Merge pull request #1 from srmainwaring/feature/wrsc-devel

Feature/wrsc devel

.gitignore

@@ -0,0 +1 @@
+*.pyc

README.md

@@ -1,61 +1,140 @@
 # ASV Simulator
 
-This package contains plugins and models that support the
-simulation of surface vessels in Gazebo.  
+This package contains plugins and models for the simulation of surface vessels in Gazebo.  
 
-## Installation
+## Dependencies
 
 You will need a working installation of ROS and Gazebo in order to use this package.
-
-The package was built and tested with:
+It has been tested with:
 
 - Gazebo version 9.4.1
 - ROS Melodic Morenia
+- OSX 10.11.6
+
+## Installation
 
-Source your ROS installation:
+Source your ROS installation and update the Gazebo plugin path:
 
 ```bash
-source /opt/ros/melodic/setup.bash
+# Source the ROS and Gazebo environment (add this to ~/.bash_profile)
+$ source /opt/ros/melodic/setup.bash
+$ source /usr/local/share/gazebo/setup.sh
 ```
 
-Create a catkin workspace:
+Create and configure a catkin workspace, clone and build the repo:
 
 ```bash
-mkdir asv_ws
-cd asv_ws
-mkdir src
-catkin init
-```
+# Create a catkin workspace 
+$ mkdir -p <catkin_ws>/src
 
-Clone the ASV Simulator repository:
+# Clone dependencies
+$ cd <catkin_ws>/src
+$ git clone https://github.com/srmainwaring/asv_wave_sim.git
 
-```bash
-cd src
-git clone ssh://[email protected]:/volume1/git/asv_sim.git
+# Clone this repo
+$ git clone https://github.com/srmainwaring/asv_sim.git
+
+# Configure and build
+$ cd <catkin_ws>
+$ catkin config --extend /opt/ros/melodic \
+  --cmake-args -DCMAKE_CXX_STANDARD=14 -DCMAKE_BUILD_TYPE=RelWithDebInfo 
+$ catkin build
+
+# Source the workspace
+$ source devel/setup.bash
+
+# Update the Gazebo plugin path
+$ export GAZEBO_PLUGIN_PATH=$(pwd)/devel/lib:$GAZEBO_PLUGIN_PATH
+
+# Check the Gazebo environment variables
+$ printenv |grep GAZEBO
 ```
 
-Compile the packages:
+## Anemometer Sensor
 
-```bash
-catkin build
+AnemometerSensor to measure wind speed and direction.
+
+### Usage
+
+Add the SDF for the sensor to a `<link>` element of your model.
+
+```xml
+<sensor name="anemometer_sensor" type="anemometer">
+  <always_on>true</always_on>
+  <update_rate>50</update_rate>
+  <topic>anemometer</topic>
+</sensor>
 ```
 
-## Usage
+### Published Topics
+
+1. `~/anemometer` (`gazebo::msgs::Param_V`)
+
+  - `time` (`gazebo::msgs::Time`) \
+    The simulation time of the observation.
 
-Launch a Gazebo session with `roslaunch`:
+  - `true_wind` (`gazebo::msgs::Vector3d`) \
+    The true wind at the link origin.
+
+  - `apparent_wind` (`gazebo::msgs::Vector3d`) \
+    The apparent wind at the link origin
+    (i.e. true wind adjusted for the link velocity).
+
+### Parameters
+
+1. `<always_on>` (`bool`, default: `false`) \
+  Standard `<sensor>` parameter.
+  See [SDF documentation](http://sdformat.org/spec?ver=1.6&elem=sensor) for details.
+
+2. `<update_rate>` (`double`, default: `0`) \
+  Standard `<sensor>` parameter.
+  See [SDF documentation](http://sdformat.org/spec?ver=1.6&elem=sensor) for details.
+
+3. `<topic>` (`string`, default: `~/anemometer`) \
+  Standard `<sensor>` parameter.
+  See [SDF documentation](http://sdformat.org/spec?ver=1.6&elem=sensor) for details.
+
+## Anemometer Example
+
+To run the example:
 
 ```bash
-roslaunch asv_sim_gazebo milford_haven_world.launch verbose:=true
+roslaunch asv_sim_gazebo anemometer_demo_world.launch verbose:=true
+```
+
+The launch file loads the `RegisterSensorsPlugin` system plugin using
+the parameter:  
+
+```xml
+  <arg name="extra_gazebo_args" default="--server-plugin libRegisterSensorsPlugin.so" />
 ```
 
+You should see a world containing a single block at the origin. 
+The figure below shows the block falling to demonstate the effect
+of motion on apparent wind:
+
+![Anemometer World](https://github.com/srmainwaring/asv_sim/wiki/images/anemometer_world_falling.jpg)
+
+Open the Topic Visualization window and select the `anemometer` topic:
+
+![Anemometer Topic](https://github.com/srmainwaring/asv_sim/wiki/images/anemometer_topic.jpg)
+
+When the block is at rest with axis aligned with the world frame,
+the true and apparent wind should be the same. When the block is in motion,
+for instance by setting the `z` pose to `100` and letting it fall, the
+apparent wind will be adjusted for the object's motion.
+
+![Anemometer Rest](https://github.com/srmainwaring/asv_sim/wiki/images/anemometer_topic_view_rest.jpg)
+![Anemometer Falling](https://github.com/srmainwaring/asv_sim/wiki/images/anemometer_topic_view_falling.jpg)
+
 ## License
 
-ASV Simulator is free software: you can redistribute it and/or modify
+This is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 
-ASV Simulator is distributed in the hope that it will be useful,
+This software is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 [GNU General Public License](LICENSE) for more details.

asv_sim/package.xml

@@ -3,19 +3,17 @@
   <name>asv_sim</name>
   <version>0.1.0</version>
   <description>
-    This package contains plugins and models for simulating
-    surface vessels.
+    This package contains plugins and models for simulating surface vessels.
   </description>
-
   <maintainer email="[email protected]">Rhys Mainwaring</maintainer>
   <license>GPLv3</license>
+  <url type="website">https://github.com/srmainwaring/asv_sim</url>
+  <url type="repository">https://github.com/srmainwaring/asv_sim</url>
+  <url type="bugtracker">https://github.com/srmainwaring/asv_sim/issues</url>
   <author email="[email protected]">Rhys Mainwaring</author>
-
   <buildtool_depend>catkin</buildtool_depend>
   <exec_depend>asv_sim_gazebo</exec_depend>
-  <exec_depend>gazebo</exec_depend>
-  <exec_depend>gazebo_ros</exec_depend>
-
+  <exec_depend>asv_sim_gazebo_plugins</exec_depend>
   <export>
     <metapackage />
   </export>

asv_sim_gazebo/CMakeLists.txt

@@ -1,3 +1,10 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(asv_sim_gazebo)
-find_package(catkin REQUIRED)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+catkin_package()
+
+install(DIRECTORY launch worlds
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

asv_sim_gazebo/launch/anemometer_demo_world.launch

@@ -0,0 +1,28 @@
+<launch>
+  <!-- 
+    These are the arguments you can pass this launch file.
+    See: gazebo_ros/launch/empty_world.launch for details.
+  -->
+  <arg name="paused" default="false" />
+  <arg name="use_sim_time" default="true" />
+  <arg name="extra_gazebo_args"
+    default="--server-plugin libRegisterSensorsPlugin.so
+             --gui-plugin libRegisterSensorsPlugin.so"
+  />
+  <arg name="gui" default="true" />
+  <arg name="recording" default="false" />
+  <arg name="debug" default="false" />
+  <arg name="verbose" default="false" />
+
+  <!-- Resume the logic in empty_world.launch, over-riding a number of arguments -->
+  <include file="$(find asv_sim_gazebo)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find asv_sim_gazebo)/worlds/anemometer_demo.world" />
+    <arg name="paused" value="$(arg paused)" />
+    <arg name="use_sim_time" value="$(arg use_sim_time)" />
+    <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)" />
+    <arg name="gui" value="$(arg gui)" />
+    <arg name="recording" value="$(arg recording)" />
+    <arg name="debug" value="$(arg debug)" />
+    <arg name="verbose" value="$(arg verbose)" />
+  </include>
+</launch>

asv_sim_gazebo/launch/empty_world.launch

@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
+  <arg name="paused" default="false"/>
+  <arg name="use_sim_time" default="true"/>
+  <arg name="extra_gazebo_args" default=""/>
+  <arg name="gui" default="true"/>
+  <arg name="recording" default="false"/>
+  <!-- Note that 'headless' is currently non-functional.  See gazebo_ros_pkgs issue #491 (-r arg does not disable
+       rendering, but instead enables recording). The arg definition has been left here to prevent breaking downstream
+       launch files, but it does nothing. -->
+  <arg name="headless" default="false"/>
+  <arg name="debug" default="false"/>
+  <arg name="physics" default="ode"/>
+  <arg name="verbose" default="false"/>
+  <arg name="output" default="screen"/>
+  <arg name="world_name" default="worlds/empty.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
+  <arg name="respawn_gazebo" default="false"/>
+  <arg name="use_clock_frequency" default="false"/>
+  <arg name="pub_clock_frequency" default="100"/>
+  <arg name="enable_ros_network" default="true" />
+
+  <!-- set use_sim_time flag -->
+  <param name="/use_sim_time" value="$(arg use_sim_time)"/>
+
+  <!-- set command arguments -->
+  <arg unless="$(arg paused)" name="command_arg1" value=""/>
+  <arg     if="$(arg paused)" name="command_arg1" value="-u"/>
+  <arg unless="$(arg recording)" name="command_arg2" value=""/>
+  <arg     if="$(arg recording)" name="command_arg2" value="-r"/>
+  <arg unless="$(arg verbose)" name="command_arg3" value=""/>
+  <arg     if="$(arg verbose)" name="command_arg3" value="--verbose"/>
+  <arg unless="$(arg debug)" name="script_type" value="gzserver"/>
+  <arg     if="$(arg debug)" name="script_type" value="debug"/>
+
+  <!-- start gazebo server-->
+  <group if="$(arg use_clock_frequency)">
+    <param name="gazebo/pub_clock_frequency" value="$(arg pub_clock_frequency)" />
+  </group>
+  <group>
+    <param name="gazebo/enable_ros_network" value="$(arg enable_ros_network)" />
+  </group>
+  <node name="gazebo" pkg="gazebo_ros" type="$(arg script_type)" respawn="$(arg respawn_gazebo)" output="$(arg output)"
+	args="$(arg command_arg1) $(arg command_arg2) $(arg command_arg3) -e $(arg physics) $(arg extra_gazebo_args) $(arg world_name)" />
+
+  <!-- start gazebo client -->
+  <group if="$(arg gui)">
+    <node name="gazebo_gui" pkg="gazebo_ros" type="gzclient" respawn="false" output="$(arg output)" args="$(arg command_arg3) $(arg extra_gazebo_args)"/>
+  </group>
+
+</launch>