Model Submission for JHUAPL Edge540XL sensor config 1 and uav simulation plugin

submitted_models/jhuapl_edge540xl_sensor_config_1/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(jhuapl_edge540xl_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

submitted_models/jhuapl_edge540xl_sensor_config_1/README.md

@@ -0,0 +1,21 @@
+# JHU/APL Edge540XL Sensor Config 1
+This package contains a virtual model validation for the JHU/APL Edge540XL with Sensor Configuration 1. Please see the [specifications.md](specifications.md) file for more information.
+
+**Authors & Maintainers**:
+
+*  Joe Moore
+*  Adam Polevoy
+*  Bryanna Yeh
+
+**Affiliation:** [The Johns Hopkins University Applied Physics Laboratory](https://www.jhuapl.edu/)
+
+[![JHU/APL Edge540XL](doc/edge540xl.png)](doc/edge540xl.png)
+
+## License
+This software is released under a BSD license.
+
+## Example
+```
+cd <jhuapl_edge540xl_sensor_config_1>/launch
+ign launch example.ign robotName:=edge540XL -v 4
+```

submitted_models/jhuapl_edge540xl_sensor_config_1/launch/description.launch

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" default="Edge540XL" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find jhuapl_edge540xl_sensor_config_1)/urdf/Edge540XLPlant.urdf' name:=$(arg name)"/>
+</launch>

submitted_models/jhuapl_edge540xl_sensor_config_1/launch/example.ign

@@ -0,0 +1,172 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+<%
+  require_relative 'spawner'
+
+  # 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("../", File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+  $plantName = 'Edge540XL'
+  plantURDF = File.join(File.expand_path("../urdf", File.dirname(__FILE__)), "#{$plantName}Plant.urdf")
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>true</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<plugin name="ignition::launch::GazeboFactory"
+        filename="libignition-launch-gazebo-factory.so">
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0, plantURDF) %>
+</plugin>
+<%= rosExecutables(robotName, $worldName) %>
+
+</ignition>

submitted_models/jhuapl_edge540xl_sensor_config_1/launch/spawner.rb

@@ -0,0 +1,58 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _plantURDF='urdf/Edge540XLPlant.urdf')
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+
+      <!-- Simulate plane dynamics -->
+      <plugin filename="libjhuapl_uav_dynamics.so"
+        name="jhuapl::Edge540xlDynamics">
+        <plant_urdf_file>#{_plantURDF}</plant_urdf_file>
+        <model_name>#{_name}</model_name>
+        <link_name>fuselage</link_name>
+        <min_x>-1000</min_x>
+        <max_x>1000</max_x>
+        <min_y>-1000</min_y>
+        <max_y>1000</max_y>
+        <min_z>-1000</min_z>
+        <max_z>1000</max_z>
+      </plugin>
+
+      <!-- Battery plugin -->
+      <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
+        name="ignition::gazebo::systems::LinearBatteryPlugin">
+        <battery_name>linear_battery</battery_name>
+        <voltage>12.4</voltage>
+        <open_circuit_voltage_constant_coef>12.4</open_circuit_voltage_constant_coef>
+        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+        <initial_charge>12.3</initial_charge>
+        <capacity>12.3</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>5.214</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='robot_description'>
+    <command>roslaunch --wait jhuapl_edge540xl_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='topics'>
+    <command>roslaunch --wait jhuapl_edge540xl_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end

submitted_models/jhuapl_edge540xl_sensor_config_1/launch/vehicle_topics.launch

@@ -0,0 +1,80 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+  <arg name="world_name" default="example"/>
+  <arg name="name" default="plane"/>
+  <arg name="link_name"       value="fuselage"/>
+  <arg name="sensor_prefix"   value="/world/$(arg world_name)/model/$(arg name)/link/$(arg link_name)/sensor"/>
+  <arg name="breadcrumbs" default="0"/>
+
+  <group ns="$(arg name)">
+
+    <group ns="camera_front">
+      <node
+        pkg="ros_ign_bridge"
+        type="parameter_bridge"
+        name="ros_ign_bridge_camera"
+        args="$(arg sensor_prefix)/camera_front/camera_info@sensor_msgs/CameraInfo[ignition.msgs.CameraInfo">
+        <remap from="$(arg sensor_prefix)/camera_front/camera_info" to="camera_info"/>
+      </node>
+      <node
+        pkg="ros_ign_image"
+        type="image_bridge"
+        name="ros_ign_image_camera"
+        args="$(arg sensor_prefix)/camera_front/image">
+        <remap from="$(arg sensor_prefix)/camera_front/image" to="image_raw"/>
+      </node>
+
+      <node
+        pkg="subt_ros"
+        type="optical_frame_publisher"
+        name="optical_frame_publisher">
+        <remap from="input/image" to="image_raw" />
+        <remap from="output/image" to="optical/image_raw" />
+        <remap from="input/camera_info" to="camera_info" />
+        <remap from="output/camera_info" to="optical/camera_info" />
+      </node>
+
+    </group>
+
+    <!-- Control Commands -->
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_uav_input"
+      args="/$(arg name)/input@mav_msgs/Actuators]ignition.msgs.Actuators">
+    </node>
+
+    <!-- Robot's state -->
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose" to="pose"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose_static"
+      args="/model/$(arg name)/pose_static@tf2_msgs/TFMessage[ignition.msgs.Pose_V">
+      <remap from="/model/$(arg name)/pose_static" to="pose_static"/>
+    </node>
+
+    <node
+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_battery_state"
+      args="/model/$(arg name)/battery/linear_battery/state@sensor_msgs/BatteryState[ignition.msgs.BatteryState">
+      <remap from="/model/$(arg name)/battery/linear_battery/state" to="battery_state"/>
+    </node>
+
+    <node
+      pkg="subt_ros"
+      type="pose_tf_broadcaster"
+      name="pose_tf_broadcaster"/>
+  </group>
+
+</launch>