making spawn changes and adding double handed cargo (#97)

nasa · Jun 26, 2023 · f6393b6 · f6393b6
1 parent dcf6689
commit f6393b6
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Showing 9 changed files with 308 additions and 236 deletions.
diff --git a/astrobee/simulation/isaac_gazebo/launch/spawn_object.launch b/astrobee/simulation/isaac_gazebo/launch/spawn_object.launch
@@ -21,26 +21,11 @@
   <arg name="spawn"    default=""/>             <!-- Object to spawn         -->
   <arg name="name"     default="object"/>      <!-- Name of object          -->
   <arg name="pose"     default="0 0 0 0 0 0 1"/>
-
-  <!-- <arg if="$(eval arg('position')=='vent')"
-       name="pose"
-       default="10.1069 -3.16958 4.90421 0.707 0.0 0.0 0.707" />  -->    <!-- obstructing vent 1 default="9.942 -4.21 3.9105 0 0.335 0 0.942" -->
-<!--   <arg if="$(eval arg('position')=='other1')"
-       name="pose"
-       default="2 0 5.1 0 0 0 1" />  -->               <!-- other 1                 -->
- <!--  <arg if="$(eval arg('position')=='other2')"
-       name="pose"
-       default="0 0 5.1 0 0 0 1" />    -->             <!-- other 2                 -->
-
-
-  <!-- Spawn Sock into Gazebo -->
-  <group if="$(eval arg('spawn')=='sock')" ns="object">
-    <param name="sock_description" command='$(find xacro)/xacro --inorder $(find isaac_description)/urdf/socks.urdf.xacro' />
-    <node name="sock" pkg="astrobee_gazebo" type="spawn_model" args="-param sock_description -urdf -model $(arg name) -pose $(arg pose) "/>
-  </group>
-  <group if="$(eval arg('spawn')=='cargo')" ns="object">
-    <param name="cargo_description" command='$(find xacro)/xacro --inorder $(find isaac_description)/urdf/cargo_bag.urdf.xacro' />
-    <node name="cargo" pkg="astrobee_gazebo" type="spawn_model" args="-param cargo_description -urdf -model $(arg name) -pose $(arg pose) "/>
+
+  <!-- Spawn object into Gazebo -->
+  <group ns="$(arg name)">
+    <param name="$(arg spawn)_description" command='$(find xacro)/xacro --inorder $(find isaac_description)/urdf/$(arg spawn).urdf.xacro' />
+    <node name="$(arg name)" pkg="astrobee_gazebo" type="spawn_model" args="-param $(arg spawn)_description -urdf -model $(arg name) -pose $(arg pose) "/>
   </group>
 
  </launch>
diff --git a/astrobee/simulation/isaac_gazebo/launch/start_simulation.launch b/astrobee/simulation/isaac_gazebo/launch/start_simulation.launch
@@ -22,6 +22,7 @@
   <arg name="world" default="worlds/empty.world"/>
   <arg name="speed" default="1"/>
   <arg name="debug" default="false"/>
+  <arg name="physics" default="ode"/>
 
   <!-- Use simulation time -->
   <param name="/use_sim_time" value="true" />
@@ -31,12 +32,12 @@
   <group if="$(arg debug)">
     <node name="gazebo" pkg="gazebo_ros" type="debug"
           respawn="false" output="screen"
-          args="$(arg world)" />
+          args="-e $(arg physics) $(arg world)" />
   </group>
   <group unless="$(arg debug)">
     <node name="gazebo" pkg="astrobee_gazebo" type="start_server"
           respawn="false" output="screen"
-          args="$(arg world)" />
+          args="-e $(arg physics) $(arg world)" />
   </group>
 
   <!-- start gazebo client -->

diff --git a/description/urdf/cargo_bag.urdf.xacro → description/urdf/cargo.urdf.xacro b/description/urdf/cargo_bag.urdf.xacro → description/urdf/cargo.urdf.xacro
@@ -2,12 +2,12 @@
 <robot name="cargo" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <link name="body">
-<!--     <collision>
+    <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <mesh filename="package://isaac_description/meshes/half_ctb_02_4.dae" scale="1 1 1"/>
       </geometry>
-    </collision> -->
+    </collision>
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>

diff --git a/description/urdf/cargo_double.urdf.xacro b/description/urdf/cargo_double.urdf.xacro
@@ -0,0 +1,62 @@
+<?xml version="1.0"?>
+<robot name="cargo" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+  <link name="body">
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://isaac_description/meshes/half_ctb_02_4.dae" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://isaac_description/meshes/half_ctb_02_4.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+
+    <collision>
+      <origin xyz="0.1 0.21 0" rpy="0 0 1.57" />
+      <geometry>
+        <mesh filename="package://astrobee_handrail_8_5/meshes/handrail_8_5.dae"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0.1 0.21 0" rpy="0 0 1.57" />
+      <geometry>
+        <mesh filename="package://astrobee_handrail_8_5/meshes/handrail_8_5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0.1 -0.21 0" rpy="0 0 -1.57" />
+      <geometry>
+        <mesh filename="package://astrobee_handrail_8_5/meshes/handrail_8_5.dae"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin xyz="0.1 -0.21 0" rpy="0 0 -1.57" />
+      <geometry>
+        <mesh filename="package://astrobee_handrail_8_5/meshes/handrail_8_5.dae"/>
+      </geometry>
+    </visual>
+
+    <inertial>
+      <mass value="0.5" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
+    </inertial>
+  </link>
+
+  <!-- tf publisher -->
+  <gazebo>
+    <plugin name="truth_ros" filename="libgazebo_model_plugin_truth.so">
+      <rate>62.5</rate>
+      <parent>world</parent>
+      <child>body</child>
+      <tf>true</tf>
+      <pose>false</pose>
+      <twist>false</twist>
+      <static>false</static>
+    </plugin>
+  </gazebo>
+</robot>
diff --git a/description/urdf/socks.urdf.xacro → description/urdf/sock.urdf.xacro b/description/urdf/socks.urdf.xacro → description/urdf/sock.urdf.xacro
diff --git a/isaac/launch/controller/sim_start.launch b/isaac/launch/controller/sim_start.launch
@@ -22,6 +22,7 @@
   <arg name="vmware" default="true" />
   <arg name="speed" default="1" />
   <arg name="debug" default="false" />
+  <arg name="physics" default="ode"/>
   <!-- Fix for running in vmware with DRI -->
   <env if="$(arg vmware)" name="SVGA_VGPU10" value="0" />
   <!-- Launch the requested world -->
@@ -30,5 +31,6 @@
     <arg name="gui" value="$(arg gzclient)"/>
     <arg name="speed" value="$(arg speed)" />
     <arg name="debug" value="$(arg debug)" />
+    <arg name="physics" value="$(arg physics)" />
   </include>
 </launch>
diff --git a/isaac/launch/sim.launch b/isaac/launch/sim.launch
@@ -29,6 +29,8 @@
   <arg name="nodes" default=""/>                 <!-- Launch specific nodes       -->
   <arg name="extra" default=""/>                 <!-- Inject additional node      -->
   <arg name="debug" default=""/>                 <!-- Debug node group            -->
+  <!-- Physics engine options: ode (gazebo default), bullet, simbody, dart   -->
+  <arg name="physics" default="ode"/>
   <arg name="sim" default="local" />             <!-- SIM IP address              -->
   <arg name="llp" default="local" />             <!-- LLP IP address              -->
   <arg name="mlp" default="local" />             <!-- MLP IP address              -->
@@ -166,6 +168,7 @@
           <arg name="vmware" value="$(arg vmware)" />
           <arg name="speed" value="$(arg speed)" />
           <arg name="debug" value="$(arg sdebug)" />
+          <arg name="physics" value="$(arg physics)" />
         </include>
       </group>
       <group if="$(arg r2)">
@@ -175,6 +178,7 @@
           <arg name="vmware" value="$(arg vmware)" />
           <arg name="speed" value="$(arg speed)" />
           <arg name="debug" value="$(arg sdebug)" />
+          <arg name="physics" value="$(arg physics)" />
         </include>
       </group>
     </group>