From df5e2291611b3ca40c5c8da4d479150162b68208 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Tue, 1 Nov 2022 22:37:40 +0100 Subject: [PATCH 01/14] Initial layout. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/vrx_gz/CMakeLists.txt b/vrx_gz/CMakeLists.txt index 2ba453a29..98aad7852 100644 --- a/vrx_gz/CMakeLists.txt +++ b/vrx_gz/CMakeLists.txt @@ -102,6 +102,7 @@ list(APPEND VRX_GZ_PLUGINS LightBuoyPlugin PerceptionScoringPlugin NavigationScoringPlugin + ScanDockScoringPlugin SimpleHydrodynamics StationkeepingScoringPlugin Surface From 25f231860709ec7a84da93b1f75010013994b06b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 4 Nov 2022 23:21:41 +0100 Subject: [PATCH 02/14] Part 1. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/src/ScanDockScoringPlugin.cc | 321 +++++++++++++++++++++++ vrx_gz/src/ScanDockScoringPlugin.hh | 201 ++++++++++++++ vrx_gz/src/vrx_gz/bridges.py | 24 +- vrx_gz/src/vrx_gz/launch.py | 8 + vrx_gz/worlds/scan_dock_deliver_task.sdf | 18 ++ 5 files changed, 556 insertions(+), 16 deletions(-) create mode 100644 vrx_gz/src/ScanDockScoringPlugin.cc create mode 100644 vrx_gz/src/ScanDockScoringPlugin.hh diff --git a/vrx_gz/src/ScanDockScoringPlugin.cc b/vrx_gz/src/ScanDockScoringPlugin.cc new file mode 100644 index 000000000..e4dd3ce49 --- /dev/null +++ b/vrx_gz/src/ScanDockScoringPlugin.cc @@ -0,0 +1,321 @@ +/* + * Copyright (C) 2019 Open Source Robotics Foundation + * + * 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. + * +*/ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "ScanDockScoringPlugin.hh" + +using namespace gz; +using namespace vrx; + +/// \brief A class to monitor if the color sequence reported matches the color +/// displayed in the light buoy. +class ColorSequenceChecker +{ + /// \brief Constructor. + /// \param[in] _expectedColors The sequence of expected colors. + /// \param[in] _colorSequenceTopic The topic used to receive the color + /// submisison. + public: ColorSequenceChecker(const std::vector &_expectedColors, + const std::string &_colorSequenceTopic); + /// \brief Enable submissions. + public: void Enable(); + + /// \brief Disable submissions. + public: void Disable(); + + /// \brief Whether a team submitted the color sequence or not. + /// \return True when the submission was received or false otherwise. + public: bool SubmissionReceived() const; + + /// \brief Wheter a team submitted the color sequence and is correct or not. + /// \return True when the team submitted the color sequence and it is correct + /// or false otherwise. + public: bool Correct() const; + + /// \brief Callback executed when a new color submission is received. + /// \param[in] _sequence Contains the submission. + private: void OnColorSequence(const msgs::StringMsg_V &_sequence); + + /// \brief The expected color sequence. + private: std::vector expectedSequence; + + /// \brief Topic where the color sequence should be sent. + private: std::string colorSequenceTopic; + + /// \brief ROS Node handle. + private: transport::Node node; + + /// \brief Whether the color sequence has been received or not. + private: bool colorSequenceReceived = false; + + /// \brief Whether the color sequence received is correct or not. + private: bool correctSequence = false; +}; + +////////////////////////////////////////////////// +ColorSequenceChecker::ColorSequenceChecker( + const std::vector &_expectedColors, + const std::string &_colorSequenceTopic) + : expectedSequence(_expectedColors), + colorSequenceTopic(_colorSequenceTopic) +{ +} + +////////////////////////////////////////////////// +void ColorSequenceChecker::Enable() +{ + this->node.Subscribe(this->colorSequenceTopic, + &ColorSequenceChecker::OnColorSequence, this); +} + +////////////////////////////////////////////////// +void ColorSequenceChecker::Disable() +{ + this->node.Unsubscribe(this->colorSequenceTopic); +} + +///////////////////////////////////////////////// +bool ColorSequenceChecker::SubmissionReceived() const +{ + return this->colorSequenceReceived; +} + +///////////////////////////////////////////////// +bool ColorSequenceChecker::Correct() const +{ + return this->correctSequence; +} + +///////////////////////////////////////////////// +void ColorSequenceChecker::OnColorSequence(const msgs::StringMsg_V &_sequence) +{ + gzmsg << "ColorSequenceChecker: Color sequence submission received:" + << _sequence.DebugString() << std::endl; + + // Sanity check: Only one submission is allowed. + if (this->colorSequenceReceived) + { + gzerr << "The color sequence has already been submitted" << std::endl; + return; + } + + // Sanity check: We should receive three colors. + if (_sequence.data_size() < 3u) + { + gzerr << "Received a color sequence with " << _sequence.data_size() + << " values but expecting three instead. Submission ignored." + << std::endl; + return; + } + + this->colorSequenceReceived = true; + + std::string color1 = _sequence.data(1); + std::string color2 = _sequence.data(2); + std::string color3 = _sequence.data(3); + + std::transform(color1.begin(), color1.end(), color1.begin(), ::tolower); + std::transform(color2.begin(), color2.end(), color2.begin(), ::tolower); + std::transform(color3.begin(), color3.end(), color3.begin(), ::tolower); + + this->correctSequence = + color1 == this->expectedSequence[0] && + color2 == this->expectedSequence[1] && + color3 == this->expectedSequence[2]; + + if (this->correctSequence) + { + gzmsg << "ColorSequenceChecker: Received color sequence is correct. " + << " Additional points will be scored." << std::endl; + } + else + { + gzmsg << "ColorSequenceChecker: Received color sequence is not correct. " + << "No additional points." << std::endl; + } +} + +/// \brief Private ScanDockScoringPlugin data class. +class ScanDockScoringPlugin::Implementation +{ + /// \brief Parse all SDF parameters. + /// \param[in] _sdf SDF elements. + /// \return True when all params were successfully parsed or false otherwise. + public: bool ParseSDF(sdf::ElementPtr _sdf); + + /// \brief In charge of receiving the team submission and compare it with + /// the color sequence from the light buoy. + public: std::unique_ptr colorChecker; + + /// \brief To check colors or not. + public: bool enableColorChecker = true; + + /// \brief Whether we have processed the color sequence submission or not. + public: bool colorSubmissionProcessed = false; + + /// \brief Points granted when the color sequence is correct. + public: double colorBonusPoints = 10.0; + + /// \brief Expected color sequence. + public: std::vector expectedSequence; + + /// \brief A mutex. + private: std::mutex mutex; +}; + +////////////////////////////////////////////////// +bool ScanDockScoringPlugin::Implementation::ParseSDF(sdf::ElementPtr _sdf) +{ + // Enable color checker - default is true + this->enableColorChecker = true; + if (_sdf->HasElement("enable_color_checker")) + this->enableColorChecker = _sdf->Get("enable_color_checker"); + + // Optional: Color sequence topic. + std::string colorSequenceTopic = "/vrx/scan_dock/color_sequence"; + if (_sdf->HasElement("color_sequence_topic")) + colorSequenceTopic = _sdf->Get("color_sequence_topic"); + + // Required: The expected color pattern. + for (auto colorIndex : {"color_1", "color_2", "color_3"}) + { + if (!_sdf->HasElement(colorIndex)) + { + gzerr << "ScanDockScoringPlugin: Missing <" << colorIndex << ">" + << std::endl; + return false; + } + + auto color = _sdf->Get(colorIndex); + std::transform(color.begin(), color.end(), color.begin(), ::tolower); + + // Sanity check: color should be red, green, blue or yellow. + if (color != "red" && color != "green" && + color != "blue" && color != "yellow") + { + gzerr << "ScanDockScoringPlugin:: Invalid color [" << color << "]" + << std::endl; + return false; + } + + this->expectedSequence.push_back(color); + } + + // Optional: the points granted when reported the correct color sequence. + if (_sdf->HasElement("color_bonus_points")) + this->colorBonusPoints = _sdf->Get("color_bonus_points"); + + // Instantiate the color checker. + if (this->enableColorChecker) + { + this->colorChecker.reset( + new ColorSequenceChecker(this->expectedSequence, colorSequenceTopic)); + } + + return true; +} + +////////////////////////////////////////////////// +ScanDockScoringPlugin::ScanDockScoringPlugin() + : ScoringPlugin(), + dataPtr(utils::MakeUniqueImpl()) +{ +} + +////////////////////////////////////////////////// +void ScanDockScoringPlugin::Configure(const sim::Entity &_entity, + const std::shared_ptr &_sdf, + sim::EntityComponentManager &_ecm, sim::EventManager &_eventMgr) +{ + ScoringPlugin::Configure(_entity, _sdf, _ecm, _eventMgr); + + auto sdf = _sdf->Clone(); + if (!this->dataPtr->ParseSDF(sdf)) + { + gzerr << "Error parsing SDF, plugin disabled." << std::endl; + return; + } +} + +////////////////////////////////////////////////// +void ScanDockScoringPlugin::PreUpdate(const sim::UpdateInfo &_info, + sim::EntityComponentManager &_ecm) +{ + if (_info.paused) + return; + + ScoringPlugin::PreUpdate(_info, _ecm); + + if (this->dataPtr->enableColorChecker) + { + // Verify the color checker. + if (!this->dataPtr->colorSubmissionProcessed && + this->dataPtr->colorChecker->SubmissionReceived()) + { + // We need to decide if we grant extra points. + if (this->dataPtr->colorChecker->Correct()) + { + gzmsg << "Adding <" << this->dataPtr->colorBonusPoints + << "> points for correct reporting of color sequence" + << std::endl; + this->SetScore(this->Score() + this->dataPtr->colorBonusPoints); + } + + // We only allow one color sequence submission. + this->dataPtr->colorChecker->Disable(); + this->dataPtr->colorSubmissionProcessed = true; + } + } +} + +////////////////////////////////////////////////// +void ScanDockScoringPlugin::OnReady() +{ +} + +////////////////////////////////////////////////// +void ScanDockScoringPlugin::OnRunning() +{ + if (this->dataPtr->enableColorChecker) + this->dataPtr->colorChecker->Enable(); +} + +GZ_ADD_PLUGIN(ScanDockScoringPlugin, + sim::System, + ScanDockScoringPlugin::ISystemConfigure, + ScanDockScoringPlugin::ISystemPreUpdate) + +GZ_ADD_PLUGIN_ALIAS(vrx::ScanDockScoringPlugin, + "vrx::ScanDockScoringPlugin") diff --git a/vrx_gz/src/ScanDockScoringPlugin.hh b/vrx_gz/src/ScanDockScoringPlugin.hh new file mode 100644 index 000000000..cf745e118 --- /dev/null +++ b/vrx_gz/src/ScanDockScoringPlugin.hh @@ -0,0 +1,201 @@ +/* + * Copyright (C) 2019 Open Source Robotics Foundation + * + * 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. + * + */ + +#ifndef VRX_SCANDOCK_SCORING_PLUGIN_HH_ +#define VRX_SCANDOCK_SCORING_PLUGIN_HH_ + +#include +#include +#include +#include +#include + +#include "ScoringPlugin.hh" + +namespace vrx +{ + /// \brief A plugin for computing the score of the scan, dock, deliver task. + /// This plugin derives from the generic ScoringPlugin class. Check out that + /// plugin for other required SDF elements. + /// This plugin requires the following SDF parameters: + /// + /// : Optional parameter to turn off color checker + /// service - default is true. + /// : Optional parameter with the ROS namespace. + /// : Optional paramter with the ROS service used to + /// receive the color submission. + /// : Optional gazebo topic used to publish the color sequence + /// defaults to /vrx/light_buoy/new_pattern + /// : Expected first color of the sequence (RED, GREEN, BLUE, YELLOW). + /// : Expected second color of the sequence (RED, GREEN, BLUE, YELLOW). + /// : Expected third color of the sequence (RED, GREEN, BLUE, YELLOW). + /// : Points granted when the color sequence is correct. + /// Default value is 10. + /// : Contains at least one of the following blocks: + /// : A bay represents a potential play where a vehicle can dock. It has + /// the following required elements: + /// The name of the bay. This is used for debugging only. + /// The gazebo topic used to receive + /// notifications from the internal activation zone. + /// The gazebo topic used to receive + /// notifications from the external activation zone. + /// Minimum amount of seconds to stay docked to be + /// considered a fully successfull dock. + /// Whether is allowed to dock in this bay or not. + /// : Points granted when the vehicle successfully + /// dock-and-undock in any bay. + /// Default value is 10. + /// : Points granted when the vehicle successfully + /// dock-and-undock in the specified bay. + /// Default value is 10. + /// : Required string with format _, where + /// color can be "red", "green", "blue", "yellow" and color can be "triangle", + /// "circle", "cross", "rectangle". If this parameter is present, a ROS message + /// will be sent in OnReady(). The vehicle should dock in the bay matching this + /// color and shape. + /// : Contains at least one of the following blocks: + /// : A shooting target. It has the following elements: + /// : The name of the topic where the "libContainPlugin" publishes + /// information for this target. + /// : The points awarded for hitting this target. + /// + /// Here's an example: + /// + /// + /// wamv + /// scan_dock_deliver + /// 3 + /// 3 + /// 300 + /// + /// + /// wamv_external_pivot_joint + /// + /// + /// wamv_external_riser + /// + /// + /// + /// + /// vrx + /// scan_dock/color_sequence + /// blue + /// green + /// red + /// + /// + /// + /// + /// bay1 + /// /vrx/dock_2022/bay_1/contain + /// + /// /vrx/dock_2022/bay_1_external/contain + /// + /// /vrx/dock_2022_placard1/symbol + /// 10.0 + /// false + /// red_circle + /// + + /// + /// bay2 + /// /vrx/dock_2022/bay_2/contain + /// + /// /vrx/dock_2022/bay_2_external/contain + /// + /// /vrx/dock_2022_placard2/symbol + /// 10.0 + /// true + /// blue_circle + /// + + /// + /// bay3 + /// /vrx/dock_2022/bay_3/contain + /// + /// /vrx/dock_2022/bay_3_external/contain + /// + /// /vrx/dock_2022_placard3/symbol + /// 10.0 + /// true + /// yellow_rectangle + /// + /// + /// + /// + /// + /// + /// + /// vrx/dock_2022_placard1_big_hole/contain + /// 5 + /// + /// + /// vrx/dock_2022_placard1_small_hole/contain + /// 10 + /// + + /// + /// + /// vrx/dock_2022_placard2_big_hole/contain + /// 5 + /// + /// + /// vrx/dock_2022_placard2_small_hole/contain + /// 10 + /// + + /// + /// + /// vrx/dock_2022_placard3_big_hole/contain + /// 5 + /// + /// + /// vrx/dock_2022_placard3_small_hole/contain + /// 10 + /// + /// + /// + class ScanDockScoringPlugin : public ScoringPlugin + { + /// \brief Constructor. + public: ScanDockScoringPlugin(); + + /// \brief Destructor. + public: ~ScanDockScoringPlugin() override = default; + + // Documentation inherited. + public: void Configure(const gz::sim::Entity &_entity, + const std::shared_ptr &_sdf, + gz::sim::EntityComponentManager &_ecm, + gz::sim::EventManager &_eventMgr) override; + + // Documentation inherited. + public: void PreUpdate(const gz::sim::UpdateInfo &_info, + gz::sim::EntityComponentManager &_ecm) override; + + // Documentation inherited. + private: void OnReady() override; + + // Documentation inherited. + private: void OnRunning() override; + + /// \brief Private data pointer. + GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr) + }; +} +#endif diff --git a/vrx_gz/src/vrx_gz/bridges.py b/vrx_gz/src/vrx_gz/bridges.py index e3d79043a..825a5d590 100644 --- a/vrx_gz/src/vrx_gz/bridges.py +++ b/vrx_gz/src/vrx_gz/bridges.py @@ -4,7 +4,6 @@ def prefix(world_name, model_name, link_name): return f'/world/{world_name}/model/{model_name}/link/{link_name}/sensor' - def imu(world_name, model_name, link_name='base_link'): sensor_prefix = prefix(world_name, model_name, link_name) return Bridge( @@ -14,7 +13,6 @@ def imu(world_name, model_name, link_name='base_link'): ros_type='sensor_msgs/msg/Imu', direction=BridgeDirection.GZ_TO_ROS) - def magnetometer(world_name, model_name, link_name='base_link'): sensor_prefix = prefix(world_name, model_name, link_name) return Bridge( @@ -24,7 +22,6 @@ def magnetometer(world_name, model_name, link_name='base_link'): ros_type='sensor_msgs/msg/MagneticField', direction=BridgeDirection.GZ_TO_ROS) - def air_pressure(world_name, model_name, link_name='base_link'): sensor_prefix = prefix(world_name, model_name, link_name) return Bridge( @@ -42,7 +39,6 @@ def pose(model_name): ros_type='tf2_msgs/msg/TFMessage', direction=BridgeDirection.GZ_TO_ROS) - def pose_static(model_name): return Bridge( gz_topic=f'/model/{model_name}/pose_static', @@ -51,7 +47,6 @@ def pose_static(model_name): ros_type='tf2_msgs/msg/TFMessage', direction=BridgeDirection.GZ_TO_ROS) - def cmd_vel(model_name): return Bridge( gz_topic=f'/model/{model_name}/cmd_vel', @@ -68,7 +63,6 @@ def thrust(model_name, side): ros_type='std_msgs/msg/Float64', direction=BridgeDirection.ROS_TO_GZ) - def thrust_joint_pos(model_name, side): # ROS naming policy indicates that first character of a name must be an alpha # character. In the case below, the gz topic has the joint index 0 as the @@ -107,7 +101,6 @@ def comms_tx(model_name): ros_type='ros_gz_interfaces/msg/Dataframe', direction=BridgeDirection.ROS_TO_GZ) - def comms_rx(model_name): return Bridge( gz_topic=f'/model/{model_name}/rx', @@ -116,7 +109,6 @@ def comms_rx(model_name): ros_type='ros_gz_interfaces/msg/Dataframe', direction=BridgeDirection.GZ_TO_ROS) - def clock(): return Bridge( gz_topic='/clock', @@ -125,7 +117,6 @@ def clock(): ros_type='rosgraph_msgs/msg/Clock', direction=BridgeDirection.GZ_TO_ROS) - def task_info(): return Bridge( gz_topic=f'/vrx/task/info', @@ -134,7 +125,6 @@ def task_info(): ros_type='ros_gz_interfaces/msg/ParamVec', direction=BridgeDirection.GZ_TO_ROS) - def contacts(): return Bridge( gz_topic=f'/vrx/contacts', @@ -143,7 +133,6 @@ def contacts(): ros_type='ros_gz_interfaces/msg/Contacts', direction=BridgeDirection.GZ_TO_ROS) - def stationkeeping_goal(): return Bridge( gz_topic=f'/vrx/stationkeeping/goal', @@ -152,7 +141,6 @@ def stationkeeping_goal(): ros_type='geometry_msgs/msg/PoseStamped', direction=BridgeDirection.GZ_TO_ROS) - def stationkeeping_mean_pose_error(): return Bridge( gz_topic=f'/vrx/stationkeeping/mean_pose_error', @@ -161,7 +149,6 @@ def stationkeeping_mean_pose_error(): ros_type='std_msgs/msg/Float32', direction=BridgeDirection.GZ_TO_ROS) - def stationkeeping_pose_error(): return Bridge( gz_topic=f'/vrx/stationkeeping/pose_error', @@ -170,7 +157,6 @@ def stationkeeping_pose_error(): ros_type='std_msgs/msg/Float32', direction=BridgeDirection.GZ_TO_ROS) - def wayfinding_waypoints(): return Bridge( gz_topic=f'/vrx/wayfinding/waypoints', @@ -179,7 +165,6 @@ def wayfinding_waypoints(): ros_type='geometry_msgs/msg/PoseArray', direction=BridgeDirection.GZ_TO_ROS) - def wayfinding_mean_error(): return Bridge( gz_topic=f'/vrx/wayfinding/mean_error', @@ -188,7 +173,6 @@ def wayfinding_mean_error(): ros_type='std_msgs/msg/Float32', direction=BridgeDirection.GZ_TO_ROS) - def wayfinding_min_errors(): return Bridge( gz_topic=f'/vrx/wayfinding/min_errors', @@ -204,3 +188,11 @@ def perception_reports(): gz_type='ignition.msgs.Pose', ros_type='geometry_msgs/msg/PoseStamped', direction=BridgeDirection.ROS_TO_GZ) + +def color_sequence_reports(): + return Bridge( + gz_topic=f'/vrx/scan_dock_deliver/color_sequence', + ros_topic=f'/vrx/scan_dock_deliver/color_sequence', + gz_type='ignition.msgs.StringMsg_V', + ros_type='ros_gz_interfaces/msg/StringVec', + direction=BridgeDirection.ROS_TO_GZ) diff --git a/vrx_gz/src/vrx_gz/launch.py b/vrx_gz/src/vrx_gz/launch.py index 8dea81c7d..08ad21600 100644 --- a/vrx_gz/src/vrx_gz/launch.py +++ b/vrx_gz/src/vrx_gz/launch.py @@ -50,6 +50,10 @@ 'wildlife_task' ] +SCAN_DOCK_DELIVER_WORLDS = [ + 'scan_dock_deliver_task' +] + def simulation(world_name, headless=False): gz_args = ['-v 4', '-r'] if headless: @@ -112,6 +116,10 @@ def competition_bridges(world_name): elif world_name in WILDLIFE_WORLDS: task_bridges = [ ] + elif world_name in SCAN_DOCK_DELIVER_WORLDS: + task_bridges = [ + vrx_gz.bridges.color_sequence_reports(), + ] bridges.extend(task_bridges) nodes = [] diff --git a/vrx_gz/worlds/scan_dock_deliver_task.sdf b/vrx_gz/worlds/scan_dock_deliver_task.sdf index 15cccbbc4..752524a7a 100644 --- a/vrx_gz/worlds/scan_dock_deliver_task.sdf +++ b/vrx_gz/worlds/scan_dock_deliver_task.sdf @@ -491,5 +491,23 @@ + + + wamv + scan_dock_deliver + /vrx/task/info + 10 + 10 + 300 + /vrx/release + + /vrx/scan_dock_deliver/color_sequence + red + green + yellow + + From f942599bfef24c411f1f6d1412e1a60dc30ce384 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 9 Nov 2022 22:32:38 +0100 Subject: [PATCH 03/14] Tweaks MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/src/ScanDockScoringPlugin.cc | 8 +++++--- vrx_gz/worlds/scan_dock_deliver_task.sdf | 2 +- 2 files changed, 6 insertions(+), 4 deletions(-) diff --git a/vrx_gz/src/ScanDockScoringPlugin.cc b/vrx_gz/src/ScanDockScoringPlugin.cc index e4dd3ce49..e4231e01a 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.cc +++ b/vrx_gz/src/ScanDockScoringPlugin.cc @@ -123,6 +123,7 @@ void ColorSequenceChecker::OnColorSequence(const msgs::StringMsg_V &_sequence) { gzmsg << "ColorSequenceChecker: Color sequence submission received:" << _sequence.DebugString() << std::endl; + std::cout << std::flush; // Sanity check: Only one submission is allowed. if (this->colorSequenceReceived) @@ -142,9 +143,9 @@ void ColorSequenceChecker::OnColorSequence(const msgs::StringMsg_V &_sequence) this->colorSequenceReceived = true; - std::string color1 = _sequence.data(1); - std::string color2 = _sequence.data(2); - std::string color3 = _sequence.data(3); + std::string color1 = _sequence.data(0); + std::string color2 = _sequence.data(1); + std::string color3 = _sequence.data(2); std::transform(color1.begin(), color1.end(), color1.begin(), ::tolower); std::transform(color2.begin(), color2.end(), color2.begin(), ::tolower); @@ -165,6 +166,7 @@ void ColorSequenceChecker::OnColorSequence(const msgs::StringMsg_V &_sequence) gzmsg << "ColorSequenceChecker: Received color sequence is not correct. " << "No additional points." << std::endl; } + std::cout << std::flush; } /// \brief Private ScanDockScoringPlugin data class. diff --git a/vrx_gz/worlds/scan_dock_deliver_task.sdf b/vrx_gz/worlds/scan_dock_deliver_task.sdf index 752524a7a..8ba344942 100644 --- a/vrx_gz/worlds/scan_dock_deliver_task.sdf +++ b/vrx_gz/worlds/scan_dock_deliver_task.sdf @@ -506,7 +506,7 @@ /vrx/scan_dock_deliver/color_sequence red green - yellow + blue From 2c2645b1dcb0eade730719bae74fb49ad55f06ea Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 9 Nov 2022 22:44:01 +0100 Subject: [PATCH 04/14] Tweak MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/src/ScanDockScoringPlugin.cc | 20 +--- vrx_gz/src/ScanDockScoringPlugin.hh | 138 +++------------------------- 2 files changed, 16 insertions(+), 142 deletions(-) diff --git a/vrx_gz/src/ScanDockScoringPlugin.cc b/vrx_gz/src/ScanDockScoringPlugin.cc index e4231e01a..6de7fdb75 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.cc +++ b/vrx_gz/src/ScanDockScoringPlugin.cc @@ -20,16 +20,8 @@ #include #include #include -#include -#include -#include -#include -#include -#include #include -#include #include -#include #include #include #include @@ -59,13 +51,14 @@ class ColorSequenceChecker /// \return True when the submission was received or false otherwise. public: bool SubmissionReceived() const; - /// \brief Wheter a team submitted the color sequence and is correct or not. + /// \brief Whether a team submitted the color sequence and is correct or not. /// \return True when the team submitted the color sequence and it is correct /// or false otherwise. public: bool Correct() const; /// \brief Callback executed when a new color submission is received. - /// \param[in] _sequence Contains the submission. + /// \param[in] _sequence Contains the submission. The size of the vector + /// should be three. private: void OnColorSequence(const msgs::StringMsg_V &_sequence); /// \brief The expected color sequence. @@ -74,7 +67,7 @@ class ColorSequenceChecker /// \brief Topic where the color sequence should be sent. private: std::string colorSequenceTopic; - /// \brief ROS Node handle. + /// \brief The transport node. private: transport::Node node; /// \brief Whether the color sequence has been received or not. @@ -302,11 +295,6 @@ void ScanDockScoringPlugin::PreUpdate(const sim::UpdateInfo &_info, } } -////////////////////////////////////////////////// -void ScanDockScoringPlugin::OnReady() -{ -} - ////////////////////////////////////////////////// void ScanDockScoringPlugin::OnRunning() { diff --git a/vrx_gz/src/ScanDockScoringPlugin.hh b/vrx_gz/src/ScanDockScoringPlugin.hh index cf745e118..52bf24914 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.hh +++ b/vrx_gz/src/ScanDockScoringPlugin.hh @@ -34,141 +34,30 @@ namespace vrx /// This plugin requires the following SDF parameters: /// /// : Optional parameter to turn off color checker - /// service - default is true. - /// : Optional parameter with the ROS namespace. - /// : Optional paramter with the ROS service used to - /// receive the color submission. - /// : Optional gazebo topic used to publish the color sequence - /// defaults to /vrx/light_buoy/new_pattern - /// : Expected first color of the sequence (RED, GREEN, BLUE, YELLOW). - /// : Expected second color of the sequence (RED, GREEN, BLUE, YELLOW). - /// : Expected third color of the sequence (RED, GREEN, BLUE, YELLOW). + /// service. Default is true. + /// : Optional parameter with the topic used to + /// receive the color submission. Default is "/vrx/scan_dock/color_sequence". + /// : Expected 1st color of the sequence (RED, GREEN, BLUE, YELLOW). + /// : Expected 2nd color of the sequence (RED, GREEN, BLUE, YELLOW). + /// : Expected 3rd color of the sequence (RED, GREEN, BLUE, YELLOW). /// : Points granted when the color sequence is correct. /// Default value is 10. - /// : Contains at least one of the following blocks: - /// : A bay represents a potential play where a vehicle can dock. It has - /// the following required elements: - /// The name of the bay. This is used for debugging only. - /// The gazebo topic used to receive - /// notifications from the internal activation zone. - /// The gazebo topic used to receive - /// notifications from the external activation zone. - /// Minimum amount of seconds to stay docked to be - /// considered a fully successfull dock. - /// Whether is allowed to dock in this bay or not. - /// : Points granted when the vehicle successfully - /// dock-and-undock in any bay. - /// Default value is 10. - /// : Points granted when the vehicle successfully - /// dock-and-undock in the specified bay. - /// Default value is 10. - /// : Required string with format _, where - /// color can be "red", "green", "blue", "yellow" and color can be "triangle", - /// "circle", "cross", "rectangle". If this parameter is present, a ROS message - /// will be sent in OnReady(). The vehicle should dock in the bay matching this - /// color and shape. - /// : Contains at least one of the following blocks: - /// : A shooting target. It has the following elements: - /// : The name of the topic where the "libContainPlugin" publishes - /// information for this target. - /// : The points awarded for hitting this target. - /// /// Here's an example: - /// + /// /// /// wamv /// scan_dock_deliver /// 3 /// 3 /// 300 - /// - /// - /// wamv_external_pivot_joint - /// - /// - /// wamv_external_riser - /// - /// + /// /vrx/release /// /// - /// vrx - /// scan_dock/color_sequence - /// blue + /// /vrx/scan_dock_deliver/color_sequence + /// red /// green - /// red - /// - /// - /// - /// - /// bay1 - /// /vrx/dock_2022/bay_1/contain - /// - /// /vrx/dock_2022/bay_1_external/contain - /// - /// /vrx/dock_2022_placard1/symbol - /// 10.0 - /// false - /// red_circle - /// - - /// - /// bay2 - /// /vrx/dock_2022/bay_2/contain - /// - /// /vrx/dock_2022/bay_2_external/contain - /// - /// /vrx/dock_2022_placard2/symbol - /// 10.0 - /// true - /// blue_circle - /// - - /// - /// bay3 - /// /vrx/dock_2022/bay_3/contain - /// - /// /vrx/dock_2022/bay_3_external/contain - /// - /// /vrx/dock_2022_placard3/symbol - /// 10.0 - /// true - /// yellow_rectangle - /// - /// - /// - /// - /// - /// - /// - /// vrx/dock_2022_placard1_big_hole/contain - /// 5 - /// - /// - /// vrx/dock_2022_placard1_small_hole/contain - /// 10 - /// - - /// - /// - /// vrx/dock_2022_placard2_big_hole/contain - /// 5 - /// - /// - /// vrx/dock_2022_placard2_small_hole/contain - /// 10 - /// - - /// - /// - /// vrx/dock_2022_placard3_big_hole/contain - /// 5 - /// - /// - /// vrx/dock_2022_placard3_small_hole/contain - /// 10 - /// - /// + /// blue /// class ScanDockScoringPlugin : public ScoringPlugin { @@ -188,9 +77,6 @@ namespace vrx public: void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override; - // Documentation inherited. - private: void OnReady() override; - // Documentation inherited. private: void OnRunning() override; From e54e92d837c075698453bf791dcef970f8107603 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Wed, 9 Nov 2022 23:08:43 +0100 Subject: [PATCH 05/14] Remove unused bridges. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/src/vrx_gz/bridges.py | 17 ----------------- vrx_gz/src/vrx_gz/launch.py | 1 - 2 files changed, 18 deletions(-) diff --git a/vrx_gz/src/vrx_gz/bridges.py b/vrx_gz/src/vrx_gz/bridges.py index 825a5d590..f99c74990 100644 --- a/vrx_gz/src/vrx_gz/bridges.py +++ b/vrx_gz/src/vrx_gz/bridges.py @@ -4,15 +4,6 @@ def prefix(world_name, model_name, link_name): return f'/world/{world_name}/model/{model_name}/link/{link_name}/sensor' -def imu(world_name, model_name, link_name='base_link'): - sensor_prefix = prefix(world_name, model_name, link_name) - return Bridge( - gz_topic=f'{sensor_prefix}/imu_sensor/imu', - ros_topic='imu/data', - gz_type='ignition.msgs.IMU', - ros_type='sensor_msgs/msg/Imu', - direction=BridgeDirection.GZ_TO_ROS) - def magnetometer(world_name, model_name, link_name='base_link'): sensor_prefix = prefix(world_name, model_name, link_name) return Bridge( @@ -125,14 +116,6 @@ def task_info(): ros_type='ros_gz_interfaces/msg/ParamVec', direction=BridgeDirection.GZ_TO_ROS) -def contacts(): - return Bridge( - gz_topic=f'/vrx/contacts', - ros_topic=f'/vrx/contacts', - gz_type='ignition.msgs.Contacts', - ros_type='ros_gz_interfaces/msg/Contacts', - direction=BridgeDirection.GZ_TO_ROS) - def stationkeeping_goal(): return Bridge( gz_topic=f'/vrx/stationkeeping/goal', diff --git a/vrx_gz/src/vrx_gz/launch.py b/vrx_gz/src/vrx_gz/launch.py index 08ad21600..d848ee4b8 100644 --- a/vrx_gz/src/vrx_gz/launch.py +++ b/vrx_gz/src/vrx_gz/launch.py @@ -92,7 +92,6 @@ def simulation(world_name, headless=False): def competition_bridges(world_name): bridges = [ vrx_gz.bridges.clock(), - vrx_gz.bridges.contacts(), vrx_gz.bridges.task_info(), ] From 30b543ab8d8b618d1e85546081761bd54591d49b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 11 Nov 2022 00:23:29 +0100 Subject: [PATCH 06/14] Dock checker added. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/src/ScanDockScoringPlugin.cc | 413 +++++++++++++++++++++++++++- vrx_gz/src/ScanDockScoringPlugin.hh | 3 + 2 files changed, 415 insertions(+), 1 deletion(-) diff --git a/vrx_gz/src/ScanDockScoringPlugin.cc b/vrx_gz/src/ScanDockScoringPlugin.cc index 6de7fdb75..745b0ff5f 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.cc +++ b/vrx_gz/src/ScanDockScoringPlugin.cc @@ -15,6 +15,8 @@ * */ +#include +#include #include #include #include @@ -162,6 +164,245 @@ void ColorSequenceChecker::OnColorSequence(const msgs::StringMsg_V &_sequence) std::cout << std::flush; } +/// \brief A class to monitor if the vehicle docked in a given bay. +class DockChecker +{ + /// \brief Constructor. + /// \param[in] _name The name of the checker (only used for debugging). + /// \param[in] _internalActivationTopic The gazebo topic used to receive + /// notifications about the internal activation zone. + /// \param[in] _externalActivationTopic The gazebo topic used to receive + /// notifications about the external activation zone. + /// from the "contain" plugin. + /// \param[in] _minDockTime Minimum amount of seconds to stay docked to be + /// considered a fully successfull dock. + /// \param[in] _dockAllowed Whether is allowed to dock in this bay or not. + /// \param[in] _announceSymbol Optional symbol to announce via msgs. + /// \param[in] _symbolTopic Optional topic to announce the symbol. + public: DockChecker(const std::string &_name, + const std::string &_internalActivationTopic, + const std::string &_exteriorActivationTopic, + const std::chrono::duration _minDockTime, + const bool _dockAllowed, + const std::string &_announceSymbol, + const std::string &_symbolTopic); + + /// \brief The name of this checker. + public: std::string name; + + /// \brief Whether the robot has been successfully docked in this bay or not. + /// \return True when the robot has been docked or false otherwise. + public: bool AnytimeDocked() const; + + /// \brief Whether the robot is currently at the entrance of the bay. + /// \return True when the robot is at the entrance or false othwerwise. + public: bool AtEntrance() const; + + /// \brief Whether it is allowed to dock in this bay or not. + public: bool Allowed() const; + + /// \brief Announce the symbol of the bay. + public: void AnnounceSymbol(); + + /// \brief Update function that needs to be executed periodically. + /// \param[in] _info Update information. + public: void Update(const sim::UpdateInfo &_info); + + /// \brief Callback triggered when the vehicle enters or exits the activation + /// zone. + /// \param[in] _msg The current state (0: exiting, 1: entering). + private: void OnInternalActivationEvent(const msgs::Boolean &_msg); + + /// \brief Callback triggered when the vehicle enters or exits the activation + /// zone. + /// \param[in] _msg The current state (0: exiting, 1: entering). + private: void OnExternalActivationEvent(const msgs::Boolean &_msg); + + /// \brief The gazebo topic used to receive notifications + /// from the internal activation zone. + private: std::string internalActivationTopic; + + /// \brief The gazebo topic used to receive notifications + /// from the external activation zone. + private: std::string externalActivationTopic; + + /// \brief Minimum amount of seconds to stay docked to be + /// considered a fully successfull dock. + private: std::chrono::duration minDockTime; + + /// \brief Current simulation time. + private: std::chrono::duration simTime; + + /// \brief Whether is allowed to dock in this bay or not. + private: bool dockAllowed; + + /// \brief Timer used to calculate the elapsed time docked in the bay. + private: std::chrono::duration timer; + + /// \brief Ignition Transport node used for communication. + private: transport::Node ignNode; + + /// \brief Whether the vehicle has successfully docked or not. + private: bool anytimeDocked = false; + + /// \brief Whether the vehicle is at the entrance of the bay or not. + private: bool atEntrance = false; + + /// \brief Color and shape of symbol to announce. E.g.: red_cross, blue_circle + private: msgs::StringMsg announceSymbol; + + /// \brief Publisher for the symbol. + private: transport::Node::Publisher symbolPub; + + /// \brief Topic where the target symbol will be published. + private: std::string symbolTopic = "/vrx/scan_dock/placard_symbol"; + + /// \brief The transport node. + private: transport::Node node; + + /// \brief Publish the placard symbols. + private: transport::Node::Publisher dockPlacardPub; +}; + +///////////////////////////////////////////////// +DockChecker::DockChecker(const std::string &_name, + const std::string &_internalActivationTopic, + const std::string &_externalActivationTopic, + const std::chrono::duration _minDockTime, const bool _dockAllowed, + const std::string &_announceSymbol, const std::string &_symbolTopic) + : name(_name), + internalActivationTopic(_internalActivationTopic), + externalActivationTopic(_externalActivationTopic), + minDockTime(_minDockTime), + dockAllowed(_dockAllowed), + symbolTopic(_symbolTopic) +{ + this->timer = + std::chrono::duration(std::numeric_limits::max()); + + this->announceSymbol.set_data(_announceSymbol); + + // Subscriber to receive ContainPlugin updates. + this->node.Subscribe(this->internalActivationTopic, + &DockChecker::OnInternalActivationEvent, this); + this->node.Subscribe(this->externalActivationTopic, + &DockChecker::OnExternalActivationEvent, this); +} + +///////////////////////////////////////////////// +bool DockChecker::AnytimeDocked() const +{ + return this->anytimeDocked; +} + +///////////////////////////////////////////////// +bool DockChecker::AtEntrance() const +{ + return this->atEntrance; +} + +///////////////////////////////////////////////// +bool DockChecker::Allowed() const +{ + return this->dockAllowed; +} + +///////////////////////////////////////////////// +void DockChecker::AnnounceSymbol() +{ + // Override the docks own sdf parameters + this->dockPlacardPub = this->node.Advertise( + this->symbolTopic); + + msgs::StringMsg_V symbol; + // Add the shape. + symbol.add_data(this->announceSymbol.data().substr( + this->announceSymbol.data().find("_") + 1)); + // Add the color. + symbol.add_data(this->announceSymbol.data().substr( + 0, this->announceSymbol.data().find("_"))); + + this->dockPlacardPub.Publish(symbol); + + if (this->dockAllowed) + { + this->symbolPub = this->node.Advertise(this->symbolTopic); + this->symbolPub.Publish(this->announceSymbol); + } +} + +///////////////////////////////////////////////// +void DockChecker::Update(const sim::UpdateInfo &_info) +{ + this->simTime = _info.simTime; + + if (this->anytimeDocked) + return; + + auto elapsed = _info.simTime - this->timer; + this->anytimeDocked = elapsed >= this->minDockTime; + + if (this->anytimeDocked) + { + gzmsg << "Successfully stayed in dock for " << this->minDockTime.count() + << " seconds, transitioning to state" << std::endl; + } +} + +///////////////////////////////////////////////// +void DockChecker::OnInternalActivationEvent(const msgs::Boolean &_msg) +{ + // Currently docked. + if (_msg.data() == 1) + { + this->timer = this->simTime; + gzmsg << "Entering internal dock activation zone, transitioning to " + << " state in [" << this->name << "]." << std::endl; + } + + // Currently undocked. + if (_msg.data() == 0) + { + this->timer = + std::chrono::duration(std::numeric_limits::max()); + if (this->AnytimeDocked()) + { + gzmsg << "Leaving internal dock activation zone in [" << this->name + << "] after required time - transitioning to state." + << std::endl; + } + else + { + gzmsg << "Leaving internal dock activation zone in [" << this->name + << "] early - transitioning back to state." + << std::endl; + } + } + + gzdbg << "[" << this->name << "] OnInternalActivationEvent(): " + << _msg.data() << std::endl; +} + +///////////////////////////////////////////////// +void DockChecker::OnExternalActivationEvent(const msgs::Boolean &_msg) +{ + this->atEntrance = _msg.data() == 1; + + if (this->atEntrance) + { + gzmsg << "Entering external dock activation zone in [" << this->name + << "]" << std::endl; + } + else + { + gzmsg << "Leaving external dock activation zone in [" << this->name + << "]" << std::endl; + } + + gzdbg << "[" << this->name << "] OnExternalActivationEvent(): " + << _msg.data() << std::endl; +} + /// \brief Private ScanDockScoringPlugin data class. class ScanDockScoringPlugin::Implementation { @@ -174,6 +415,9 @@ class ScanDockScoringPlugin::Implementation /// the color sequence from the light buoy. public: std::unique_ptr colorChecker; + /// \brief Monitor all the available bays to decide when the vehicle docks. + public: std::vector> dockCheckers; + /// \brief To check colors or not. public: bool enableColorChecker = true; @@ -183,11 +427,19 @@ class ScanDockScoringPlugin::Implementation /// \brief Points granted when the color sequence is correct. public: double colorBonusPoints = 10.0; + /// \brief Points granted when the vehicle successfully + /// dock-and-undock in any bay + public: double dockBonusPoints = 10.0; + + /// \brief Points granted when the vehicle successfully + /// dock-and-undock in the specified bay. + public: double correctDockBonusPoints = 10.0; + /// \brief Expected color sequence. public: std::vector expectedSequence; /// \brief A mutex. - private: std::mutex mutex; + public: std::mutex mutex; }; ////////////////////////////////////////////////// @@ -239,6 +491,107 @@ bool ScanDockScoringPlugin::Implementation::ParseSDF(sdf::ElementPtr _sdf) new ColorSequenceChecker(this->expectedSequence, colorSequenceTopic)); } + // Required: Parse the bays. + if (!_sdf->HasElement("bays")) + { + gzerr << " missing" << std::endl; + return false; + } + + auto baysElem = _sdf->GetElement("bays"); + if (!baysElem->HasElement("bay")) + { + gzerr << " missing" << std::endl; + return false; + } + + auto bayElem = baysElem->GetElement("bay"); + while (bayElem) + { + // Required: bay name. + if (!bayElem->GetElement("name")) + { + gzerr << " missing" << std::endl; + return false; + } + std::string bayName = bayElem->Get("name"); + + // Required: internal_activation topic. + if (!bayElem->GetElement("internal_activation_topic")) + { + gzerr << " missing" << std::endl; + return false; + } + std::string internalActivationTopic = + bayElem->Get("internal_activation_topic"); + + // Required: external_activation topic. + if (!bayElem->GetElement("external_activation_topic")) + { + gzerr << " missing" << std::endl; + return false; + } + std::string externalActivationTopic = + bayElem->Get("external_activation_topic"); + + // Required: gazebo symbol topic. + if (!bayElem->GetElement("symbol_topic")) + { + gzerr << " missing" << std::endl; + return false; + } + std::string symbolTopic = bayElem->Get("symbol_topic"); + + // Required: minimum time to be considered "docked". + if (!bayElem->GetElement("min_dock_time")) + { + gzerr << " missing" << std::endl; + return false; + } + double minDockTime = bayElem->Get("min_dock_time"); + + // Required: dock allowed. + if (!bayElem->GetElement("dock_allowed")) + { + gzerr << " missing" << std::endl; + return false; + } + bool dockAllowed = bayElem->Get("dock_allowed"); + + std::string announceSymbol = ""; + if (!bayElem->HasElement("symbol")) + { + gzerr << " not found" << std::endl; + } + announceSymbol = bayElem->GetElement("symbol")->Get(); + + // Create a new dock checker. + std::unique_ptr dockChecker( + new DockChecker(bayName, internalActivationTopic, + externalActivationTopic, std::chrono::duration(minDockTime), + dockAllowed, announceSymbol, symbolTopic)); + + // Add the dock checker. + this->dockCheckers.push_back(std::move(dockChecker)); + + // Process the next checker. + bayElem = bayElem->GetNextElement(); + } + + // Optional: the points granted when the vehicle docks in any bay. + if (_sdf->HasElement("dock_bonus_points")) + { + this->dockBonusPoints = + _sdf->GetElement("dock_bonus_points")->Get(); + } + + // Optional: the points granted when the vehicle docks in the expected bay. + if (_sdf->HasElement("correct_dock_bonus_points")) + { + this->correctDockBonusPoints = + _sdf->GetElement("correct_dock_bonus_points")->Get(); + } + return true; } @@ -293,6 +646,60 @@ void ScanDockScoringPlugin::PreUpdate(const sim::UpdateInfo &_info, this->dataPtr->colorSubmissionProcessed = true; } } + + // Verify the dock checkers. + for (auto &dockChecker : this->dataPtr->dockCheckers) + { + // We always need to update the checkers. + dockChecker->Update(_info); + + // Nothing to do if nobody ever docked or we're still inside the bay. + if (!dockChecker->AnytimeDocked() || !dockChecker->AtEntrance()) + continue; + + // Points granted for docking! + this->SetScore(this->Score() + this->dataPtr->dockBonusPoints); + if (this->TaskState() == "running") + { + gzmsg << "Successfully docked in [" << dockChecker->name << "]" + << ". Awarding " << this->dataPtr->dockBonusPoints << " points." + << std::endl; + } + + // Is this the right bay? + if (dockChecker->Allowed()) + { + this->SetScore(this->Score() + this->dataPtr->correctDockBonusPoints); + if (this->TaskState() == "running") + { + gzmsg << "Docked in correct dock [" << dockChecker->name << "]" + << ". Awarding " << this->dataPtr->correctDockBonusPoints + << " more points." << std::endl; + } + } + else + { + if (this->TaskState() == "running") + { + gzmsg << "Docked in incorrect dock [" << dockChecker->name << "]" + << ". No additional points." << std::endl; + } + } + + // Time to finish the task as the vehicle docked. + // Note that we only allow to dock one time. This is to prevent teams + // docking in all possible bays. + this->Exit(); + break; + } +} + +////////////////////////////////////////////////// +void ScanDockScoringPlugin::OnReady() +{ + // Announce the symbol if needed. + for (auto &dockChecker : this->dataPtr->dockCheckers) + dockChecker->AnnounceSymbol(); } ////////////////////////////////////////////////// @@ -300,6 +707,10 @@ void ScanDockScoringPlugin::OnRunning() { if (this->dataPtr->enableColorChecker) this->dataPtr->colorChecker->Enable(); + + // Announce the symbol if needed. + for (auto &dockChecker : this->dataPtr->dockCheckers) + dockChecker->AnnounceSymbol(); } GZ_ADD_PLUGIN(ScanDockScoringPlugin, diff --git a/vrx_gz/src/ScanDockScoringPlugin.hh b/vrx_gz/src/ScanDockScoringPlugin.hh index 52bf24914..a97342d29 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.hh +++ b/vrx_gz/src/ScanDockScoringPlugin.hh @@ -77,6 +77,9 @@ namespace vrx public: void PreUpdate(const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override; + // Documentation inherited. + private: void OnReady() override; + // Documentation inherited. private: void OnRunning() override; From 73299ed2d4c4632f0f1315ebd6d1237a19450876 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 11 Nov 2022 18:27:12 +0100 Subject: [PATCH 07/14] Testing performer plugins. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/config/wamv.yaml | 4 +- vrx_gz/launch/competition.launch.py | 2 +- vrx_gz/models/dock_2022/model.sdf | 168 +++++++++++++++-------- vrx_gz/worlds/scan_dock_deliver_task.sdf | 56 ++++++++ 4 files changed, 173 insertions(+), 57 deletions(-) diff --git a/vrx_gz/config/wamv.yaml b/vrx_gz/config/wamv.yaml index c0030155a..e8ad417da 100644 --- a/vrx_gz/config/wamv.yaml +++ b/vrx_gz/config/wamv.yaml @@ -83,7 +83,7 @@ joy_teleop: axis_mappings: data: axis: 1 - scale: 1000.0 + scale: 400.0 offset: 0 right_thrust: @@ -94,7 +94,7 @@ joy_teleop: axis_mappings: data: axis: 3 - scale: 1000.0 + scale: 400.0 offset: 0 left_pos: diff --git a/vrx_gz/launch/competition.launch.py b/vrx_gz/launch/competition.launch.py index 9d13e862e..6b63520e8 100644 --- a/vrx_gz/launch/competition.launch.py +++ b/vrx_gz/launch/competition.launch.py @@ -39,7 +39,7 @@ def launch(context, *args, **kwargs): with open(config_file, 'r') as stream: models = Model.FromConfig(stream) else: - m = Model('wamv', 'wam-v', [-532, 162, 0, 0, 0, 1]) + m = Model('wamv', 'wam-v', [-492, 186, 0, 0, 0, 1.2]) if robot_urdf and robot_urdf != '': m.set_urdf(robot_urdf) models.append(m) diff --git a/vrx_gz/models/dock_2022/model.sdf b/vrx_gz/models/dock_2022/model.sdf index 1018b801d..b2d4679a6 100644 --- a/vrx_gz/models/dock_2022/model.sdf +++ b/vrx_gz/models/dock_2022/model.sdf @@ -87,10 +87,9 @@ - + 0 1 0 + 0 1 0 + 0 1 0 1 @@ -102,10 +101,9 @@ - + 0 1 0 + 0 1 0 + 0 1 0 1 --> @@ -120,14 +118,13 @@ - + + + + /vrx/dock_2022/bay_1/contains + 0 -4.5 -1.5 0 0 0 + + + 1.5 4 2 + + + + + + /vrx/dock_2022/bay_1_external/contains + 0 -9.5 -1.5 0 0 0 + + + 5.5 1.5 2 + + + @@ -236,10 +256,9 @@ - + 0 1 0 + 0 1 0 + 0 1 0 1 @@ -251,10 +270,9 @@ - + 0 1 0 + 0 1 0 + 0 1 0 1 --> @@ -269,14 +287,13 @@ - + + + + /vrx/dock_2022/bay_2/contains + 0 -4.5 -1.5 0 0 0 + + + 1.5 4 2 + + + + + + /vrx/dock_2022/bay_2_external/contains + 0 -9.5 -1.5 0 0 0 + + + 5.5 1.5 2 + + + @@ -385,10 +425,9 @@ - + 0 1 0 + 0 1 0 + 0 1 0 1 @@ -400,10 +439,9 @@ - + 0 1 0 + 0 1 0 + 0 1 0 1 --> @@ -418,14 +456,13 @@ - + + + + /vrx/dock_2022/bay_3/contains + 0 -4.5 -1.5 0 0 0 + + + 1.5 4 2 + + + + + + /vrx/dock_2022/bay_3_external/contains + 0 -9.5 -1.5 0 0 0 + + + 5.5 1.5 2 + + + diff --git a/vrx_gz/worlds/scan_dock_deliver_task.sdf b/vrx_gz/worlds/scan_dock_deliver_task.sdf index 34c03b38d..26e18c8d6 100644 --- a/vrx_gz/worlds/scan_dock_deliver_task.sdf +++ b/vrx_gz/worlds/scan_dock_deliver_task.sdf @@ -532,6 +532,19 @@ dock_2022 -480 190 0 0 0 1.0 + + + @@ -550,6 +563,49 @@ red green blue + + 15 + 5 + + + bay1 + /vrx/dock_2022/bay_1/contain + /vrx/dock_2022/bay_1_external/contain + /vrx/dock_2022_placard1/symbol + 10.0 + True + red_rectangle + + + bay2 + /vrx/dock_2022/bay_2/contain + /vrx/dock_2022/bay_2_external/contain + /vrx/dock_2022_placard2/symbol + 10.0 + False + blue_triangle + + + bay3 + /vrx/dock_2022/bay_3/contain + /vrx/dock_2022/bay_3_external/contain + /vrx/dock_2022_placard3/symbol + 10.0 + False + yellow_circle + + + + + + + wamv + + + 2 2 2 + + + From 9e689fb10ede12234d5b99ea09af92db58ee5eec Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Fri, 11 Nov 2022 22:24:52 +0100 Subject: [PATCH 08/14] Testing MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/models/wam-v/model.sdf.erb | 11 +++++++++++ vrx_gz/worlds/scan_dock_deliver_task.sdf | 2 +- 2 files changed, 12 insertions(+), 1 deletion(-) diff --git a/vrx_gz/models/wam-v/model.sdf.erb b/vrx_gz/models/wam-v/model.sdf.erb index 92ec1d445..b735b39a2 100644 --- a/vrx_gz/models/wam-v/model.sdf.erb +++ b/vrx_gz/models/wam-v/model.sdf.erb @@ -282,5 +282,16 @@ end + + + wamv + + + 4 2 2 + + + + + diff --git a/vrx_gz/worlds/scan_dock_deliver_task.sdf b/vrx_gz/worlds/scan_dock_deliver_task.sdf index 26e18c8d6..5a4fe8da0 100644 --- a/vrx_gz/worlds/scan_dock_deliver_task.sdf +++ b/vrx_gz/worlds/scan_dock_deliver_task.sdf @@ -602,7 +602,7 @@ wamv - 2 2 2 + 4 2 2 From 2b75230d52a0739aa31220368130807cb877ebf3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Thu, 17 Nov 2022 22:00:03 +0100 Subject: [PATCH 09/14] Docking working. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/models/dock_2022/model.sdf | 191 +- vrx_gz/models/wam-v/model.sdf.erb | 11 - vrx_gz/src/ScanDockScoringPlugin.cc | 143 +- vrx_gz/src/ScanDockScoringPlugin.hh | 53 + vrx_gz/worlds/scan_dock_deliver_task.sdf | 28 +- .../models/cpu_cases/mesh/cpu_cases.dae | 9610 +---------------- .../wamv_description/urdf/cpu_cases.xacro | 42 +- 7 files changed, 425 insertions(+), 9653 deletions(-) diff --git a/vrx_gz/models/dock_2022/model.sdf b/vrx_gz/models/dock_2022/model.sdf index b2d4679a6..2a10f0dbe 100644 --- a/vrx_gz/models/dock_2022/model.sdf +++ b/vrx_gz/models/dock_2022/model.sdf @@ -118,7 +118,7 @@ - + - /vrx/dock_2022/bay_1/contains @@ -174,7 +174,7 @@ 5.5 1.5 2 - + --> @@ -287,7 +287,7 @@ - + - /vrx/dock_2022/bay_2/contains @@ -331,9 +331,9 @@ 1.5 4 2 - + --> - /vrx/dock_2022/bay_2_external/contains @@ -343,7 +343,7 @@ 5.5 1.5 2 - + --> @@ -456,7 +456,7 @@ - + - /vrx/dock_2022/bay_3/contains @@ -512,10 +512,171 @@ 5.5 1.5 2 - + --> - + + + + 1.5 3 0.25 0 0 1.5707963267948966 + + 0 1 0 + 0 1 0 + 0 1 0 1 + + + + 1.5 4 2 + + + 0.0 + + + + 1.5 9 0.25 0 0 1.5707963267948966 + + 0 1 0 + 0 1 0 + 0 1 0 1 + + + + 1.5 4 2 + + + 0.0 + + + + 1.5 15 0.25 0 0 1.5707963267948966 + + 0 1 0 + 0 1 0 + 0 1 0 1 + + + + 1.5 4 2 + + + 0.0 + + + + -3.5 3 0.25 0 0 1.5707963267948966 + + 1 0 0 + 1 0 0 + 1 0 0 1 + + + + 5.5 1.5 2 + + + + + + -3.5 9 0.25 0 0 1.5707963267948966 + + 1 0 0 + 1 0 0 + 1 0 0 1 + + + + 5.5 1.5 2 + + + + + + -3.5 15 0.25 0 0 1.5707963267948966 + + 1 0 0 + 1 0 0 + 1 0 0 1 + + + + 5.5 1.5 2 + + + + + + + + /vrx/dock_2022/bay_1/contain + 1.5 3 0.25 0 0 1.5707963267948966 + + + 1.5 4 2 + + + + + + /vrx/dock_2022/bay_2/contain + 1.5 9 0.25 0 0 1.5707963267948966 + + + 1.5 4 2 + + + + + + /vrx/dock_2022/bay_3/contain + 1.5 15 0.25 0 0 1.5707963267948966 + + + 1.5 4 2 + + + + + + /vrx/dock_2022/bay_1_external/contain + -3.5 3 0.25 0 0 1.5707963267948966 + + + 5.5 1.5 2 + + + + + + /vrx/dock_2022/bay_2_external/contain + -3.5 9 0.25 0 0 1.5707963267948966 + + + 5.5 1.5 2 + + + + + + /vrx/dock_2022/bay_3_external/contain + -3.5 15 0.25 0 0 1.5707963267948966 + + + 5.5 1.5 2 + + + diff --git a/vrx_gz/models/wam-v/model.sdf.erb b/vrx_gz/models/wam-v/model.sdf.erb index b735b39a2..92ec1d445 100644 --- a/vrx_gz/models/wam-v/model.sdf.erb +++ b/vrx_gz/models/wam-v/model.sdf.erb @@ -282,16 +282,5 @@ end - - - wamv - - - 4 2 2 - - - - - diff --git a/vrx_gz/src/ScanDockScoringPlugin.cc b/vrx_gz/src/ScanDockScoringPlugin.cc index 745b0ff5f..d35c95480 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.cc +++ b/vrx_gz/src/ScanDockScoringPlugin.cc @@ -16,12 +16,15 @@ */ #include +#include #include #include #include #include #include #include +#include +#include #include #include #include @@ -177,7 +180,8 @@ class DockChecker /// \param[in] _minDockTime Minimum amount of seconds to stay docked to be /// considered a fully successfull dock. /// \param[in] _dockAllowed Whether is allowed to dock in this bay or not. - /// \param[in] _announceSymbol Optional symbol to announce via msgs. + /// \param[in] _announceSymbol Symbol to announce via msgs. + /// E.g.: red_cross, blue_circle /// \param[in] _symbolTopic Optional topic to announce the symbol. public: DockChecker(const std::string &_name, const std::string &_internalActivationTopic, @@ -211,23 +215,23 @@ class DockChecker /// \brief Callback triggered when the vehicle enters or exits the activation /// zone. /// \param[in] _msg The current state (0: exiting, 1: entering). - private: void OnInternalActivationEvent(const msgs::Boolean &_msg); + private: void OnInternalActivationEvent(const msgs::Pose &_msg); /// \brief Callback triggered when the vehicle enters or exits the activation /// zone. /// \param[in] _msg The current state (0: exiting, 1: entering). - private: void OnExternalActivationEvent(const msgs::Boolean &_msg); + private: void OnExternalActivationEvent(const msgs::Pose &_msg); - /// \brief The gazebo topic used to receive notifications - /// from the internal activation zone. + /// \brief The topic used to receive notifications from the internal + /// activation zone. private: std::string internalActivationTopic; - /// \brief The gazebo topic used to receive notifications - /// from the external activation zone. + /// \brief The topic used to receive notifications from the external + /// activation zone. private: std::string externalActivationTopic; - /// \brief Minimum amount of seconds to stay docked to be - /// considered a fully successfull dock. + /// \brief Minimum amount of seconds to stay docked to be considered a fully + /// successfull dock. private: std::chrono::duration minDockTime; /// \brief Current simulation time. @@ -239,20 +243,14 @@ class DockChecker /// \brief Timer used to calculate the elapsed time docked in the bay. private: std::chrono::duration timer; - /// \brief Ignition Transport node used for communication. - private: transport::Node ignNode; - /// \brief Whether the vehicle has successfully docked or not. private: bool anytimeDocked = false; /// \brief Whether the vehicle is at the entrance of the bay or not. private: bool atEntrance = false; - /// \brief Color and shape of symbol to announce. E.g.: red_cross, blue_circle - private: msgs::StringMsg announceSymbol; - - /// \brief Publisher for the symbol. - private: transport::Node::Publisher symbolPub; + /// \brief Shape and color of symbol to announce. E.g.: ["red", "cross"] + private: msgs::StringMsg_V symbol; /// \brief Topic where the target symbol will be published. private: std::string symbolTopic = "/vrx/scan_dock/placard_symbol"; @@ -277,16 +275,33 @@ DockChecker::DockChecker(const std::string &_name, dockAllowed(_dockAllowed), symbolTopic(_symbolTopic) { + // Override the docks own sdf parameters + this->dockPlacardPub = this->node.Advertise( + this->symbolTopic); + + // Add the shape. + this->symbol.add_data(_announceSymbol.substr(_announceSymbol.find("_") + 1)); + // Add the color. + this->symbol.add_data(_announceSymbol.substr(0, _announceSymbol.find("_"))); + this->timer = std::chrono::duration(std::numeric_limits::max()); - this->announceSymbol.set_data(_announceSymbol); - // Subscriber to receive ContainPlugin updates. - this->node.Subscribe(this->internalActivationTopic, - &DockChecker::OnInternalActivationEvent, this); - this->node.Subscribe(this->externalActivationTopic, - &DockChecker::OnExternalActivationEvent, this); + if (!this->node.Subscribe(this->internalActivationTopic, + &DockChecker::OnInternalActivationEvent, this)) + { + gzerr << "Error subscribing to topic [" << this->internalActivationTopic + << "]" << std::endl; + return; + } + if (!this->node.Subscribe(this->externalActivationTopic, + &DockChecker::OnExternalActivationEvent, this)) + { + gzerr << "Error subscribing to topic [" << this->externalActivationTopic + << "]" << std::endl; + return; + } } ///////////////////////////////////////////////// @@ -310,25 +325,7 @@ bool DockChecker::Allowed() const ///////////////////////////////////////////////// void DockChecker::AnnounceSymbol() { - // Override the docks own sdf parameters - this->dockPlacardPub = this->node.Advertise( - this->symbolTopic); - - msgs::StringMsg_V symbol; - // Add the shape. - symbol.add_data(this->announceSymbol.data().substr( - this->announceSymbol.data().find("_") + 1)); - // Add the color. - symbol.add_data(this->announceSymbol.data().substr( - 0, this->announceSymbol.data().find("_"))); - - this->dockPlacardPub.Publish(symbol); - - if (this->dockAllowed) - { - this->symbolPub = this->node.Advertise(this->symbolTopic); - this->symbolPub.Publish(this->announceSymbol); - } + this->dockPlacardPub.Publish(this->symbol); } ///////////////////////////////////////////////// @@ -350,10 +347,21 @@ void DockChecker::Update(const sim::UpdateInfo &_info) } ///////////////////////////////////////////////// -void DockChecker::OnInternalActivationEvent(const msgs::Boolean &_msg) +void DockChecker::OnInternalActivationEvent(const msgs::Pose &_msg) { + // Get the state from the header. + std::string state; + for (const auto &data : _msg.header().data()) + { + if (data.key() == "state" && !data.value().empty()) + { + state = data.value(0); + break; + } + } + // Currently docked. - if (_msg.data() == 1) + if (state == "1") { this->timer = this->simTime; gzmsg << "Entering internal dock activation zone, transitioning to " @@ -361,7 +369,7 @@ void DockChecker::OnInternalActivationEvent(const msgs::Boolean &_msg) } // Currently undocked. - if (_msg.data() == 0) + if (state == "0") { this->timer = std::chrono::duration(std::numeric_limits::max()); @@ -380,13 +388,25 @@ void DockChecker::OnInternalActivationEvent(const msgs::Boolean &_msg) } gzdbg << "[" << this->name << "] OnInternalActivationEvent(): " - << _msg.data() << std::endl; + << state << std::endl; + std::cout << std::flush; } ///////////////////////////////////////////////// -void DockChecker::OnExternalActivationEvent(const msgs::Boolean &_msg) +void DockChecker::OnExternalActivationEvent(const msgs::Pose &_msg) { - this->atEntrance = _msg.data() == 1; + // Get the state from the header. + std::string state; + for (const auto &data : _msg.header().data()) + { + if (data.key() == "state" && !data.value().empty()) + { + state = data.value(0); + break; + } + } + + this->atEntrance = state == "1"; if (this->atEntrance) { @@ -400,12 +420,16 @@ void DockChecker::OnExternalActivationEvent(const msgs::Boolean &_msg) } gzdbg << "[" << this->name << "] OnExternalActivationEvent(): " - << _msg.data() << std::endl; + << state << std::endl; + std::cout << std::flush; } /// \brief Private ScanDockScoringPlugin data class. class ScanDockScoringPlugin::Implementation { + /// \brief World entity. + public: std::string worldName; + /// \brief Parse all SDF parameters. /// \param[in] _sdf SDF elements. /// \return True when all params were successfully parsed or false otherwise. @@ -438,6 +462,9 @@ class ScanDockScoringPlugin::Implementation /// \brief Expected color sequence. public: std::vector expectedSequence; + /// \brief A transport node. + public: transport::Node node; + /// \brief A mutex. public: std::mutex mutex; }; @@ -609,6 +636,10 @@ void ScanDockScoringPlugin::Configure(const sim::Entity &_entity, { ScoringPlugin::Configure(_entity, _sdf, _ecm, _eventMgr); + sim::Entity worldEntity = _ecm.EntityByComponents(sim::components::World()); + this->dataPtr->worldName = + _ecm.Component(worldEntity)->Data(); + auto sdf = _sdf->Clone(); if (!this->dataPtr->ParseSDF(sdf)) { @@ -705,6 +736,20 @@ void ScanDockScoringPlugin::OnReady() ////////////////////////////////////////////////// void ScanDockScoringPlugin::OnRunning() { + std::function f = + [](const msgs::Boolean &_res, const bool) + { + }; + + std::string performerTopic = + "/world/" + this->dataPtr->worldName + "/level/set_performer"; + msgs::StringMsg performer; + performer.set_data(this->VehicleName()); + + // Register the vehicle as a performer. + this->dataPtr->node.Request( + performerTopic, performer, f); + if (this->dataPtr->enableColorChecker) this->dataPtr->colorChecker->Enable(); diff --git a/vrx_gz/src/ScanDockScoringPlugin.hh b/vrx_gz/src/ScanDockScoringPlugin.hh index a97342d29..a7cb287c6 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.hh +++ b/vrx_gz/src/ScanDockScoringPlugin.hh @@ -42,6 +42,27 @@ namespace vrx /// : Expected 3rd color of the sequence (RED, GREEN, BLUE, YELLOW). /// : Points granted when the color sequence is correct. /// Default value is 10. + /// : Contains at least one of the following blocks: + /// : A bay represents a potential place where a vehicle can dock. + /// It has the following required elements: + /// : The name of the bay. This is used for debugging only. + /// : The topic used to receive + /// notifications from the internal activation zone. + /// : The topic used to receive + /// notifications from the external activation zone. + /// : Minimum amount of seconds to stay docked to be + /// considered a fully successfull dock. + /// : Whether is allowed to dock in this bay or not. + /// : Required string with format _, where + /// color can be "red", "green", "blue", "yellow" and shape can be + /// "triangle", "circle", "cross", "rectangle". If this parameter is + /// present, a message will be sent in OnReady(). + /// The vehicle should dock in the bay matching this color and shape. + /// Topic to publish the symbol announcement. + /// : Points granted when the vehicle successfully + /// dock-and-undock in any bay. Default value is 10. + /// : Points granted when the vehicle successfully + /// dock-and-undock in the specified bay. Default value is 10. /// Here's an example: /// @@ -58,6 +79,38 @@ namespace vrx /// red /// green /// blue + /// + /// 15 + /// 5 + /// + /// + /// bay1 + /// /vrx/dock_2022/bay_1/contain + /// /vrx/dock_2022/bay_1_external/contain + /// /vrx/dock_2022_placard1/symbol + /// 10.0 + /// False + /// red_rectangle + /// + /// + /// bay2 + /// /vrx/dock_2022/bay_2/contain + /// /vrx/dock_2022/bay_2_external/contain + /// /vrx/dock_2022_placard2/symbol + /// 10.0 + /// True + /// blue_triangle + /// + /// + /// bay3 + /// /vrx/dock_2022/bay_3/contain + /// /vrx/dock_2022/bay_3_external/contain + /// /vrx/dock_2022_placard3/symbol + /// 10.0 + /// False + /// yellow_circle + /// + /// /// class ScanDockScoringPlugin : public ScoringPlugin { diff --git a/vrx_gz/worlds/scan_dock_deliver_task.sdf b/vrx_gz/worlds/scan_dock_deliver_task.sdf index 5a4fe8da0..5c82e21c6 100644 --- a/vrx_gz/worlds/scan_dock_deliver_task.sdf +++ b/vrx_gz/worlds/scan_dock_deliver_task.sdf @@ -532,19 +532,6 @@ dock_2022 -480 190 0 0 0 1.0 - - - @@ -573,7 +560,7 @@ /vrx/dock_2022/bay_1_external/contain /vrx/dock_2022_placard1/symbol 10.0 - True + False red_rectangle @@ -582,7 +569,7 @@ /vrx/dock_2022/bay_2_external/contain /vrx/dock_2022_placard2/symbol 10.0 - False + True blue_triangle @@ -597,16 +584,5 @@ - - - wamv - - - 4 2 2 - - - - - diff --git a/vrx_urdf/vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae b/vrx_urdf/vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae index f2a406fe5..89e0437b3 100644 --- a/vrx_urdf/vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae +++ b/vrx_urdf/vrx_gazebo/models/cpu_cases/mesh/cpu_cases.dae @@ -1,9605 +1,115 @@ - + - FBX COLLADA exporter + Blender User + Blender 3.3.1 commit date:2022-10-04, commit time:18:35, hash:b292cfe5a936 - 2019-05-07T18:12:40Z - 2019-05-07T18:12:40Z - + 2022-11-13T14:54:13 + 2022-11-13T14:54:13 + Z_UP - - - cpu_cases.png - - - - - - - - + - - + + + battery_Albedo_png + + + + + battery_Albedo_png-surface + + + + - 0.000000 0.000000 0.000000 1.000000 + 0 0 0 1 - - 0.588235 0.588235 0.588235 1.000000 - - - - - TRUE - TRUE - ADD - - - + - - 0.000000 0.000000 0.000000 1.000000 - - - 2.000000 - - - 0.000000 0.000000 0.000000 1.000000 - - - 1.000000 - - - 1.000000 1.000000 1.000000 1.000000 - - - 0.000000 - - + + 1.45 + + + + + cpu_cases_Albedo.png + + + + + + + - + - - --16.593552 -35.268177 129.687149 --15.770415 -37.737591 129.687149 --13.301003 -38.560726 129.687149 --14.533280 -39.450439 176.006958 --16.487202 -39.005096 176.006958 --16.932541 -37.051178 176.006958 --13.506402 -39.632484 130.699921 --14.871070 -41.531925 164.689804 --17.649372 -35.489513 130.699921 --19.014042 -37.388954 164.689804 --14.871060 -41.531925 173.898239 --19.014034 -37.388954 173.898239 --16.613632 -38.596741 130.699921 --17.978298 -40.496181 164.689804 --17.978291 -40.496181 173.898239 --14.786614 -41.011555 175.479782 --18.493660 -37.304512 175.479782 --17.605515 -40.123413 175.479782 --14.190949 -25.839746 129.687149 --14.190946 -5.731884 129.687149 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https://fuel.gazebosim.org/1.0/openrobotics/models/cpu_cases/mesh/cpu_cases_Metalness.png + + + + + + From ee1072dde7f32288831bec35f08923290f27aa27 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Thu, 17 Nov 2022 22:05:45 +0100 Subject: [PATCH 10/14] Clean MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/models/dock_2022/model.sdf | 190 +----------------------------- 1 file changed, 4 insertions(+), 186 deletions(-) diff --git a/vrx_gz/models/dock_2022/model.sdf b/vrx_gz/models/dock_2022/model.sdf index 2a10f0dbe..fc96d3273 100644 --- a/vrx_gz/models/dock_2022/model.sdf +++ b/vrx_gz/models/dock_2022/model.sdf @@ -115,67 +115,6 @@ link_symbols - - - - - - @@ -284,67 +223,6 @@ link_symbols - - - - - - - - @@ -453,70 +331,11 @@ link_symbols - - - - - - - + + Date: Thu, 17 Nov 2022 22:12:51 +0100 Subject: [PATCH 11/14] Restore MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 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6186 1907 1166 6187 1885 1163 6188 1909 1084 6189 1907 1163 6190 1909 1125 6191 1908 1125 6192 1908 1163 6193 1909 1139 6194 1913 1139 6195 1913 1077 6196 1912 1125 6197 1908 1147 6198 1914 1143 6199 1917 1136 6200 1916 1136 6201 1916 1179 6202 1915 1147 6203 1914 1136 6204 1916 1012 6205 1919 1180 6206 1918 1180 6207 1918 1179 6208 1915 1136 6209 1916 1145 6210 1921 1146 6211 1920 1180 6212 1918 1180 6213 1918 1012 6214 1919 1145 6215 1921 1146 6216 1845 1147 6217 1846 1178 6218 1923 1178 6219 1923 1175 6220 1922 1146 6221 1845 1147 6222 1924 1179 6223 1926 1177 6224 1899 1177 6225 1899 1178 6226 1925 1147 6227 1924 1179 6228 1926 1180 6229 1927 1176 6230 1898 1176 6231 1898 1177 6232 1899 1179 6233 1926 1180 6234 1927 1146 6235 1929 1175 6236 1928 1175 6237 1928 1176 6238 1898 1180 6239 1927 1181 6240 1932 1158 6241 1931 1142 6242 1930 1142 6243 1930 1182 6244 1933 1181 6245 1932 1183 6246 1934 1144 6247 1891 1174 6248 1892 1174 6249 1892 1184 6250 1935 1183 6251 1934 1184 6252 1936 1174 6253 1895 1154 6254 1896 1154 6255 1896 1182 6256 1937 1184 6257 1936 1183 6258 1938 1141 6259 1903 1148 6260 1904 1148 6261 1904 1185 6262 1939 1183 6263 1938 1135 6264 1940 1136 6265 1916 1143 6266 1917 1143 6267 1917 1185 6268 1941 1135 6269 1940 1186 6270 1942 1150 6271 1854 1149 6272 1851 1149 6273 1851 1187 6274 1943 1186 6275 1942 1186 6276 1942 1157 6277 1944 1158 6278 1931 1158 6279 1931 1181 6280 1932 1186 6281 1942 1151 6282 1855 1181 6283 1932 1182 6284 1933 1182 6285 1933 1154 6286 1858 1151 6287 1855 1141 6288 1834 1183 6289 1934 1184 6290 1935 1184 6291 1935 1140 6292 1833 1141 6293 1834 1140 6294 1838 1184 6295 1936 1182 6296 1937 1182 6297 1937 1142 6298 1837 1140 6299 1838 1144 6300 1945 1183 6301 1938 1185 6302 1939 1185 6303 1939 1143 6304 1946 1144 6305 1945 1137 6306 1848 1135 6307 1940 1185 6308 1941 1185 6309 1941 1148 6310 1847 1137 6311 1848 1157 6312 1944 1186 6313 1942 1187 6314 1943 1187 6315 1943 1168 6316 1947 1157 6317 1944 1150 6318 1854 1186 6319 1942 1181 6320 1932 1181 6321 1932 1151 6322 1855 1150 6323 1854

 - - - 0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1 - + + + 0.010000 0.000000 0.000000 0.000000 0.000000 0.010000 0.000000 -0.000000 0.000000 0.000000 0.010000 0.000000 0.000000 0.000000 0.000000 1.000000 + - - - + + + + 1.000000 + + + + + 30.000000 + + + 0.000000 + 3.333333 + + - + diff --git a/vrx_urdf/wamv_description/urdf/cpu_cases.xacro b/vrx_urdf/wamv_description/urdf/cpu_cases.xacro index 45cd6697e..626d139f2 100644 --- a/vrx_urdf/wamv_description/urdf/cpu_cases.xacro +++ b/vrx_urdf/wamv_description/urdf/cpu_cases.xacro @@ -2,27 +2,12 @@ - - + @@ -52,29 +37,6 @@ - - - 0.073 0 -1.53 0 0 0 - - - https://fuel.gazebosim.org/1.0/openrobotics/models/cpu_cases/mesh/cpu_cases.dae - - - - 1.0 1.0 1.0 - 1.0 1.0 1.0 - - - https://fuel.gazebosim.org/1.0/openrobotics/models/cpu_cases/mesh/cpu_cases_Albedo.png - https://fuel.gazebosim.org/1.0/openrobotics/models/cpu_cases/mesh/cpu_cases_Normal.png - https://fuel.gazebosim.org/1.0/openrobotics/models/cpu_cases/mesh/cpu_cases_Roughness.png - https://fuel.gazebosim.org/1.0/openrobotics/models/cpu_cases/mesh/cpu_cases_Metalness.png - - - - - - From a667c89f7b49a590a161b69d72b96701d86a0129 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Carlos=20Ag=C3=BCero?= Date: Thu, 17 Nov 2022 22:15:29 +0100 Subject: [PATCH 12/14] Restore WAMV pose. MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Carlos Agüero --- vrx_gz/launch/competition.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/vrx_gz/launch/competition.launch.py b/vrx_gz/launch/competition.launch.py index 6b63520e8..9d13e862e 100644 --- a/vrx_gz/launch/competition.launch.py +++ b/vrx_gz/launch/competition.launch.py @@ -39,7 +39,7 @@ def launch(context, *args, **kwargs): with open(config_file, 'r') as stream: models = Model.FromConfig(stream) else: - m = Model('wamv', 'wam-v', [-492, 186, 0, 0, 0, 1.2]) + m = Model('wamv', 'wam-v', [-532, 162, 0, 0, 0, 1]) if robot_urdf and robot_urdf != '': m.set_urdf(robot_urdf) models.append(m) From 8807931bc556f60c3b2630fc87bcc5fef838df77 Mon Sep 17 00:00:00 2001 From: M1chaelM Date: Mon, 21 Nov 2022 14:52:48 -0800 Subject: [PATCH 13/14] rename variable for clarity --- vrx_gz/src/ScanDockScoringPlugin.cc | 32 ++++++++++++------------ vrx_gz/src/ScanDockScoringPlugin.hh | 8 +++--- vrx_gz/worlds/scan_dock_deliver_task.sdf | 6 ++--- 3 files changed, 23 insertions(+), 23 deletions(-) diff --git a/vrx_gz/src/ScanDockScoringPlugin.cc b/vrx_gz/src/ScanDockScoringPlugin.cc index ac1c90a38..3649e7106 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.cc +++ b/vrx_gz/src/ScanDockScoringPlugin.cc @@ -179,7 +179,7 @@ class DockChecker /// from the "contain" plugin. /// \param[in] _minDockTime Minimum amount of seconds to stay docked to be /// considered a fully successfull dock. - /// \param[in] _dockAllowed Whether is allowed to dock in this bay or not. + /// \param[in] _correctDock Whether this is the correct bay to dock in. /// \param[in] _announceSymbol Symbol to announce via msgs. /// E.g.: red_cross, blue_circle /// \param[in] _symbolTopic Optional topic to announce the symbol. @@ -187,7 +187,7 @@ class DockChecker const std::string &_internalActivationTopic, const std::string &_exteriorActivationTopic, const std::chrono::duration _minDockTime, - const bool _dockAllowed, + const bool _correctDock, const std::string &_announceSymbol, const std::string &_symbolTopic); @@ -202,8 +202,8 @@ class DockChecker /// \return True when the robot is at the entrance or false othwerwise. public: bool AtEntrance() const; - /// \brief Whether it is allowed to dock in this bay or not. - public: bool Allowed() const; + /// \brief Whether this is the correct bay to dock in. + public: bool Correct() const; /// \brief Announce the symbol of the bay. public: void AnnounceSymbol(); @@ -237,8 +237,8 @@ class DockChecker /// \brief Current simulation time. private: std::chrono::duration simTime; - /// \brief Whether is allowed to dock in this bay or not. - private: bool dockAllowed; + /// \brief Whether this is the correct bay to dock in. + private: bool correctDock; /// \brief Timer used to calculate the elapsed time docked in the bay. private: std::chrono::duration timer; @@ -266,13 +266,13 @@ class DockChecker DockChecker::DockChecker(const std::string &_name, const std::string &_internalActivationTopic, const std::string &_externalActivationTopic, - const std::chrono::duration _minDockTime, const bool _dockAllowed, + const std::chrono::duration _minDockTime, const bool _correctDock, const std::string &_announceSymbol, const std::string &_symbolTopic) : name(_name), internalActivationTopic(_internalActivationTopic), externalActivationTopic(_externalActivationTopic), minDockTime(_minDockTime), - dockAllowed(_dockAllowed), + correctDock(_correctDock), symbolTopic(_symbolTopic) { // Override the docks own sdf parameters @@ -317,9 +317,9 @@ bool DockChecker::AtEntrance() const } ///////////////////////////////////////////////// -bool DockChecker::Allowed() const +bool DockChecker::Correct() const { - return this->dockAllowed; + return this->correctDock; } ///////////////////////////////////////////////// @@ -577,13 +577,13 @@ bool ScanDockScoringPlugin::Implementation::ParseSDF(sdf::ElementPtr _sdf) } double minDockTime = bayElem->Get("min_dock_time"); - // Required: dock allowed. - if (!bayElem->GetElement("dock_allowed")) + // Required: correct dock . + if (!bayElem->GetElement("correct_dock")) { - gzerr << " missing" << std::endl; + gzerr << " missing" << std::endl; return false; } - bool dockAllowed = bayElem->Get("dock_allowed"); + bool correctDock = bayElem->Get("correct_dock"); std::string announceSymbol = ""; if (!bayElem->HasElement("symbol")) @@ -596,7 +596,7 @@ bool ScanDockScoringPlugin::Implementation::ParseSDF(sdf::ElementPtr _sdf) std::unique_ptr dockChecker( new DockChecker(bayName, internalActivationTopic, externalActivationTopic, std::chrono::duration(minDockTime), - dockAllowed, announceSymbol, symbolTopic)); + correctDock, announceSymbol, symbolTopic)); // Add the dock checker. this->dockCheckers.push_back(std::move(dockChecker)); @@ -698,7 +698,7 @@ void ScanDockScoringPlugin::PreUpdate(const sim::UpdateInfo &_info, } // Is this the right bay? - if (dockChecker->Allowed()) + if (dockChecker->Correct()) { this->SetScore(this->Score() + this->dataPtr->correctDockBonusPoints); if (this->TaskState() == "running") diff --git a/vrx_gz/src/ScanDockScoringPlugin.hh b/vrx_gz/src/ScanDockScoringPlugin.hh index a7cb287c6..2ee948b65 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.hh +++ b/vrx_gz/src/ScanDockScoringPlugin.hh @@ -52,7 +52,7 @@ namespace vrx /// notifications from the external activation zone. /// : Minimum amount of seconds to stay docked to be /// considered a fully successfull dock. - /// : Whether is allowed to dock in this bay or not. + /// : True if this is the correct bay to dock in. /// : Required string with format _, where /// color can be "red", "green", "blue", "yellow" and shape can be /// "triangle", "circle", "cross", "rectangle". If this parameter is @@ -89,7 +89,7 @@ namespace vrx /// /vrx/dock_2022/bay_1_external/contain /// /vrx/dock_2022_placard1/symbol /// 10.0 - /// False + /// False /// red_rectangle /// /// @@ -98,7 +98,7 @@ namespace vrx /// /vrx/dock_2022/bay_2_external/contain /// /vrx/dock_2022_placard2/symbol /// 10.0 - /// True + /// True /// blue_triangle /// /// @@ -107,7 +107,7 @@ namespace vrx /// /vrx/dock_2022/bay_3_external/contain /// /vrx/dock_2022_placard3/symbol /// 10.0 - /// False + /// False /// yellow_circle /// /// diff --git a/vrx_gz/worlds/scan_dock_deliver_task.sdf b/vrx_gz/worlds/scan_dock_deliver_task.sdf index 5c82e21c6..c0317449d 100644 --- a/vrx_gz/worlds/scan_dock_deliver_task.sdf +++ b/vrx_gz/worlds/scan_dock_deliver_task.sdf @@ -560,7 +560,7 @@ /vrx/dock_2022/bay_1_external/contain /vrx/dock_2022_placard1/symbol 10.0 - False + False red_rectangle @@ -569,7 +569,7 @@ /vrx/dock_2022/bay_2_external/contain /vrx/dock_2022_placard2/symbol 10.0 - True + True blue_triangle @@ -578,7 +578,7 @@ /vrx/dock_2022/bay_3_external/contain /vrx/dock_2022_placard3/symbol 10.0 - False + False yellow_circle From 2581ad4ea4bc0d2255ce1d4ce78ea79324273930 Mon Sep 17 00:00:00 2001 From: M1chaelM Date: Mon, 21 Nov 2022 15:28:06 -0800 Subject: [PATCH 14/14] documentation tweak --- vrx_gz/src/ScanDockScoringPlugin.hh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/vrx_gz/src/ScanDockScoringPlugin.hh b/vrx_gz/src/ScanDockScoringPlugin.hh index 2ee948b65..c481a525c 100644 --- a/vrx_gz/src/ScanDockScoringPlugin.hh +++ b/vrx_gz/src/ScanDockScoringPlugin.hh @@ -60,9 +60,9 @@ namespace vrx /// The vehicle should dock in the bay matching this color and shape. /// Topic to publish the symbol announcement. /// : Points granted when the vehicle successfully - /// dock-and-undock in any bay. Default value is 10. + /// docks and undocks in any bay. Default value is 10. /// : Points granted when the vehicle successfully - /// dock-and-undock in the specified bay. Default value is 10. + /// docks and undocks in the specified bay. Default value is 10. /// Here's an example: ///