner.rb @@ -0,0 +1,40 @@ +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + <<-HEREDOC + + #{_name} + false + #{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw} + #{_worldName} + true + + + #{_name} + #{_modelURI} + + + true + true + false + false + #{$enableGroundTruth} + true + true + 1 + + + + + HEREDOC +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_trailer_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} + + + roslaunch --wait ctu_cras_norlab_trailer_sensor_config_1 description.launch name:=#{_name} + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/vehicle_topics.launch new file mode 100644 index 00000000..40e8baa5 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/vehicle_topics.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/meshes/wheel.dae b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/meshes/wheel.dae new file mode 100644 index 00000000..65c1d29a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/meshes/wheel.dae @@ -0,0 +1,253 @@ + + + + + Blender User + Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44 + + 2021-03-31T20:04:58 + 2021-03-31T20:04:58 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.06071967 0.06071967 0.06071967 1 + + + 0.4731544 + + + + + + + + + + + 0 0 0 1 + + + 0.4969232 0.4969232 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4494 1254 1475 4495 1256 1475 4496 1264 1476 4497 1263 1476 4498 1265 1476 4499 1264 1477 4500 1265 1477 4501 1261 1477 4502 1304 1478 4503 1305 1478 4504 1306 1478 4505 1313 1479 4506 1314 1479 4507 1315 1479 4508 1313 1480 4509 1315 1480 4510 1312 1480 4511 1323 1481 4512 1322 1481 4513 1324 1481 4514 1332 1482 4515 1331 1482 4516 1333 1482 4517 1332 1483 4518 1333 1483 4519 1330 1483 4520 1340 1484 4521 1341 1484 4522 1342 1484 4523 1340 1485 4524 1342 1485 4525 1339 1485 4526 196 1486 4527 184 1486 4528 213 1486 4529 209 32 4530 210 32 4531 202 32 4532 209 1487 4533 215 1487 4534 216 1487 4535 253 1488 4536 261 1488 4537 262 1488 4538 282 1489 4539 287 1489 4540 288 1489 4541 288 1490 4542 289 1490 4543 283 1490 4544 294 1491 4545 295 1491 4546 290 1491 4547 322 1492 4548 330 1492 4549 331 1492 4550 331 1493 4551 330 1493 4552 338 1493 4553 331 1494 4554 339 1494 4555 340 1494 4556 353 32 4557 354 32 4558 347 32 4559 359 1495 4560 365 1495 4561 356 1495 4562 359 1496 4563 364 1496 4564 138 1496 4565 874 1497 4566 875 1497 4567 868 1497 4568

+ + + + + + + + 7.70063e-4 0 0 0 0 7.99993e-4 0 0 0 0 7.69152e-4 0 0 0 0 1 + + + + + + + + + + + + 7.70063e-4 0 0 0 0 7.99993e-4 0 0 0 0 7.69152e-4 0 0 0 0 1 + + + + + + + + + + + + 7.70063e-4 0 0 0 0 7.99993e-4 0 0 0 0 7.69152e-4 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/model.config b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/model.config new file mode 100644 index 00000000..09d19133 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/model.config @@ -0,0 +1,10 @@ + + + ctu_cras_norlab_trailer_sensor_config_1 + model.sdf + + CTU-CRAS-Norlab trailer Sensor config 1 is a passive robot tethered to the + teambase by a 100 m-long Ethernet wire. + + + diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/model.sdf new file mode 100644 index 00000000..f4f67ff2 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/model.sdf @@ -0,0 +1,289 @@ + + + + + + 0.1 + + 1.66667e-08 + 0 + 0 + 1.66667e-08 + 0 + 1.66667e-08 + + + + + 0 0 0 0 0 -3.1415926535897931 + + 0.1 + + 1.66667e-08 + 0 + 0 + 1.66667e-08 + 0 + 1.66667e-08 + + + + + intermediate + base_link + + 0 0 1 + + -1.5708 + 1.5708 + 10000 + 2 + + + 0 + 0 + + 0 + + + + 0 0 0 0 0 -3.1415926535897931 + + 0.25 0 0 0 1.5707963267948966 0 + 0.5 + + 0.0104667 + 0 + 0 + 0.0104667 + 0 + 0.0001 + + + + 0.25 0 0 0 1.5707963267948966 0 + + + 0.5 + 0.02 + + + + + 0.25 0 0 0 1.5707963267948966 0 + + + 0.5 + 0.02 + + + + + + dragging_rod + intermediate + + 0 1 0 + + -0.785398 + 0.785398 + 10000 + 2 + + + 0 + 0 + + 0 + + + + -0.75 -0 0 0 0 -3.1415926535897931 + + 2 + + 0.00833333 + 0 + 0 + 0.0433333 + 0 + 0.0483333 + + + + + + 0.5 0.2 0.1 + + + + + 0.2 0.06 0.2 0 -0 0 + + + 0.4 + 0.01 + + + + + 0.2 -0.06 0.2 0 -0 0 + + + 0.4 + 0.01 + + + + + + + 0.5 0.2 0.1 + + + + 0 0 0 0 + 0 0 0 0 + 0 0 0 0 + + + + 0.2 0.06 0.2 0 -0 0 + + + 0.4 + 0.01 + + + + + 0.2 -0.06 0.2 0 -0 0 + + + 0.4 + 0.01 + + + + + + chassis + dragging_rod + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + -0.75 0.12 0 0 0 -3.1415926535897931 + + 0 0 0 1.5707963267948966 -0 0 + 1 + + 0.010075 + 0 + 0 + 0.010075 + 0 + 0.02 + + + + 0 0 0 1.5707963267948966 -0 0 + + + 0.03 + 0.2 + + + + + + + meshes/wheel.dae + + + + + + left_wheel + chassis + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + -0.75 -0.12 0 0 0 -3.1415926535897931 + + 0 0 0 1.5707963267948966 -0 0 + 1 + + 0.010075 + 0 + 0 + 0.010075 + 0 + 0.02 + + + + 0 0 0 1.5707963267948966 -0 0 + + + 0.03 + 0.2 + + + + + + + meshes/wheel.dae + + + + + + right_wheel + chassis + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + + diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/nodes/test_comms.cc b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/nodes/test_comms.cc new file mode 100644 index 00000000..e5208772 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/nodes/test_comms.cc @@ -0,0 +1,51 @@ +#include +#include + +// This is a test node that allows viewing the effect of comms extender +// See the package's readme for details on how to use it + +std::string name; +std::string dstName; + +std::string payload; + +ros::Time lastDataStamp {0, 0}; +size_t dataInWindow {0}; + +void IncomingMsgCallback( + const std::string& srcAddress, const std::string& dstAddress, + const uint32_t dstPort, const std::string& data) +{ + const auto now = ros::Time::now(); + if (now.sec != lastDataStamp.sec) + { + ROS_INFO_STREAM("[" << name << ":" << dstPort << "]: received from [" << srcAddress << "] " << dataInWindow << " bytes per second"); + dataInWindow = 0; + } + lastDataStamp = now; + dataInWindow += data.length(); +} + +void Send(const ros::TimerEvent&, subt::CommsClient& commsClient) +{ + commsClient.SendTo(payload, dstName); +} + +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "comms_test"); + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + + pnh.param("robot_name", name, std::string("COMMS_EXTENDER")); + pnh.param("dst_name", dstName, std::string("TEAMBASE")); + + payload.resize(1500, 'a'); + + subt::CommsClient commsClient(name); + commsClient.Bind(&IncomingMsgCallback, name); + + auto timer = nh.createTimer(ros::Duration(0.005), boost::bind(&Send, _1, boost::ref(commsClient))); + + ros::spin(); +} \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/package.xml new file mode 100644 index 00000000..484b47d3 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/package.xml @@ -0,0 +1,21 @@ + + + ctu_cras_norlab_trailer_sensor_config_1 + 1.0.0 + CTU-CRAS-Norlab comms extension trailer. + + Martin Pecka + Martin Pecka + BSD + + catkin + + roscpp + subt_communication_broker + subt_msgs + subt_ros + + roslaunch + xacro + + diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/clean_sdf b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/clean_sdf new file mode 100755 index 00000000..9ed90a83 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/clean_sdf @@ -0,0 +1,15 @@ +#!/usr/bin/env bash +set -e + +sed -i \ + -e '//{:a;N;/<\/surface>/!ba};/\n\s*\n\s*\n\s*<\/contact>\n\s*\n\s*\n\s*<\/friction>\n\s*<\/surface>/d' \ + -e '/\(-\?0 \?\)\{6\}<\/pose>/d' \ + -e '/1 1 1<\/scale>/d' \ + -e '//d' \ + -e '//d' \ + -e '//d' \ + -e '/1<\/gravity>/d' \ + -e '/0<\/kinematic>/d' \ + -e '/0<\/static>/d' "$1" +sed -i '//{:a;N;/<\/contact>/!ba};/\n\s*\n\s*<\/contact>/d' "$1" +sed -i 's/\(]*>\)/\1\r /g' "$1" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/high_precision_constants.py b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/high_precision_constants.py new file mode 100755 index 00000000..c216baf7 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/high_precision_constants.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python +# +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# 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. + +from __future__ import print_function +from lxml import etree +import math +import argparse +import sys + +# Values of PI to check. Only put positive values. +CONSTANTS_TO_CHECK = [math.pi, math.pi/2] + +def convert_to_high_precision_pi(urdf_file, tol, precision): + """Search all poses for values that are near PI and PI/2 and replace them + with their high precision counterparts. + + Parameters + ---------- + urdf_file : Input urdf file + tol: Tolerance for equality check + + Returns + ------- + etree.Element + + """ + inp = etree.parse(urdf_file) + sdf = inp.getroot() + poses = sdf.xpath('//pose') + + for pose in poses: + new_pose_list = [] + for val in pose.text.split(): + val_fl = float(val) + for check_val in CONSTANTS_TO_CHECK: + if abs(abs(val_fl) - check_val) < tol: + new_pose_list.append('{:.{precision}f}'.format( + math.copysign(check_val, val_fl), precision=precision)) + break + # The else block executes if none of the values in + # CONSTANTS_TO_CHECK match val_fl + else: + new_pose_list.append(val) + + new_pose = ' '.join(new_pose_list) + pose.text = new_pose + return inp + + +if __name__ == '__main__': + parser = argparse.ArgumentParser( + formatter_class=argparse.ArgumentDefaultsHelpFormatter, + description='Search all elements for values that are near PI ' + 'and PI/2 and replace them with their high precision counterparts.') + parser.add_argument('infile', type=argparse.FileType('r'), + help='Input URDF file') + parser.add_argument('-t', '--tolerance', type=float, default=1e-3, + help='Tolerance for equality checks') + parser.add_argument('-p', '--precision', type=float, default=16, + help='Tolerance for equality checks') + + args = parser.parse_args() + out = convert_to_high_precision_pi(args.infile, args.tolerance, + args.precision) + print(etree.tostring(out, pretty_print=True, encoding='utf-8', + xml_declaration=True)) diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/print_robot_urdf new file mode 100755 index 00000000..4354d45f --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/print_robot_urdf @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." + +echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")")" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/trailer.xacro" rendering_target:=urdf "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/update_robot_sdf new file mode 100755 index 00000000..11ea394a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/scripts/update_robot_sdf @@ -0,0 +1,18 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +sdf8_version="$(ign sdf --versions | grep '^8')" || true +[ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1 +echo "Found libsdformat ${sdf8_version}" >&2 + +echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")")" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/trailer.xacro" rendering_target:=sdf "$@" > "${OUTPUT_FILE}.urdf" +ign sdf --force-version "$sdf8_version" -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}" + +"${DIR}/clean_sdf" "${OUTPUT_FILE}" +# fix resource paths +sed -i -e 's#model://ctu_cras_norlab_trailer_sensor_config_1/##g' "${OUTPUT_FILE}" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/specifications.md new file mode 100644 index 00000000..308f50ea --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/specifications.md @@ -0,0 +1,100 @@ +# CTU-CRAS-Norlab Trailer +This specifications.md file is a description and proof of virtual model validation for the CTU-CRAS-Norlab trailer. This model may be launched using an ign launch command with the variable name `CTU_CRAS_NORLAB_TRAILER_SENSOR_CONFIG_1`. + +For local testing, you can also use the following command: + + LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/launch/example.ign robotName:=X1 + +## Description +This is a 2-wheel trailer which carries a large communication node Mobilicom MCU-200. +The trailer is connected to the teambase via a 100-meter 2-wire cable. +The usage of 2N 2-wire converters allows to run 100 Mbps Ethernet on this +very thin and easily reel-able cable. It is expected that in the teambase there is a team member that +oversights the unreeling of the cable and helps the cable unreel if necessary. + +The trailer attaches behind one of the ground robots via the same mechanism marsupial UAVs do. It can +be detached any time. + +## Usage Instructions +The robot is completely passive (except for its ability to break the marsupial joint). +It acts as a normal subt comms network participant. + +However, if it is up to 100 m from teambase, it uses a "direct comms link" that goes around +the standard limitations of subt communication. There is no theoretical bitrate limit for +bidirectional communication between the teambase and the trailer. The data they exchange +do not count in their comms budget with other teammates. Packet drop rate corresponds to +communication via the normal comms model with zero distance. + +For the direct comms to work, teambase has to have name `TEAMBASE` and this trailer +has to have name `COMMS_EXTENDER`. With other names, the direct comms link will not +be used. + +See also [README.md]() of this package for details on how to locally test the direct comms. + +## Usage Rights +No additional restrictions have to be taken into account for this configuration. + +## Cost and Scale +This is a custom-built vehicle. + +* Base vehicle: $100 +* Large communication node Mobilicom MCU-200: $10,000 +* Total: ~ $10,100 + +The weight of the vehicle including the communication node and enough batteries is about 5-6 kg. + +## Sensors + +No sensors. + +## Control + +No control. This is a passive vehicle. + +## Motion characteristics + +The vehicle is intended to be dragged behind a UGV. It's motion will comply to the mechanics of these +two connected bodies. The dragging rod is fixed to the trailer body, and its loose end contains a +2 DOF joint via which the trailer attaches to the UGV. This joint is also completely passive (but it +can be broken by the detach command). + +## Endurance Characteristics +Since there is no big pressure on weight of this vehicle and the only power-consuming element is the +comms node with up to 50 W consumption (20 W average), it can be loaded with as many batteries as needed +and thus its endurance goes far beyond the scope of the SubT challenge. We thus suggest assigning it +endurance of 90 minutes, or no power limit at all. + +## Diversions from Physical Hardware + +The dragging rod can't collide with the marsupiual partner in simulation. + +The actual working of the comms node is substituted with the SubT comms broker. + +The real trailer is also connected to the teambase via the physical wire which is +not modeled. So the real trailer could not go further than 100 m from teambase. +The simulated trailer can go anywhere, but further than 100 m from teambase it loses +its extra communication capability, making it essentially a standard breadcrumb. + +The real detachment mechanism will be controlled by the robot as the trailer has no compute. + +The real breakable joint will have some force limit above which it will safely break +even without a command. The simulated joint is unbreakable until commanded. + +## Changing parameters of the robot + +Look into the Xacro files in `urdf/` folder and change the values there. + +After changing a value in these files, run script `scripts/update_robot_sdf` to write the changes to the SDF file. + +__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__ + +## Validation and Specification Links +* Vehicle Links: + * custom-made vehicle using 16" kickbike wheels + +* We think this vehicle does not require validation. But we can provide a video of the + communication reaching 90 Mbps over a 100 m reel of 2-wire cable. + +* Specification links: + * 2N 2-wire converter https://www.2n.cz/en_GB/products/intercoms/2n-2wire + * Mobilicom MCU-200 comms node https://www.mobilicom.com/mcu-200-ruggedized \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/urdf/trailer.xacro b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/urdf/trailer.xacro new file mode 100644 index 00000000..977ea476 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/urdf/trailer.xacro @@ -0,0 +1,132 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/urdf/utils.xacro new file mode 100644 index 00000000..c2a88a10 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/urdf/utils.xacro @@ -0,0 +1,69 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + + + + + + + + + + + true + + + + + + + + + + 0 0 0 0 + + ${r} ${g} ${b} 1 + + + + ${max(0, r - 60/255.0)} ${max(0, g - 60/255.0)} ${max(0, b - 60/255.0)} 1 + + 0 0 0 0 + 0 0 0 0 + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/worlds/example.sdf new file mode 100644 index 00000000..20b70fbe --- /dev/null +++ b/submitted_models/ctu_cras_norlab_trailer_sensor_config_1/worlds/example.sdf @@ -0,0 +1,79 @@ + + + + + 0.004 + 1.0 + + + + 0.2 0.2 0.2 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1 + 0.9 + 1 + 0.001 + + 0.0 0.0 -1.0 + + + + 0 0 4 0 0 0 + + 1000 + 0 + 0.1 + 0.005 + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 5 + 10.1 + .1 + + 0 0 -1 + + + 0 0 4 0 0 0 + + 1000 + 0.1 + 0.2 + 0.005 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 5 + 10.1 + .1 + + 0 0 -1 + + + + true + staging_area + 0 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area + + + + + true + base_station + -8 0 0 0 0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station + + + diff --git a/subt-communication/subt_communication_broker/src/subt_communication_broker.cpp b/subt-communication/subt_communication_broker/src/subt_communication_broker.cpp index 1b6a5a25..3f4cc985 100644 --- a/subt-communication/subt_communication_broker/src/subt_communication_broker.cpp +++ b/subt-communication/subt_communication_broker/src/subt_communication_broker.cpp @@ -214,12 +214,43 @@ void Broker::DispatchMessages() continue; } + rf_interface::radio_state* txRadioState = &txNode->second->rf_state; + rf_interface::radio_state* rxRadioState = &rxNode->second->rf_state; + + // make local temporary copies; be sure to not take by reference! + rf_interface::radio_state tmpTxRadioState = *txRadioState; + rf_interface::radio_state tmpRxRadioState = *rxRadioState; + + // allow uninterrupted communication between TEAMBASE and COMMS_EXTENDER + // if their distance is lower than 100 meters - this is to simulate a + // wired connection + if ((msg.src_address() == "TEAMBASE" || msg.src_address() == "COMMS_EXTENDER") && + (msg.dst_address() == "TEAMBASE" || msg.dst_address() == "COMMS_EXTENDER")) + { + // std::cerr << "[Dbg] Distance :" << txRadioState->pose.Pos().Distance(rxRadioState->pose.Pos()) << std::endl; + if (txRadioState->pose.Pos().Distance(rxRadioState->pose.Pos()) < 100) + { + // std::cerr << "[Dbg] Using wired communication with teambase" << std::endl; + + // set the two radios at the same position so that there is no path loss + tmpTxRadioState.pose = ignition::math::Pose3d::Zero; + tmpRxRadioState.pose = ignition::math::Pose3d::Zero; + // use these temporary radios for sending the message; this has the + // following consequences: + // - as the radios are close, the path loss should not apply + // - the sent data do not count in the channel capacity counters + // (which simulates the much faster transfer speeds over wire) + txRadioState = &tmpTxRadioState; + rxRadioState = &tmpRxRadioState; + } + } + bool sendPacket; double rssi; std::tie(sendPacket, rssi) = communication_function(txNode->second->radio, - txNode->second->rf_state, - rxNode->second->rf_state, + *txRadioState, + *rxRadioState, msg.data().size()); if (sendPacket) diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign index f3187efd..e07a04b9 100644 --- a/subt_ign/launch/cloudsim_sim.ign +++ b/subt_ign/launch/cloudsim_sim.ign @@ -127,6 +127,10 @@ "X1" => "base_link", "EXPLORER_X1" => "base_link", "EXPLORER_R2" => "Rear_Rocker_Link", + "CTU_CRAS_NORLAB_ABSOLEM" => "base_link", + "CTU_CRAS_NORLAB_MARV" => "base_link", + "CTU_CRAS_NORLAB_HUSKY" => "base_link", + "CTU_CRAS_NORLAB_MARMOTTE" => "base_link", "CSIRO_DATA61_OZBOT_ATR" => "base_link" } @@ -134,6 +138,10 @@ "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"], "EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"], "EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"], + "CTU_CRAS_NORLAB_ABSOLEM" => ["CTU_CRAS_NORLAB_TRAILER"], + "CTU_CRAS_NORLAB_MARV" => ["CTU_CRAS_NORLAB_TRAILER"], + "CTU_CRAS_NORLAB_HUSKY" => ["CTU_CRAS_NORLAB_TRAILER"], + "CTU_CRAS_NORLAB_MARMOTTE" => ["CTU_CRAS_NORLAB_TRAILER"], "CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"] } @@ -141,6 +149,10 @@ "X1" => Vector3d.new(0, 0, 0.717), "EXPLORER_X1" => Vector3d.new(0, 0, 0.717), "EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874), + "CTU_CRAS_NORLAB_ABSOLEM" => Vector3d.new(-0.4, 0, 0.15), + "CTU_CRAS_NORLAB_MARV" => Vector3d.new(-0.3, 0, 0.1), + "CTU_CRAS_NORLAB_HUSKY" => Vector3d.new(-0.47, 0, 0.1), + "CTU_CRAS_NORLAB_MARMOTTE" => Vector3d.new(-0.4, 0, 0.05), "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528) } @@ -148,6 +160,10 @@ "X1" => AngularVector3d.new(0, 0, 0), "EXPLORER_X1" => AngularVector3d.new(0, 0, 0), "EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416), + "CTU_CRAS_NORLAB_ABSOLEM" => AngularVector3d.new(0, 0, 0), + "CTU_CRAS_NORLAB_MARV" => AngularVector3d.new(0, 0, 0), + "CTU_CRAS_NORLAB_HUSKY" => AngularVector3d.new(0, 0, 0), + "CTU_CRAS_NORLAB_MARMOTTE" => AngularVector3d.new(0, 0, 0), "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416) } diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign index 277e01db..9c04187b 100644 --- a/subt_ign/launch/competition.ign +++ b/subt_ign/launch/competition.ign @@ -123,6 +123,10 @@ "X1" => "base_link", "EXPLORER_X1" => "base_link", "EXPLORER_R2" => "Rear_Rocker_Link", + "CTU_CRAS_NORLAB_ABSOLEM" => "base_link", + "CTU_CRAS_NORLAB_MARV" => "base_link", + "CTU_CRAS_NORLAB_HUSKY" => "base_link", + "CTU_CRAS_NORLAB_MARMOTTE" => "base_link", "CSIRO_DATA61_OZBOT_ATR" => "base_link" } @@ -130,6 +134,10 @@ "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"], "EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"], "EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"], + "CTU_CRAS_NORLAB_ABSOLEM" => ["CTU_CRAS_NORLAB_TRAILER"], + "CTU_CRAS_NORLAB_MARV" => ["CTU_CRAS_NORLAB_TRAILER"], + "CTU_CRAS_NORLAB_HUSKY" => ["CTU_CRAS_NORLAB_TRAILER"], + "CTU_CRAS_NORLAB_MARMOTTE" => ["CTU_CRAS_NORLAB_TRAILER"], "CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"] } @@ -137,6 +145,10 @@ "X1" => Vector3d.new(0, 0, 0.717), "EXPLORER_X1" => Vector3d.new(0, 0, 0.717), "EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874), + "CTU_CRAS_NORLAB_ABSOLEM" => Vector3d.new(-0.4, 0, 0.15), + "CTU_CRAS_NORLAB_MARV" => Vector3d.new(-0.3, 0, 0.1), + "CTU_CRAS_NORLAB_HUSKY" => Vector3d.new(-0.47, 0, 0.1), + "CTU_CRAS_NORLAB_MARMOTTE" => Vector3d.new(-0.4, 0, 0.05), "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528) } @@ -144,6 +156,10 @@ "X1" => AngularVector3d.new(0, 0, 0), "EXPLORER_X1" => AngularVector3d.new(0, 0, 0), "EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416), + "CTU_CRAS_NORLAB_ABSOLEM" => AngularVector3d.new(0, 0, 0), + "CTU_CRAS_NORLAB_MARV" => AngularVector3d.new(0, 0, 0), + "CTU_CRAS_NORLAB_HUSKY" => AngularVector3d.new(0, 0, 0), + "CTU_CRAS_NORLAB_MARMOTTE" => AngularVector3d.new(0, 0, 0), "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416) }