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Fix issue #691 #692

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merged 3 commits into from
Jun 30, 2023
Merged

Fix issue #691 #692

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8caea63
Rename pinger topics.
caguero Jun 28, 2023
33d3331
Tweak
caguero Jun 28, 2023
fcaebe8
Merge branch 'main' into caguero/issue_691
M1chaelM Jun 30, 2023
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3 changes: 1 addition & 2 deletions vrx_gz/src/AcousticTrackingScoringPlugin.cc
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Expand Up @@ -78,8 +78,7 @@ class AcousticTrackingScoringPlugin::Implementation
public: double obstaclePenalty = 0.1;

/// /brief The topic used to set the pinger position.
public: std::string setPingerTopicName =
"/wamv/pingers/pinger/set_pinger_position";
public: std::string setPingerTopicName = "/pinger/set_pinger_position";

/// \brief Topic where 2D pose error is published.
public: std::string poseErrorTopic = "/vrx/acoustic_wayfinding/pose_error";
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12 changes: 6 additions & 6 deletions vrx_gz/src/vrx_gz/payload_bridges.py
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Expand Up @@ -158,16 +158,16 @@ def thrust_joint_pos(model_name, side):

def acoustic_pinger(model_name):
return Bridge(
gz_topic=f'{model_name}/pingers/pinger/range_bearing',
ros_topic=f'pingers/pinger/range_bearing',
gz_topic=f'{model_name}/sensors/acoustics/receiver/range_bearing',
ros_topic=f'sensors/acoustics/receiver/range_bearing',
gz_type='ignition.msgs.Param',
ros_type='ros_gz_interfaces/msg/ParamVec',
direction=BridgeDirection.GZ_TO_ROS)

def set_acoustic_pinger(model_name):
def set_acoustic_pinger():
return Bridge(
gz_topic=f'{model_name}/pingers/pinger/set_pinger_position',
ros_topic=f'pingers/pinger/set_pinger_position',
gz_topic=f'/pinger/set_pinger_position',
ros_topic=f'/pinger/set_pinger_position',
gz_type='ignition.msgs.Vector3d',
ros_type='geometry_msgs/msg/Vector3',
direction=BridgeDirection.ROS_TO_GZ)
Expand Down Expand Up @@ -222,7 +222,7 @@ def payload_bridges(world_name, model_name, link_name, sensor_name, sensor_type)
elif 'AcousticPinger' in sensor_name:
bridges = [
acoustic_pinger(model_name),
set_acoustic_pinger(model_name),
set_acoustic_pinger(),
]

return bridges
2 changes: 1 addition & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception0_task.sdf
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Expand Up @@ -426,7 +426,7 @@

<!-- Publish the pinger pose -->
<plugin filename="libPublisherPlugin.so" name="vrx::PublisherPlugin">
<message type="gz.msgs.Vector3d" topic="/wamv/pingers/pinger/set_pinger_position" at="1.0">
<message type="gz.msgs.Vector3d" topic="/pinger/set_pinger_position" at="1.0">
x: -560,
y: 185,
z: -2
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2 changes: 1 addition & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception1_task.sdf
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Expand Up @@ -426,7 +426,7 @@

<!-- Publish the pinger pose -->
<plugin filename="libPublisherPlugin.so" name="vrx::PublisherPlugin">
<message type="gz.msgs.Vector3d" topic="/wamv/pingers/pinger/set_pinger_position" at="1.0">
<message type="gz.msgs.Vector3d" topic="/pinger/set_pinger_position" at="1.0">
x: -528,
y: 225,
z: -2
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2 changes: 1 addition & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_acoustic_perception2_task.sdf
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Expand Up @@ -426,7 +426,7 @@

<!-- Publish the pinger pose -->
<plugin filename="libPublisherPlugin.so" name="vrx::PublisherPlugin">
<message type="gz.msgs.Vector3d" topic="/wamv/pingers/pinger/set_pinger_position" at="1.0">
<message type="gz.msgs.Vector3d" topic="/pinger/set_pinger_position" at="1.0">
x: -490,
y: 175,
z: -2
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2 changes: 1 addition & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking0_task.sdf
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Expand Up @@ -750,7 +750,7 @@
<ready_state_duration>10</ready_state_duration>
<running_state_duration>300</running_state_duration>
<release_topic>/vrx/release</release_topic>
<set_pinger_position_topic>/wamv/pingers/pinger/set_pinger_position</set_pinger_position_topic>
<set_pinger_position_topic>/pinger/set_pinger_position</set_pinger_position_topic>
<pinger_model>pinger</pinger_model>
<pinger_depth>2.0</pinger_depth>
</plugin>
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2 changes: 1 addition & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking1_task.sdf
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Expand Up @@ -954,7 +954,7 @@
<ready_state_duration>10</ready_state_duration>
<running_state_duration>300</running_state_duration>
<release_topic>/vrx/release</release_topic>
<set_pinger_position_topic>/wamv/pingers/pinger/set_pinger_position</set_pinger_position_topic>
<set_pinger_position_topic>/pinger/set_pinger_position</set_pinger_position_topic>
<pinger_model>pinger</pinger_model>
<pinger_depth>2.0</pinger_depth>
</plugin>
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2 changes: 1 addition & 1 deletion vrx_gz/worlds/2023_practice/practice_2023_acoustic_tracking2_task.sdf
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Expand Up @@ -851,7 +851,7 @@
<ready_state_duration>10</ready_state_duration>
<running_state_duration>300</running_state_duration>
<release_topic>/vrx/release</release_topic>
<set_pinger_position_topic>/wamv/pingers/pinger/set_pinger_position</set_pinger_position_topic>
<set_pinger_position_topic>/pinger/set_pinger_position</set_pinger_position_topic>
<pinger_model>pinger</pinger_model>
<pinger_depth>2.0</pinger_depth>
</plugin>
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2 changes: 1 addition & 1 deletion vrx_gz/worlds/acoustic_perception_task.sdf
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Expand Up @@ -426,7 +426,7 @@

<!-- Publish the pinger pose -->
<plugin filename="libPublisherPlugin.so" name="vrx::PublisherPlugin">
<message type="gz.msgs.Vector3d" topic="/wamv/pingers/pinger/set_pinger_position" at="1.0">
<message type="gz.msgs.Vector3d" topic="/pinger/set_pinger_position" at="1.0">
x: -540,
y: 180,
z: -2
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2 changes: 1 addition & 1 deletion vrx_gz/worlds/acoustic_tracking_task.sdf
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Expand Up @@ -750,7 +750,7 @@
<ready_state_duration>10</ready_state_duration>
<running_state_duration>300</running_state_duration>
<release_topic>/vrx/release</release_topic>
<set_pinger_position_topic>/wamv/pingers/pinger/set_pinger_position</set_pinger_position_topic>
<set_pinger_position_topic>/pinger/set_pinger_position</set_pinger_position_topic>
<pinger_model>pinger</pinger_model>
<pinger_depth>2.0</pinger_depth>
</plugin>
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2 changes: 1 addition & 1 deletion vrx_gz/worlds/gymkhana_task.sdf
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Expand Up @@ -453,7 +453,7 @@
Respect top-level plugin finished status. -->
<per_plugin_exit_on_completion>true</per_plugin_exit_on_completion>
<obstacle_penalty>1</obstacle_penalty>
<set_position_topic_name>/wamv/pingers/pinger/set_pinger_position</set_position_topic_name>
<set_position_topic_name>/pinger/set_pinger_position</set_position_topic_name>
<pinger_position>-483 295.5 0</pinger_position>
</plugin>

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2 changes: 1 addition & 1 deletion vrx_urdf/vrx_gazebo/config/wamv_config/component_compliance/numeric.yaml
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Expand Up @@ -59,7 +59,7 @@ wamv_ball_shooter:
wamv_pinger:
num: 1
allowed_params:
name
sensor_name
position

wamv_p3d:
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2 changes: 1 addition & 1 deletion vrx_urdf/vrx_gazebo/config/wamv_config/example_component_config.yaml
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Expand Up @@ -60,5 +60,5 @@ wamv_ball_shooter:
pitch: ${radians(-20)}
yaw: 0.0
wamv_pinger:
- name: pinger
- sensor_name: receiver
position: 1.0 0 -1.0
14 changes: 7 additions & 7 deletions vrx_urdf/wamv_gazebo/urdf/components/wamv_pinger.xacro
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="wamv_pinger" params="name:='pinger' frameId:='wamv/pinger' position:='0 0 0' orientation:='0 0 0'">
<link name="${namespace}/${name}">
<xacro:macro name="wamv_pinger" params="pinger_name:='pinger' sensor_name:='receiver' frameId:='/pinger' position:='0 0 0' orientation:='0 0 0'">
<link name="${namespace}/${sensor_name}">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
Expand All @@ -13,23 +13,23 @@
<inertia ixx="0.00000542" ixy="0.0" ixz="0.0" iyy="0.00002104" iyz="0.0" izz="0.00002604"/>
</inertial>
</link>
<joint name="${namespace}/${name}_pinger_joint" type="revolute">
<joint name="${namespace}/${sensor_name}_pinger_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0" velocity="0"/>
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${namespace}/base_link"/>
<child link="${namespace}/${name}"/>
<child link="${namespace}/${sensor_name}"/>
</joint>

<gazebo>
<plugin
filename="libAcousticPingerPlugin.so"
name="vrx::AcousticPingerPlugin">
<position>${position}</position>
<topic>${namespace}/${pinger_namespace}${name}/range_bearing</topic>
<set_position_topic>${namespace}/${pinger_namespace}${name}/set_pinger_position
<topic>/${namespace}/${sensor_namespace}${acoustic_namespace}${sensor_name}/range_bearing</topic>
<set_position_topic>/${pinger_name}/set_pinger_position
</set_position_topic>
<frame_id>${namespace}/${name}</frame_id>
<frame_id>${pinger_name}</frame_id>
<range_noise>
<noise>
<type>gaussian</type>
Expand Down
8 changes: 4 additions & 4 deletions vrx_urdf/wamv_gazebo/urdf/wamv_gazebo.urdf.xacro
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Expand Up @@ -15,15 +15,15 @@
<xacro:arg name="thruster_namespace" default="thrusters/"/>
<xacro:arg name="camera_namespace" default="cameras/"/>
<xacro:arg name="sensor_namespace" default="sensors/"/>
<xacro:arg name="pinger_namespace" default="pingers/"/>
<xacro:arg name="acoustic_namespace" default="acoustics/"/>
<xacro:arg name="shooter_namespace" default="shooters/"/>
<!-- Note: this is only used for some sensors that do not correctly use the
robotNamespace parameter -->
<xacro:arg name="namespace" default="wamv"/>
<xacro:property name="thruster_namespace" value="$(arg thruster_namespace)" scope="global" />
<xacro:property name="camera_namespace" value="$(arg camera_namespace)" scope="global" />
<xacro:property name="sensor_namespace" value="$(arg sensor_namespace)" scope="global" />
<xacro:property name="pinger_namespace" value="$(arg pinger_namespace)" scope="global" />
<xacro:property name="acoustic_namespace" value="$(arg acoustic_namespace)" scope="global" />
<xacro:property name="shooter_namespace" value="$(arg shooter_namespace)" scope="global" />
<xacro:property name="namespace" value="$(arg namespace)" scope="global" />

Expand Down Expand Up @@ -186,7 +186,7 @@

<!-- Add pinger -->
<xacro:if value="$(arg pinger_enabled)">
<xacro:wamv_pinger name="pinger" position="-528 191 -2.0" />
<xacro:wamv_pinger sensor_name="receiver" position="-528 191 -2.0" />
</xacro:if>

<!-- Add ball shooter (default pitch angle: ~-60 deg) -->
Expand Down Expand Up @@ -218,7 +218,7 @@
<xacro:lidar name="lidar_wamv" type="16_beam"/>

<!-- Add pinger -->
<xacro:wamv_pinger name="pinger" position="-528 191 -2.0" />
<xacro:wamv_pinger sensor_name="receiver" position="-528 191 -2.0" />

<!-- Add ball shooter (default pitch angle: ~-60 deg) -->
<xacro:wamv_ball_shooter name="ball_shooter" x="0.54" y="0.30" z="1.296" pitch="-1.04"/>
Expand Down