Add extensions for IssacSim targetting Space ROS

Related to space-ros#18

 - Add new extension - Rover Simple Controller
 - Add example omnigraph extension - Negate Number

extensions/omni.new.extension/config/extension.toml

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+
+[package]
+# Semantic Versioning is used: https://semver.org/
+version = "0.1.0"
+
+# Lists people or organizations that are considered the "authors" of the package.
+authors = []
+
+# The title and description fields are primarly for displaying extension info in UI
+title = "Omniverse Graph Extension Example"
+description="Example extension for OmniGraph nodes."
+
+# Path (relative to the root) or content of readme markdown file for UI.
+readme  = "docs/README.md"
+
+# URL of the extension source repository.
+repository="https://gitlab-master.nvidia.com/omniverse/kit-extensions/example"
+
+# Categories for UI.
+category = "Example"
+
+# Keywords for the extension
+keywords = ["kit", "omnigraph"]
+
+# Watch the .ogn files for hot reloading (only works for Python files)
+[fswatcher.patterns]
+include = ["*.ogn", "*.py"]
+exclude = ["Ogn*Database.py"]
+
+[dependencies]
+"omni.kit.test" = {}
+"omni.graph" = {}
+
+# Main python module this extension provides, it will be publicly available as "import omni.new.extension".
+[[python.module]]
+name = "omni.new.extension"

extensions/omni.new.extension/docs/CHANGELOG.md

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+### 0.1.0
+
+ - Initial release of Omni New Extension
+ - Added simple steer and move based controller

extensions/omni.new.extension/docs/README.md

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+
+# OmniGraph Extension [omni.new.extension]
+Extension with implementation of some OmniGraph nodes

extensions/omni.new.extension/omni/new/extension/__init__.py

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+
+import omni.ext
+
+# Any class derived from `omni.ext.IExt` in a top level module (defined in `python.modules` of `extension.toml`) will be
+# instantiated when the extension is enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
+# on_shutdown() will be called.
+class OmniNewExtensionExtension(omni.ext.IExt):
+    # ext_id is the current extension id. It can be used with the extension manager to query additional information,
+    # such as where this extension is located in the filesystem.
+    def on_startup(self, ext_id):
+        print("[omni.new.extension] OmniNewExtensionExtension startup", flush=True)
+
+    def on_shutdown(self):
+        print("[omni.new.extension] OmniNewExtensionExtension shutdown", flush=True)

extensions/omni.new.extension/omni/new/extension/ogn/nodes/NegateNumber.ogn

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+{
+    "NegateNumber": {
+        "version": 1,
+        "description": "Negates a number",
+        "language": "Python",
+        "metadata": {
+            "uiName": "Negate Number"
+        },
+        "inputs": {
+            "a": {
+                "type": "int",
+                "description": "Input",
+                "default": 0,
+                "metadata": {
+                    "uiName": "A"
+                }
+            }
+        },
+        "outputs": {
+            "b": {
+                "type": "int",
+                "description": "Ouput",
+                "metadata": {
+                    "uiName": "B"
+                }
+            }
+        }
+    }
+}

extensions/omni.new.extension/omni/new/extension/ogn/nodes/NegateNumber.py

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+"""
+This is the implementation of the OGN node defined in NegateNumber.ogn
+"""
+
+# Array or tuple values are accessed as numpy arrays so you probably need this import
+import numpy
+
+
+class NegateNumber:
+    """
+    Negates a number
+    """
+
+    @staticmethod
+    def compute(db) -> bool:
+        """Compute the outputs from the current input"""
+        db.outputs.b = -db.inputs.a
+        return True

extensions/omni.spaceros.roversimplecontroller/config/extension.toml

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+
+[package]
+# Semantic Versioning is used: https://semver.org/
+version = "0.1.0"
+
+# Lists people or organizations that are considered the "authors" of the package.
+authors = ["https://github.com/franklinselva"]
+
+# The title and description fields are primarly for displaying extension info in UI
+description = "Rover Simple Controller for Space ROS"
+title = "Rover Simple Controller"
+
+# Path (relative to the root) or content of readme markdown file for UI.
+changelog = "docs/CHANGELOG.md"
+preview_image = "data/node-preview.png"
+readme = "docs/README.md"
+
+# URL of the extension source repository.
+repository = "https://github.com/space-ros/simulation"
+
+# Categories for UI.
+category = "Space ROS"
+
+# Keywords for the extension
+keywords = ["ros2", "omnigraph", "space-ros"]
+
+# Watch the .ogn files for hot reloading (only works for Python files)
+[fswatcher.patterns]
+exclude = ["Ogn*Database.py"]
+include = ["*.ogn", "*.py"]
+
+[dependencies]
+"omni.graph" = {}
+"omni.kit.test" = {}
+
+# Main python module this extension provides, it will be publicly available as "import omni.spaceros.roversimplecontroller".
+[[python.module]]
+name = "omni.spaceros.roversimplecontroller"

extensions/omni.spaceros.roversimplecontroller/docs/README.md

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+### Rover Simple Controller
+
+This extension provides a simple controller for the rover. This is an omnigraph node extension.

extensions/omni.spaceros.roversimplecontroller/omni/spaceros/roversimplecontroller/__init__.py

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+
+import omni.ext
+
+# Any class derived from `omni.ext.IExt` in a top level module (defined in `python.modules` of `extension.toml`) will be
+# instantiated when the extension is enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
+# on_shutdown() will be called.
+class OmniSpacerosRoversimplecontrollerExtension(omni.ext.IExt):
+    # ext_id is the current extension id. It can be used with the extension manager to query additional information,
+    # such as where this extension is located in the filesystem.
+    def on_startup(self, ext_id):
+        print("[omni.spaceros.roversimplecontroller] OmniSpacerosRoversimplecontrollerExtension startup", flush=True)
+
+    def on_shutdown(self):
+        print("[omni.spaceros.roversimplecontroller] OmniSpacerosRoversimplecontrollerExtension shutdown", flush=True)

extensions/omni.spaceros.roversimplecontroller/omni/spaceros/roversimplecontroller/ogn/nodes/RoverSimpleController.ogn

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+{
+    "RoverSimpleController": {
+        "version": 1,
+        "description": "Receives Linear and Angular Velocity for rover and translates to wheel and steering outputs",
+        "language": "Python",
+        "metadata": {
+            "uiName": "Rover Simple Controller"
+        },
+        "inputs": {
+            "chassis_length": {
+                "type": "float",
+                "description": "Chassis Length in meters (L)",
+                "default": 0,
+                "metadata": {
+                    "uiName": "Chassis Length"
+                }
+            },
+            "chassis_width": {
+                "type": "float",
+                "description": "Chassis Width in meters (T)",
+                "default": 0,
+                "metadata": {
+                    "uiName": "Chassis Width"
+                }
+            },
+            "linear_velocity": {
+                "type": "float[3]",
+                "description": "Linear Velocity Vector in m/s (x, y, z)",
+                "default": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "metadata": {
+                    "uiName": "Linear Velocity Vector"
+                }
+            },
+            "angular_velocity": {
+                "type": "float[3]",
+                "description": "Angular Velocity Vector in rad/s (x, y, z)",
+                "default": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "metadata": {
+                    "uiName": "Angular Velocity Vector"
+                }
+            }
+        },
+        "outputs": {
+            "wheel_velocity": {
+                "type": "double[]",
+                "description": "Wheel Velocity for six wheels of rover",
+                "metadata": {
+                    "uiName": "Wheel Velocity"
+                },
+                "default": [
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ]
+            },
+            "steering_position": {
+                "type": "double[]",
+                "description": "Steering angle in radians",
+                "default": [
+                    0.0,
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "metadata": {
+                    "uiName": "Steering Position"
+                }
+            }
+        }
+    }
+}

extensions/omni.spaceros.roversimplecontroller/omni/spaceros/roversimplecontroller/ogn/nodes/RoverSimpleController.py

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+"""
+This is the implementation of the OGN node defined in RoverSimpleController.ogn
+"""
+
+# Array or tuple values are accessed as numpy arrays so you probably need this import
+import math
+
+
+def map_angular_to_steering(angular_speed) -> float:
+    """Map angular speed to steering angle."""
+    if abs(angular_speed) < 1e-3:
+        return 0.0
+
+    # max 0.6 min -0.6
+    angular_speed = min(0.6, max(angular_speed, -0.6))
+    return (angular_speed / abs(angular_speed)) * (-25 * abs(angular_speed) + 17.5)
+
+
+class RoverSimpleController:
+    """
+        Receives Linear and Angular Velocity for rover and translates to wheel and steering
+    outputs
+    """
+
+    @staticmethod
+    def compute(db) -> bool:
+        """Compute the outputs from the current input"""
+        # Get the inputs
+        chassis_length = db.inputs.chassis_length
+        chassis_width = db.inputs.chassis_width
+        linear_velocity = db.inputs.linear_velocity
+        angular_velocity = db.inputs.angular_velocity
+
+        # Compute wheel velocity
+        linear_velocity_x = linear_velocity[0]
+        wheel_velocity = [
+            linear_velocity_x,
+            linear_velocity_x * 1.5,
+            linear_velocity_x,
+            -linear_velocity_x,
+            -linear_velocity_x * 1.5,
+            -linear_velocity_x,
+        ]
+
+        # Compute steering angle
+        steer_position = []
+        turn_rad = map_angular_to_steering(angular_velocity[2])
+
+        if abs(turn_rad) < 1e-3:
+            steer_position = [0.0, 0.0, 0.0, 0.0]
+        else:
+            turning_radius = abs(turn_rad)  # R
+
+            chassis_length = 2.08157  # L
+            chassis_width = 1.53774  # T
+
+            alpha_i = math.atan(chassis_length / (turning_radius - (chassis_width / 2)))
+            alpha_o = math.atan(chassis_length / (turning_radius + (chassis_width / 2)))
+
+            if alpha_i > 0.6:
+                alpha_i = 0.6
+
+            if alpha_o > 0.6:
+                alpha_o = 0.6
+
+            alpha_i = round(alpha_i, 2)
+            alpha_o = round(alpha_o, 2)
+
+            if turn_rad > 0.0:
+                steer_position = [alpha_i, -alpha_i, alpha_o, -alpha_o]
+            else:
+                steer_position = [-alpha_o, alpha_o, -alpha_i, alpha_i]
+
+        # Assign the outputs
+        db.outputs.wheel_velocity = wheel_velocity
+        db.outputs.steering_position = steer_position
+
+        return True