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[gazebo] Cyberzoo model (#2230)

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* First steps towards detailed cyberzoo model. Got transparency working.

* Fix ambient lighting of cyberzoo_solid

* Import improved model

* Fix optitrack cameras

* Fix lighting colors

* Fix optitrack camera color

* Add orange pole and traffic mat objects

* Fix orange_pole2 smoothing errors

* Fix cyberzoo origin

* Add first draft of cyberzoo surroundings

* Add updated cyberzoo surroundings and outside walls

* Minor fixes to surroundings

* Create cyberzoo world

To-do: set origin coordinates and rotate environment

* Set world coordinates and rotation, fix naming conflict

* Add cyberzoo world with orange poles for orange_avoider

* Remove old cyberzoo model, fix dependencies

* Add daylight in windows on outer walls

* Separate cyberzoo model into layers

Makes it easier to hide parts of the model in the GUI.

* Add cyberzoo surroundings to main model in separate layers

* Restore cyberzoo floor collision box

* Add cyberzoo props

* Minor tweaks to models

* Compress textures

Reduced texture dimensions. Size of model folder is now approx.
20 MB instead of 60+ MB.

* Remove origin marker from worlds

* Move CyberZoo models to submodule

- All new models are moved to the tudelft/gazebo_models repository, which is included as a submodule in sw/ext/tudelft_gazebo_models/
- Changed vehicle and world SDF loading to use URI's, these can be used with multiple search paths
- Added gzclient_launcher.sh script that sets up environment variables before launching gzclient. This prevents errors if the user forgets to add the paths to .bashrc. Added as a tool to control_panel_example.xml
This commit is contained in:
Tom van Dijk
2018-05-30 15:32:10 +02:00
committed by OpenUAS
parent 801a979011
commit c870e27ac5
14 changed files with 49 additions and 1772 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitmodules
+4
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@@ -38,3 +38,7 @@
[submodule "sw/ext/key_generator"] [submodule "sw/ext/key_generator"]
path = sw/ext/key_generator path = sw/ext/key_generator
url = https://github.com/paparazzi/key_generator.git url = https://github.com/paparazzi/key_generator.git
[submodule "sw/ext/tudelft_gazebo_models"]
path = sw/ext/tudelft_gazebo_models
url = https://github.com/tudelft/gazebo_models.git
shallow = true
conf/airframes/examples/ardrone2_gazebo_cyberzoo.xml → conf/airframes/tudelft/ardrone2_orangeavoid_course2017_gazebo.xml
-1
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@@ -192,7 +192,6 @@
</section> </section>
<section name="SIMULATOR" prefix="NPS_"> <section name="SIMULATOR" prefix="NPS_">
<define name="GAZEBO_WORLD" value='"ardrone_cyberzoo.world"'/>
<define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/> <define name="ACTUATOR_NAMES" value="nw_motor, ne_motor, se_motor, sw_motor" type="string[]"/>
<define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/> <define name="JSBSIM_MODEL" value="simple_ardrone2" type="string"/>
<define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/> <define name="SENSORS_PARAMS" value="nps_sensors_params_ardrone2.h" type="string"/>
conf/control_panel_example.xml
+1
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@@ -76,6 +76,7 @@
<arg flag="-r" constant="3"/> <arg flag="-r" constant="3"/>
</program> </program>
<program name="rtcm2ivy" command="sw/ground_segment/misc/rtcm2ivy"/> <program name="rtcm2ivy" command="sw/ground_segment/misc/rtcm2ivy"/>
<program name="Gazebo" command="sw/tools/gzclient_launcher.sh"/>
</section> </section>
<section name="sessions"> <section name="sessions">
conf/flight_plans/tudelft/course2017_avoid_orange_cyberzoo.xml
+4
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@@ -6,6 +6,10 @@
#include "subsystems/electrical.h" #include "subsystems/electrical.h"
#include "subsystems/radio_control.h" #include "subsystems/radio_control.h"
#include "subsystems/ahrs.h" #include "subsystems/ahrs.h"
// Note: use 'git submodule update --init -- sw/ext/tudelft_gazebo_models/'
// to download the required models.
#define NPS_GAZEBO_WORLD "cyberzoo_orange_poles.world"
</header> </header>
<waypoints> <waypoints>
<waypoint lat="51.990631" lon="4.376796" name="HOME"/> <waypoint lat="51.990631" lon="4.376796" name="HOME"/>
conf/simulator/gazebo/models/cyberzoo/cyberzoo.sdf
-103
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@@ -1,103 +0,0 @@
<?xml version='1.0'?>
<sdf version='1.4'>
<model name="cyberzoo">
<static>true</static>
<pose>0 0 0 0 0 0</pose>
<link name="floor">
<pose>0 0 0.01 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>10 10 0.02</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.8 0.2 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>10 10 0.02</size>
</box>
</geometry>
</collision>
</link>
<link name="north_wall">
<pose>0 5 5 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>10 0.2 10</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>10 0.2 10</size>
</box>
</geometry>
</collision>
</link>
<link name="east_wall">
<pose>5 0 5 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>0.2 10 10</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>0.2 10 10</size>
</box>
</geometry>
</collision>
</link>
<link name="south_wall">
<pose>0 -5 6.25 0 0 0</pose>
<visual name="visual">
<geometry>
<box>
<size>10 0.2 7.5</size>
</box>
</geometry>
<material>
<ambient>0 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0 0 0 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
<collision name="collision">
<geometry>
<box>
<size>10 0.2 7.5</size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>
conf/simulator/gazebo/models/cyberzoo/model.config
-15
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@@ -1,15 +0,0 @@
<?xml version="1.0"?>
<model>
<name>Cyberzoo</name>
<version>1.0</version>
<sdf version='1.4'>cyberzoo.sdf</sdf>
<author>
<name>Tom van Dijk</name>
<email>tomvand@users.noreply.github.com</email>
</author>
<description>
Cyberzoo coarse model
</description>
</model>
conf/simulator/gazebo/models/orange_pole/model.config
-15
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@@ -1,15 +0,0 @@
<?xml version="1.0"?>
<model>
<name>Orange Pole</name>
<version>1.0</version>
<sdf version='1.4'>orange_pole.sdf</sdf>
<author>
<name>Tom van Dijk</name>
<email>tomvand@users.noreply.github.com</email>
</author>
<description>
Orange pole as used in the TU Delft Cyberzoo.
</description>
</model>
conf/simulator/gazebo/models/orange_pole/orange_pole.sdf
-43
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@@ -1,43 +0,0 @@
<?xml version='1.0'?>
<sdf version="1.4">
<model name="orange_pole">
<pose>0 0 1.0 0 0 0</pose>
<static>true</static>
<link name="link">
<inertial>
<mass>1.0</mass>
<inertia> <!-- interias are tricky to compute -->
<!-- http://answers.gazebosim.org/question/4372/the-inertia-matrix-explained/ -->
<ixx>0.083</ixx> <!-- for a box: ixx = 0.083 * mass * (y*y + z*z) -->
<ixy>0.0</ixy> <!-- for a box: ixy = 0 -->
<ixz>0.0</ixz> <!-- for a box: ixz = 0 -->
<iyy>0.083</iyy> <!-- for a box: iyy = 0.083 * mass * (x*x + z*z) -->
<iyz>0.0</iyz> <!-- for a box: iyz = 0 -->
<izz>0.083</izz> <!-- for a box: izz = 0.083 * mass * (x*x + y*y) -->
</inertia>
</inertial>
<collision name="collision">
<geometry>
<cylinder>
<radius>0.3</radius>
<length>2.0</length>
</cylinder>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder>
<radius>0.2</radius>
<length>2.0</length>
</cylinder>
</geometry>
<material>
<ambient>1 0.55 0 1</ambient>
<diffuse>1 0.55 0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
</sdf>
conf/simulator/gazebo/world/ardrone_cyberzoo.world
-1588
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File diff suppressed because it is too large Load Diff
conf/userconf/tudelft/course2017_conf.xml
+1 -1
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@@ -14,7 +14,7 @@
<aircraft <aircraft
name="simulate_orange_avoid" name="simulate_orange_avoid"
ac_id="232" ac_id="232"
airframe="airframes/examples/ardrone2_gazebo_cyberzoo.xml" airframe="airframes/tudelft/ardrone2_orangeavoid_course2017_gazebo.xml"
radio="radios/dummy.xml" radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml" telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/tudelft/course2017_avoid_orange_cyberzoo.xml" flight_plan="flight_plans/tudelft/course2017_avoid_orange_cyberzoo.xml"
conf/userconf/tudelft/course2017_control_panel.xml
+1 -1
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@@ -20,7 +20,7 @@
</program> </program>
<program name="Environment Simulator" command="sw/simulator/gaia"/> <program name="Environment Simulator" command="sw/simulator/gaia"/>
<program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/> <program name="NatNet" command="sw/ground_segment/misc/natnet2ivy"/>
<program name="Gazebo" command="gzclient"/> <program name="Gazebo" command="sw/tools/gzclient_launcher.sh"/>
</section> </section>
<section name="sessions"> <section name="sessions">
<session name="Bebop basic"> <session name="Bebop basic">
sw/ext/tudelft_gazebo_models
Submodule
+1
Submodule sw/ext/tudelft_gazebo_models added at ccb6baa57a
sw/simulator/nps/nps_fdm_gazebo.cpp
+31 -5
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@@ -337,15 +337,32 @@ static void init_gazebo(void)
std::exit(-1); std::exit(-1);
} }
cout << "Add Paparazzi model path: " << gazebodir + "models/" << endl; cout << "Add Paparazzi paths: " << gazebodir << endl;
gazebo::common::SystemPaths::Instance()->AddModelPaths( gazebo::common::SystemPaths::Instance()->AddModelPaths(
gazebodir + "models/"); gazebodir + "models/");
sdf::addURIPath("model://", gazebodir + "models/");
sdf::addURIPath("world://", gazebodir + "world/");
cout << "Add TU Delft paths: " << pprz_home + "/sw/ext/tudelft_gazebo_models/" << endl;
gazebo::common::SystemPaths::Instance()->AddModelPaths(
pprz_home + "/sw/ext/tudelft_gazebo_models/models/");
sdf::addURIPath("model://", pprz_home + "/sw/ext/tudelft_gazebo_models/models/");
sdf::addURIPath("world://", pprz_home + "/sw/ext/tudelft_gazebo_models/world/");
// get vehicles // get vehicles
cout << "Load vehicle: " << gazebodir + "models/" + NPS_GAZEBO_AC_NAME + "/" + NPS_GAZEBO_AC_NAME + ".sdf" << endl; string vehicle_uri = "model://" + string(NPS_GAZEBO_AC_NAME) + "/" + string(NPS_GAZEBO_AC_NAME) + ".sdf";
string vehicle_filename = sdf::findFile(vehicle_uri, false);
if(vehicle_filename.empty()) {
cout << "ERROR, could not find vehicle " + vehicle_uri << endl;
std::exit(-1);
}
cout << "Load vehicle: " << vehicle_filename << endl;
sdf::SDFPtr vehicle_sdf(new sdf::SDF()); sdf::SDFPtr vehicle_sdf(new sdf::SDF());
sdf::init(vehicle_sdf); sdf::init(vehicle_sdf);
sdf::readFile(gazebodir + "models/" + NPS_GAZEBO_AC_NAME + "/" + NPS_GAZEBO_AC_NAME + ".sdf", vehicle_sdf); if(!sdf::readFile(vehicle_filename, vehicle_sdf)) {
cout << "ERROR, could not read vehicle " + vehicle_filename << endl;
std::exit(-1);
}
// add or set up sensors before the vehicle gets loaded // add or set up sensors before the vehicle gets loaded
// laser range array // laser range array
@@ -378,10 +395,19 @@ static void init_gazebo(void)
// get world // get world
cout << "Load world: " << gazebodir + "world/" + NPS_GAZEBO_WORLD << endl; string world_uri = "world://" + string(NPS_GAZEBO_WORLD);
string world_filename = sdf::findFile(world_uri, false);
if(world_filename.empty()) {
cout << "ERROR, could not find world " + world_uri << endl;
std::exit(-1);
}
cout << "Load world: " << world_filename << endl;
sdf::SDFPtr world_sdf(new sdf::SDF()); sdf::SDFPtr world_sdf(new sdf::SDF());
sdf::init(world_sdf); sdf::init(world_sdf);
sdf::readFile(gazebodir + "world/" + NPS_GAZEBO_WORLD, world_sdf); if(!sdf::readFile(world_filename, world_sdf)) {
cout << "ERROR, could not read world " + world_filename << endl;
std::exit(-1);
}
// add vehicles // add vehicles
world_sdf->Root()->GetFirstElement()->InsertElement(vehicle_sdf->Root()->GetFirstElement()); world_sdf->Root()->GetFirstElement()->InsertElement(vehicle_sdf->Root()->GetFirstElement());
sw/tools/gzclient_launcher.sh
Executable
+6
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@@ -0,0 +1,6 @@
#!/bin/sh
# This script sets up the GAZEBO_MODEL_PATH for the gazebo client.
export GAZEBO_MODEL_PATH="$PAPARAZZI_HOME/conf/simulator/gazebo/models:$GAZEBO_MODEL_PATH"
export GAZEBO_MODEL_PATH="$PAPARAZZI_HOME/sw/ext/tudelft_gazebo_models/models:$GAZEBO_MODEL_PATH"
exec gzclient