From 2a38c086f91efd0eb45163d58dd5b4ebf5c37624 Mon Sep 17 00:00:00 2001 From: monkescripts Date: Tue, 18 Aug 2026 02:27:10 +0800 Subject: [PATCH 1/3] Update multivehicle examples to use jazzy version; modify README, build scripts, Dockerfile, and tmuxp configuration --- multivehicle/README.md | 2 +- multivehicle/build.bash | 6 +++--- multivehicle/docker/Dockerfile | 16 ++++++++-------- multivehicle/examples.repos | 6 +++++- multivehicle/run.bash | 2 +- multivehicle/tmuxp/mvsim_debug.yaml | 6 +++--- 6 files changed, 21 insertions(+), 17 deletions(-) diff --git a/multivehicle/README.md b/multivehicle/README.md index cb69a89..a9be4e9 100644 --- a/multivehicle/README.md +++ b/multivehicle/README.md @@ -23,7 +23,7 @@ cd src/multivehicle_sim cd ../examples/multivehicle ./build.bash -./run.bash multivehicle_examples:humble +./run.bash multivehicle_examples:jazzy ``` Inside the container: diff --git a/multivehicle/build.bash b/multivehicle/build.bash index 049eb12..5e86930 100755 --- a/multivehicle/build.bash +++ b/multivehicle/build.bash @@ -3,15 +3,15 @@ set -e image_name=multivehicle_examples -image_tag=humble +image_tag=jazzy if [ ! -f "docker/Dockerfile" ]; then echo "Err: docker/Dockerfile not found. Run from src/examples/multivehicle." exit 1 fi -if ! docker image inspect multivehicle_sim:humble >/dev/null 2>&1; then - echo "Err: base image multivehicle_sim:humble not found." +if ! docker image inspect multivehicle_sim:jazzy >/dev/null 2>&1; then + echo "Err: base image multivehicle_sim:jazzy not found." echo "Build it first from src/multivehicle_sim." exit 1 fi diff --git a/multivehicle/docker/Dockerfile b/multivehicle/docker/Dockerfile index dce6149..021ffb8 100644 --- a/multivehicle/docker/Dockerfile +++ b/multivehicle/docker/Dockerfile @@ -1,20 +1,20 @@ -FROM multivehicle_sim:humble +FROM multivehicle_sim:jazzy SHELL ["/bin/bash", "-o", "pipefail", "-o", "errexit", "-c"] ENV DEBIAN_FRONTEND=noninteractive ARG HOME_DIR=/root RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-humble-navigation2 \ - ros-humble-nav2-bringup \ - ros-humble-py-trees \ - ros-humble-py-trees-ros \ - ros-humble-tf-transformations && \ + python3-transforms3d \ + ros-jazzy-navigation2 \ + ros-jazzy-nav2-bringup \ + ros-jazzy-py-trees \ + ros-jazzy-py-trees-ros \ + ros-jazzy-tf-transformations && \ apt-get autoremove -y && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* -RUN pip3 install --no-cache-dir --ignore-installed "transforms3d>=0.4" "numpy>=1.25,<2" -RUN pip3 install --no-cache-dir mavsdk +RUN pip3 install --no-cache-dir --break-system-packages mavsdk WORKDIR ${HOME_DIR} diff --git a/multivehicle/examples.repos b/multivehicle/examples.repos index 043495b..9ca4b92 100644 --- a/multivehicle/examples.repos +++ b/multivehicle/examples.repos @@ -11,12 +11,16 @@ repositories: Micro-XRCE-DDS-Agent: type: git url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git - version: v2.4.2 + version: v2.4.3 depth: 1 gz_led_plugin: type: git url: https://github.com/BumblebeeAS/bb_led_plugin.git version: main + vehicular_distance_plugin: + type: git + url: https://github.com/BumblebeeAS/vehicular_distance_plugin.git + version: master bb_robotx_dashboard: type: git url: https://github.com/BumblebeeAS/bb_robotx_dashboard.git diff --git a/multivehicle/run.bash b/multivehicle/run.bash index d12707d..46840d8 100755 --- a/multivehicle/run.bash +++ b/multivehicle/run.bash @@ -2,7 +2,7 @@ set -e -IMAGE_NAME="${1:-multivehicle_examples:humble}" +IMAGE_NAME="${1:-multivehicle_examples:jazzy}" SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" WORKSPACE_DIR="$(cd "${SCRIPT_DIR}/../../.." && pwd)" diff --git a/multivehicle/tmuxp/mvsim_debug.yaml b/multivehicle/tmuxp/mvsim_debug.yaml index 544acb8..8046b96 100644 --- a/multivehicle/tmuxp/mvsim_debug.yaml +++ b/multivehicle/tmuxp/mvsim_debug.yaml @@ -24,8 +24,8 @@ shell_command_before: # NVIDIA PRIME render offload — auto-enabled when an NVIDIA GPU is passed through # (rocker --nvidia mounts /dev/nvidia0). Harmless / skipped on non-NVIDIA hosts. - '[ -e /dev/nvidia0 ] && export __NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia || true' - - source /opt/ros/humble/setup.bash - - '[ -f "$WS_DIR/install/setup.bash" ] && source "$WS_DIR/install/setup.bash"' + - source /opt/ros/jazzy/setup.bash + - 'if [ -f "$WS_DIR/install/setup.bash" ]; then source "$WS_DIR/install/setup.bash"; else echo "WARNING: $WS_DIR/install/setup.bash not found - build first: colcon build --symlink-install"; fi' - cd "$WS_DIR" windows: @@ -87,7 +87,7 @@ windows: - cmd: ros2 launch bb_robotx_dashboard dashboard.launch.py enter: false - shell_command: - - cmd: ros2 launch bb_robotx_dashboard robotx_2026_sim.launch.py bridges_pkg:=multivehicle_sim models_pkg:=bb_worlds auv_name:=bluerov auv_pose_topic:=/bluerov/odom asv_name:=blueboat asv_pose_topic:=/blueboat/odom uav_name:=x500 uav_pose_topic:=/x500/odom + - cmd: ros2 launch bb_robotx_dashboard robotx_2026_sim.launch.py bridges_pkg:=robotx_gz models_pkg:=bb_worlds auv_name:=bluerov auv_pose_topic:=/bluerov/odom asv_name:=blueboat asv_pose_topic:=/blueboat/odom uav_name:=x500 uav_pose_topic:=/x500/odom enter: false # 6. Debug From d43b4493deeaab8e399df292a32591b0c6380675 Mon Sep 17 00:00:00 2001 From: monkescripts Date: Sat, 22 Aug 2026 21:21:01 +0800 Subject: [PATCH 2/3] Update tmuxp configuration for multivehicle examples; add PX4_DIR variable and improve comments for clarity --- multivehicle/tmuxp/mvsim_debug.yaml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/multivehicle/tmuxp/mvsim_debug.yaml b/multivehicle/tmuxp/mvsim_debug.yaml index 8046b96..a7df87a 100644 --- a/multivehicle/tmuxp/mvsim_debug.yaml +++ b/multivehicle/tmuxp/mvsim_debug.yaml @@ -12,6 +12,11 @@ # 4) drone — XRCE agent + PX4 SITL x500 + gz bridge + offboard demo BT # 5) dashboard — web backend (:8080) + sim-side LED/incident bridges # 6) debug — free shell + Foxglove bridge +# +# Workspace dir defaults to /root/HOST/mvsim_ws and the PX4 SITL install root to +# /root/px4 (the image exports PX4_DIR). Override either by exporting it before +# loading, e.g.: +# WS_DIR=/root/HOST/my_ws tmuxp load .../mvsim_debug.yaml session_name: mvsim @@ -21,6 +26,9 @@ global_options: shell_command_before: - 'WS_DIR="${WS_DIR:-/root/HOST/mvsim_ws}"' + # PX4 SITL install root; exported by the image, defaulted here so the session + # still works on an older image that predates the ENV. + - 'PX4_DIR="${PX4_DIR:-/root/px4}"' # NVIDIA PRIME render offload — auto-enabled when an NVIDIA GPU is passed through # (rocker --nvidia mounts /dev/nvidia0). Harmless / skipped on non-NVIDIA hosts. - '[ -e /dev/nvidia0 ] && export __NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia || true' @@ -67,7 +75,7 @@ windows: - cmd: MicroXRCEAgent udp4 -p 8888 enter: false - shell_command: - - cmd: PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4010 PX4_UXRCE_DDS_NS=x500 PX4_PARAM_UXRCE_DDS_SYNCT=0 PX4_GZ_MODEL_POSE="47.40,-388.95,3.85,0,0.0" /root/px4/px4_sitl/bin/px4 -w /root/px4/px4_sitl/romfs -i 1 + - cmd: PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4010 PX4_UXRCE_DDS_NS=x500 PX4_PARAM_UXRCE_DDS_SYNCT=0 PX4_GZ_MODEL_POSE="47.40,-388.95,3.85,0,0.0" ${PX4_DIR}/px4_sitl/bin/px4 -w ${PX4_DIR}/px4_sitl/romfs -i 1 enter: false - shell_command: - cmd: ros2 launch multivehicle_sim uav_gz.launch.py model_name:=x500_mono_cam_1 From 290110365fccc1d04f0182910b06fdb25a05856b Mon Sep 17 00:00:00 2001 From: monkescripts Date: Sat, 22 Aug 2026 23:01:12 +0800 Subject: [PATCH 3/3] Transplant multivehicle_sim repo to examples --- .gitignore | 17 +- README.md | 14 +- multivehicle/README.md | 236 +- multivehicle/build.bash | 38 +- multivehicle/docker/Dockerfile | 312 +- .../docker/scripts/setup_dashboard.sh | 60 + multivehicle/examples.repos | 13 +- .../config/ardusub.parm | 101 + .../launch/ardusub_interface.launch.py | 161 + .../mavros_params/sim_mavros_params.yaml | 47 + .../multivehicle_interface/__init__.py | 0 .../blueboat_odom_to_tf.py | 51 + .../ground_truth_to_mavros.py | 53 + .../multivehicle_interface/gz_pose_to_odom.py | 68 + .../multivehicle_interface/package.xml | 32 + .../resource/multivehicle_interface | 1 + .../packages/multivehicle_interface/setup.cfg | 4 + .../packages/multivehicle_interface/setup.py | 33 + .../packages/multivehicle_sim/CMakeLists.txt | 19 + .../config/blueboat_gz_bridge.yaml | 17 + .../config/bluerov_gz_bridge.yaml | 17 + .../multivehicle_sim/config/gz_bridge.yaml | 4 + .../packages/multivehicle_sim/hooks/setup.dsv | 1 + .../multivehicle_sim/launch/bluerov.launch.py | 190 + .../multivehicle_sim/launch/boat.launch.py | 143 + .../multivehicle_sim/launch/uav_gz.launch.py | 117 + .../multivehicle_sim/launch/world.launch.py | 170 + .../blueboat/meshes/blueboat_aerial.dae | 213 + .../blueboat/meshes/blueboat_crosstube.dae | 895 ++++ .../models/blueboat/meshes/blueboat_flag.dae | 89 + .../meshes/blueboat_frame_asm_aft.dae | 2817 +++++++++++++ .../meshes/blueboat_frame_asm_fore.dae | 3685 +++++++++++++++++ .../meshes/blueboat_hatch_asm_port.dae | 3437 +++++++++++++++ .../meshes/blueboat_hatch_asm_stbd.dae | 3065 ++++++++++++++ .../models/blueboat/meshes/blueboat_hull.dae | 523 +++ .../meshes/blueboat_hull_collision.dae | 174 + .../meshes/blueboat_hull_collision.stl | Bin 0 -> 48084 bytes .../blueboat/meshes/blueboat_motor_port.dae | 647 +++ .../blueboat/meshes/blueboat_motor_stbd.dae | 585 +++ .../blueboat/meshes/blueboat_prop_port.dae | 89 + .../blueboat/meshes/blueboat_prop_stbd.dae | 89 + .../models/blueboat/model.config | 32 + .../models/blueboat/model.sdf | 447 ++ .../models/bluerov2/BlueROV2.md | 60 + .../models/bluerov2/configs.yaml | 36 + .../models/bluerov2/meshes/bluerov2.dae | 719 ++++ .../models/bluerov2/meshes/t200_ccw_prop.dae | 101 + .../models/bluerov2/meshes/t200_cw_prop.dae | 101 + .../models/bluerov2/model.config | 18 + .../models/bluerov2/model.sdf | 468 +++ .../models/bluerov2/model.sdf.in | 419 ++ .../multivehicle_sim/__init__.py | 0 .../multivehicle_sim/bridge.py | 31 + .../packages/multivehicle_sim/package.xml | 43 + multivehicle/run.bash | 72 +- multivehicle/run_no_nvidia.bash | 77 + multivehicle/tmuxp/mvsim.yaml | 97 + multivehicle/tmuxp/mvsim_debug.yaml | 2 +- 58 files changed, 20898 insertions(+), 52 deletions(-) create mode 100755 multivehicle/docker/scripts/setup_dashboard.sh create mode 100644 multivehicle/packages/multivehicle_interface/config/ardusub.parm create mode 100644 multivehicle/packages/multivehicle_interface/launch/ardusub_interface.launch.py create mode 100644 multivehicle/packages/multivehicle_interface/mavros_params/sim_mavros_params.yaml create mode 100644 multivehicle/packages/multivehicle_interface/multivehicle_interface/__init__.py create mode 100755 multivehicle/packages/multivehicle_interface/multivehicle_interface/blueboat_odom_to_tf.py create mode 100755 multivehicle/packages/multivehicle_interface/multivehicle_interface/ground_truth_to_mavros.py create mode 100755 multivehicle/packages/multivehicle_interface/multivehicle_interface/gz_pose_to_odom.py create mode 100644 multivehicle/packages/multivehicle_interface/package.xml create mode 100644 multivehicle/packages/multivehicle_interface/resource/multivehicle_interface create mode 100644 multivehicle/packages/multivehicle_interface/setup.cfg create mode 100644 multivehicle/packages/multivehicle_interface/setup.py create mode 100644 multivehicle/packages/multivehicle_sim/CMakeLists.txt create mode 100644 multivehicle/packages/multivehicle_sim/config/blueboat_gz_bridge.yaml create mode 100644 multivehicle/packages/multivehicle_sim/config/bluerov_gz_bridge.yaml create mode 100644 multivehicle/packages/multivehicle_sim/config/gz_bridge.yaml create mode 100644 multivehicle/packages/multivehicle_sim/hooks/setup.dsv create mode 100644 multivehicle/packages/multivehicle_sim/launch/bluerov.launch.py create mode 100644 multivehicle/packages/multivehicle_sim/launch/boat.launch.py create mode 100644 multivehicle/packages/multivehicle_sim/launch/uav_gz.launch.py create mode 100644 multivehicle/packages/multivehicle_sim/launch/world.launch.py create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_aerial.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_crosstube.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_flag.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_frame_asm_aft.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_frame_asm_fore.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_hatch_asm_port.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_hatch_asm_stbd.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_hull.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_hull_collision.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_hull_collision.stl create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_motor_port.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_motor_stbd.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_prop_port.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_prop_stbd.dae create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/model.config create mode 100755 multivehicle/packages/multivehicle_sim/models/blueboat/model.sdf create mode 100644 multivehicle/packages/multivehicle_sim/models/bluerov2/BlueROV2.md create mode 100644 multivehicle/packages/multivehicle_sim/models/bluerov2/configs.yaml create mode 100644 multivehicle/packages/multivehicle_sim/models/bluerov2/meshes/bluerov2.dae create mode 100644 multivehicle/packages/multivehicle_sim/models/bluerov2/meshes/t200_ccw_prop.dae create mode 100644 multivehicle/packages/multivehicle_sim/models/bluerov2/meshes/t200_cw_prop.dae create mode 100644 multivehicle/packages/multivehicle_sim/models/bluerov2/model.config create mode 100644 multivehicle/packages/multivehicle_sim/models/bluerov2/model.sdf create mode 100644 multivehicle/packages/multivehicle_sim/models/bluerov2/model.sdf.in create mode 100644 multivehicle/packages/multivehicle_sim/multivehicle_sim/__init__.py create mode 100644 multivehicle/packages/multivehicle_sim/multivehicle_sim/bridge.py create mode 100644 multivehicle/packages/multivehicle_sim/package.xml create mode 100755 multivehicle/run_no_nvidia.bash create mode 100644 multivehicle/tmuxp/mvsim.yaml diff --git a/.gitignore b/.gitignore index 590d5eb..03e33eb 100644 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,16 @@ -.vscode -*.bin +# editors +.vscode/ +.idea/ + +# python +*.pyc __pycache__/ +*.egg-info/ + +# colcon +build/ +install/ +log/ + +# ardupilot SITL runtime artifacts +*.bin diff --git a/README.md b/README.md index a1c327d..0c0f64b 100644 --- a/README.md +++ b/README.md @@ -1,7 +1,12 @@ # Examples -- [BlueROV with ArduSub](bluerov/README.md) -- [Multi-vehicle simulation](multivehicle/README.md) +Simulators and the end-to-end missions that run on them. + +- [BlueROV with ArduSub](bluerov/README.md) — single-vehicle AUV sim (ROS 2 Humble) + with the bin / torpedo / square behaviour trees and the vision stack. +- [Multi-vehicle simulation](multivehicle/README.md) — BlueROV2 AUV + BlueBoat USV + + PX4 x500 drone on the RobotX 2026 Singapore River course (ROS 2 Jazzy), plus the + operator dashboard. ## BlueROV @@ -11,6 +16,11 @@ https://github.com/user-attachments/assets/9a9c25c5-637a-403a-b34d-4048f9afb5e0 ## Multi-vehicle +Three vehicles in one Gazebo Harmonic world: a BlueROV2 on ArduSub SITL, a BlueBoat +USV under a LOS waypoint controller, and a PX4 x500 flying an offboard behaviour +tree — with the `bb_robotx_dashboard` operator view on top. Simulator and missions +build into a single image; see [`multivehicle/README.md`](multivehicle/README.md). + ## Foxglove Layouts Import our [Foxglove layouts](https://github.com/BumblebeeAS/controlkitv3/tree/main/foxglove_layouts) for a ready-made view of the relevant topics and services, making it easier to visualize and debug each mission. diff --git a/multivehicle/README.md b/multivehicle/README.md index a9be4e9..7081638 100644 --- a/multivehicle/README.md +++ b/multivehicle/README.md @@ -1,36 +1,240 @@ -# Multi-vehicle examples +# Multi-vehicle simulation -Missions and control demos built on -[`multivehicle_sim`](https://github.com/BumblebeeAS/multivehicle_sim). +Gazebo (Harmonic) simulator for a multi-vehicle marine environment — a BlueROV2 +AUV (ArduSub), a BlueBoat USV, and a PX4 x500 drone in the RobotX 2026 Singapore +River course — plus the missions and controllers that drive them and the +`bb_robotx_dashboard` operator dashboard. -## Launch files +## Layout -- BlueROV square mission: run `bluerov_tasks`'s tree launch directly - `ros2 launch bluerov_tasks bluerov_square_bt.launch.py` -- `boat_control.launch.py`: BlueBoat thrust mixer + LOS controller (+ optional mission node) -- `px4_offboard.launch.py`: the `uav2_offboard` `offboard_node` action backend + the - `mission_planner_2` UAV2 offboard demo behaviour tree (`uav2_offboard_demo_main.py`) - driving it (takeoff → standoff → return → land). +``` +examples/multivehicle/ + build.bash run.bash run_no_nvidia.bash + examples.repos # every sibling dependency, imported under src/ + docker/Dockerfile # multivehicle_sim:jazzy — multi-stage (gz harmonic + PX4 + ArduSub + dashboard + mission stack) + docker/scripts/setup_dashboard.sh + tmuxp/mvsim.yaml # sim only: world + 3 vehicles + dashboard + tmuxp/mvsim_debug.yaml # the above + the missions/controllers + packages/ + multivehicle_interface/ # ament_python — ArduSub SITL + MAVROS + gz odometry adapters + multivehicle_sim/ # ament_cmake — gazebo bringup, vehicle models (bluerov2/blueboat), gz bridges + multivehicle_examples/ # ament_cmake — BlueBoat mission/control, PX4 offboard launch wrappers +``` + +Course/environment models and worlds (incl. `robotx_2026_sg_river.world`) come +from the [`bb_worlds`](https://github.com/BumblebeeAS/bb_worlds) package, and the +dashboard's ROS interfaces from [`bb_msgs`](https://github.com/BumblebeeAS/bb_msgs) +(which provides the `bb_robotx_msgs` package). Only the **vehicle** models +(`bluerov2`, `blueboat`) ship here; the x500 drone is spawned by PX4 SITL (baked +into the image). -## Setup +## Get the dependencies + +Clone this repo into `~/mvsim_ws/src`, then import the external dependencies: ```bash +sudo apt-get update && sudo apt-get install python3-vcstool cd ~/mvsim_ws vcs import src < src/examples/multivehicle/examples.repos --recursive +``` -cd src/multivehicle_sim -./build.bash +`bb_worlds` supplies the worlds and course/environment models (resolved via +`GZ_SIM_RESOURCE_PATH` from its colcon env hooks); `bb_msgs` (pinned to its +`multivehicle_sim` branch, which carries the dashboard's LED/incident interfaces) +supplies `bb_robotx_msgs`; `Micro-XRCE-DDS-Agent` and `px4_msgs` are the ROS↔PX4 +bridge and message definitions for the drone; `uav2_offboard`, +`mission_planner_release` and `frames` are the mission stack. `--recursive` is +required for `bb_robotx_dashboard`'s `robocommand` submodule. + +## Build the image -cd ../examples/multivehicle +```bash +cd ~/mvsim_ws/src/examples/multivehicle ./build.bash -./run.bash multivehicle_examples:jazzy ``` +This creates `multivehicle_sim:jazzy`. + +The Dockerfile is multi-stage: `px4-builder` and `ardupilot-builder` compile PX4 +SITL and ArduSub, and the final image copies out only `$PX4_DIR/px4_sitl`, PX4's +`Tools/simulation/gz` model tree, and `/usr/local/bin/ardusub`. + +## Start the container + +Install [rocker](https://github.com/osrf/rocker#installation), then: + +```bash +cd ~/mvsim_ws/src/examples/multivehicle +./run.bash multivehicle_sim:jazzy # NVIDIA host +# or, on an Intel/AMD iGPU host: +./run_no_nvidia.bash multivehicle_sim:jazzy +``` + +## Build the ROS packages + Inside the container: ```bash cd /root/HOST/mvsim_ws +source /opt/ros/jazzy/setup.bash colcon build --symlink-install --packages-up-to multivehicle_examples microxrcedds_agent bb_robotx_dashboard source install/setup.bash -tmuxp load src/examples/multivehicle/tmuxp/mvsim_debug.yaml ``` + +(For just the sim, without the dashboard or the missions: +`colcon build --symlink-install --packages-up-to multivehicle_interface multivehicle_sim`.) + +## Run + +On a hybrid-GPU (NVIDIA) host, enable PRIME render offload in the shell **before** +launching so gz renders on the discrete GPU (otherwise RTF tanks on the iGPU / +llvmpipe). The tmuxp sessions below already do this when `/dev/nvidia0` is present. + +```bash +export __NV_PRIME_RENDER_OFFLOAD=1 +export __GLX_VENDOR_LIBRARY_NAME=nvidia +``` + +**Full stack** — sim plus the missions and controllers: + +```bash +tmuxp load /root/HOST/mvsim_ws/src/examples/multivehicle/tmuxp/mvsim_debug.yaml +``` + +**Sim only** — world, all three vehicles, and the dashboard, no example apps: + +```bash +tmuxp load /root/HOST/mvsim_ws/src/examples/multivehicle/tmuxp/mvsim.yaml +``` + +Both sessions **pre-type every command without running it** (`enter: false`), one +window each, so you start them in dependency order and watch each come up. +Nothing works if the world isn't up first: Gazebo owns the spawn for every +vehicle, and PX4 SITL runs with `PX4_GZ_STANDALONE=1` (it attaches to the +already-running gz server rather than starting one). + +**Or launch the pieces manually**, each in its own shell in the container: + +```bash +# 1. World (Gazebo). +ros2 launch multivehicle_sim world.launch.py world_name:=robotx_2026_sg_river + +# 2. BlueROV2 — spawn + ArduSub + MAVROS, then the square-mission tree. +ros2 launch multivehicle_sim bluerov.launch.py +ros2 launch bluerov_tasks bluerov_square_bt.launch.py + +# 3. BlueBoat USV — spawn + odom bridge, then the mixer/LOS controller + mission. +ros2 launch multivehicle_sim boat.launch.py +ros2 launch multivehicle_examples boat_control.launch.py use_mission:=true + +# 4. PX4 x500 drone — agent, then PX4 SITL (spawns the x500), then its gz bridge, +# then the offboard demo tree. +MicroXRCEAgent udp4 -p 8888 +PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4010 PX4_UXRCE_DDS_NS=x500 PX4_PARAM_UXRCE_DDS_SYNCT=0 \ + PX4_GZ_MODEL_POSE="47.40,-388.95,3.85,0,0.0" ${PX4_DIR}/px4_sitl/bin/px4 -w ${PX4_DIR}/px4_sitl/romfs -i 1 +ros2 launch multivehicle_sim uav_gz.launch.py model_name:=x500_mono_cam_1 +ros2 launch multivehicle_examples px4_offboard.launch.py +``` + +`bluerov.launch.py` includes the autopilot interface from +`multivehicle_interface` (ArduSub SITL + MAVROS + a ground-truth odometry +adapter). Toggle pieces with `ardusub:=false`, `mavros:=false`, or +`odom_source:=none`. + +Only the `square` BlueROV mission runs in this sim — the `bin` / `torpedo` +behaviour trees need the vision stack from the [`bluerov`](../bluerov) example +image. + +## Example launch files + +- BlueROV square mission: `ros2 launch bluerov_tasks bluerov_square_bt.launch.py` +- `boat_control.launch.py`: BlueBoat thrust mixer + LOS waypoint controller + (+ optional mission node, `use_mission:=true`) +- `px4_offboard.launch.py`: the `uav2_offboard` `offboard_node` action backend + + the `mission_planner_2` UAV2 offboard demo behaviour tree + (`uav2_offboard_demo_main.py`) driving it (takeoff → standoff → return → land). + Per-deployment PX4 topic names and `mav_sys_id` come from + `config/uav2_offboard_x500.yaml`, overridable via `params_file:=`. + +## Dashboard + +The dashboard source is pulled by `examples.repos` into `src/bb_robotx_dashboard`. +Inside the container, the one-shot bootstrap (`docker/scripts/setup_dashboard.sh`, +wired into `~/.bashrc`) generates the proto bindings and builds the frontend +against the mounted source. The `dashboard` window of either tmuxp session brings +up the web backend (`http://localhost:8080`) plus the sim-side LED/incident bridges. + +That integration launch (`robotx_2026_sim.launch.py`) takes both of its plugin +packages from `bb_worlds`: `bridges_pkg:=robotx_gz` (it imports +`robotx_gz.bridges`, the canonical gz↔ROS bridge helpers, which `bb_worlds` +installs as a top-level Python package) and `models_pkg:=bb_worlds` (the +`robotx26/incident_cube` model and friends). + +The sim used to ship a partial fork of those helpers as `multivehicle_sim.bridges`. +It has been removed — it drifted behind `robotx_gz.bridges` and broke the dashboard +launch whenever a new helper was added upstream (`module +'multivehicle_sim.bridges' has no attribute 'clock'`). Always point `bridges_pkg` +at `robotx_gz`. + +## Architecture + +Who provides what: + +| Component | Responsibility | +|-----------|----------------| +| `multivehicle_sim` | Gazebo bringup (world + vehicle spawns), vehicle models (bluerov2, blueboat), and the per-vehicle gz↔ROS bridge configs | +| `multivehicle_interface` | ArduSub SITL + MAVROS bringup and the gz→ROS odometry adapters | +| `multivehicle_examples` | BlueBoat thrust mixer + LOS waypoint controller + mission, and the PX4 offboard launch wrappers | +| `bluerov_tasks` | BlueROV behaviour trees (`square` here; `bin`/`torpedo` need the vision image) | +| `bb_worlds` | The world + course/environment models (placed on `GZ_SIM_RESOURCE_PATH`), plus the `robotx_gz.bridges` helpers the dashboard imports | +| PX4 SITL + `Micro-XRCE-DDS-Agent` + `px4_msgs` | The x500 autopilot + ROS↔PX4 bridge (PX4 baked into the image) | +| `uav2_offboard` + `mission_planner_2` | The drone's action backend and the behaviour-tree framework | +| `bb_robotx_dashboard` + `bb_msgs` | Operator dashboard + its ROS interfaces | + +### BlueROV2 (ArduSub) + +``` +ROS command → MAVROS → ArduSub SITL → ardupilot_gazebo plugin → Gazebo physics + → ground-truth odometry adapter → MAVROS and TF +``` + +The gz bridge publishes groundtruth `/bluerov/odom` (+ front camera); +`ground_truth_to_mavros` republishes it to `/mavros/odometry/out` so ArduSub's +EKF has a position source. + +### BlueBoat (USV) + +``` +mission → LOS waypoint controller → thrust mixer + → /blueboat/thrusters/{left,right}/thrust → Gazebo thrusters → physics + → /blueboat/odom (groundtruth) +``` + +No autopilot in the sim — the model, groundtruth odom, and thruster-command +bridge come from `multivehicle_sim`; the mixer and waypoint controller from +`multivehicle_examples`. + +### PX4 x500 drone + +``` +ROS 2 (/x500/fmu/...) ⇄ uXRCE-DDS agent ⇄ PX4 SITL → Gazebo physics + → gz pose bridge → /x500/odom (+ camera) +``` + +PX4 SITL spawns the x500 into the running world; the agent bridges its uORB +topics to ROS 2; `uav_gz.launch.py` bridges groundtruth pose + camera. The x500 +is PX4 SITL instance `-i 1`, hence `mav_sys_id: 2`. + +### Dashboard + +``` +vehicle /…/odom ─┐ + ├→ robotx_2026_sim bridges → incident markers + LED change_mode (gz) +RoboCommand TCP ─┘→ dashboard backend (FastAPI :8080) → Vue frontend +``` + +### Notes + +- Map poses use ENU; depth below the surface has negative z. +- Host networking is required for the default MAVLink + uXRCE-DDS (UDP 8888) ports. +- ROS namespaces are per-vehicle (`/bluerov/…`, `/blueboat/…`, `/x500/…`). diff --git a/multivehicle/build.bash b/multivehicle/build.bash index 5e86930..9fde9f2 100755 --- a/multivehicle/build.bash +++ b/multivehicle/build.bash @@ -1,22 +1,32 @@ #!/usr/bin/env bash -set -e +# +# Build the multivehicle_sim Docker image (Gazebo Harmonic + prebuilt PX4 & +# ArduSub + the bb_robotx_dashboard toolchain + the mission/control stack the +# examples need). +# +# Usage: ./build.bash (from src/examples/multivehicle) +# Tags the build as both multivehicle_sim: and multivehicle_sim:. +# +# SPDX-License-Identifier: MIT +# Adapted from OSRF dockwater (Apache-2.0), Copyright (C) 2018 Open Source +# Robotics Foundation; modified for multivehicle_sim by MonkeScripts. +image_name=multivehicle_sim +dockerfile_dir=${1:-docker} +distro=${2:-jazzy} -image_name=multivehicle_examples -image_tag=jazzy - -if [ ! -f "docker/Dockerfile" ]; then - echo "Err: docker/Dockerfile not found. Run from src/examples/multivehicle." +if [ ! -f "${dockerfile_dir}"/Dockerfile ] +then + echo "Err: Directory '${dockerfile_dir}' does not contain a Dockerfile to build." + echo " Run this from src/examples/multivehicle." exit 1 fi -if ! docker image inspect multivehicle_sim:jazzy >/dev/null 2>&1; then - echo "Err: base image multivehicle_sim:jazzy not found." - echo "Build it first from src/multivehicle_sim." - exit 1 -fi +export DOCKER_BUILDKIT=1 image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M) -docker build --rm -t $image_plus_tag -f docker/Dockerfile docker && \ -docker tag $image_plus_tag $image_name:$image_tag && \ -echo "Built $image_plus_tag and tagged as $image_name:$image_tag" +docker build --rm -t $image_plus_tag -f "${dockerfile_dir}"/Dockerfile "${dockerfile_dir}" && \ +docker tag $image_plus_tag $image_name:$distro && \ +echo "Built $image_plus_tag and tagged as $image_name:$distro" || exit 1 +echo "To run:" +echo "./run.bash $image_name:$distro" diff --git a/multivehicle/docker/Dockerfile b/multivehicle/docker/Dockerfile index 021ffb8..ebd815d 100644 --- a/multivehicle/docker/Dockerfile +++ b/multivehicle/docker/Dockerfile @@ -1,9 +1,293 @@ -FROM multivehicle_sim:jazzy +# syntax=docker/dockerfile:1 +# Self-contained build for the multivehicle (PX4 + ArduSub + USV) simulator, +# the example missions/controllers built on top of it, and the +# bb_robotx_dashboard toolchain. +# Layout: +# base everything the FINAL image needs (apt + node + protoc + pip) +# px4-builder clones/patches/builds PX4 SITL -> px4_sitl/ + gz models +# ardupilot-builder clones/builds ArduSub -> bin/ardusub +# final base + the three artifacts above, nothing else +# +# --------------------------------------------------------------------------- # +# base +# --------------------------------------------------------------------------- # +FROM ros:jazzy-ros-base-noble AS base SHELL ["/bin/bash", "-o", "pipefail", "-o", "errexit", "-c"] ENV DEBIAN_FRONTEND=noninteractive + +ENV TZ=Etc/UTC +RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selections && \ + echo $TZ > /etc/timezone && \ + ln -fs /usr/share/zoneinfo/$TZ /etc/localtime + +RUN < /dev/null + +curl -fsSL https://deb.nodesource.com/gpgkey/nodesource-repo.gpg.key \ + | gpg --dearmor -o /usr/share/keyrings/nodesource-archive-keyring.gpg +echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/nodesource-archive-keyring.gpg] https://deb.nodesource.com/node_20.x nodistro main" \ + > /etc/apt/sources.list.d/nodesource.list + +# Main install +apt-get update +apt-get install -y --no-install-recommends \ + bash-completion \ + bc \ + build-essential \ + cmake \ + gdb \ + git \ + glmark2-x11 \ + gstreamer1.0-gl \ + gstreamer1.0-libav \ + gstreamer1.0-plugins-bad \ + gstreamer1.0-plugins-base \ + gstreamer1.0-plugins-good \ + gstreamer1.0-plugins-ugly \ + gz-harmonic \ + iputils-ping \ + libeigen3-dev \ + libgstreamer-plugins-base1.0-dev \ + libgstreamer1.0-dev \ + libgz-sim8-dev \ + libopencv-dev \ + libxcb-cursor-dev \ + locales \ + net-tools \ + nodejs \ + patch \ + pkg-config \ + protobuf-compiler \ + python3-empy \ + python3-pip \ + python3-rospkg \ + python3-sdformat14 \ + python3-setuptools \ + python3-venv \ + rapidjson-dev \ + ros-jazzy-actuator-msgs \ + ros-jazzy-ament-cmake-pycodestyle \ + ros-jazzy-desktop \ + ros-jazzy-foxglove-bridge \ + ros-jazzy-gps-msgs \ + ros-jazzy-image-common \ + ros-jazzy-image-transport \ + ros-jazzy-image-transport-plugins \ + ros-jazzy-joy-linux \ + ros-jazzy-joy-teleop \ + ros-jazzy-mavros \ + ros-jazzy-mavros-extras \ + ros-jazzy-mavros-msgs \ + ros-jazzy-radar-msgs \ + ros-jazzy-ros-gz \ + ros-jazzy-vision-msgs \ + ros-jazzy-xacro \ + sudo \ + tmux \ + unzip \ + vim \ + wget \ + xterm \ + xvfb + +locale-gen en_US en_US.UTF-8 +update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 + +apt-get clean +rm -rf /var/lib/apt/lists/* +EOF + +ENV LANG=en_US.UTF-8 + +# ros-jazzy-mavros +RUN /opt/ros/jazzy/lib/mavros/install_geographiclib_datasets.sh + +# Pinned protoc 33 baked offline to /opt/protoc (supports edition = "2024"). +# Installed off the system path so it never shadows /usr/bin/protoc; +# setup_dashboard.sh wires it into the dashboard's third_party/protoc/. +ARG PROTOC_VERSION=33.0 +RUN <&2; exit 1 ;; +esac +zip="protoc-${PROTOC_VERSION}-${pc_arch}.zip" +curl -fLo "/tmp/${zip}" \ + "https://github.com/protocolbuffers/protobuf/releases/download/v${PROTOC_VERSION}/${zip}" +mkdir -p /opt/protoc +unzip -q -o "/tmp/${zip}" -d /opt/protoc +chmod +x /opt/protoc/bin/protoc +rm -f "/tmp/${zip}" +/opt/protoc/bin/protoc --version +EOF + +RUN pip3 install --no-cache-dir --break-system-packages \ + 'fastapi' \ + 'uvicorn[standard]' \ + 'pydantic' \ + 'pydantic-settings' \ + 'protobuf>=6.33,<8' \ + 'tmuxp' + +# --------------------------------------------------------------------------- # +# px4-builder -- produces ${PX4_DIR}/px4_sitl and the gz model/config tree. +# --------------------------------------------------------------------------- # +FROM base AS px4-builder + +ARG PX4_DIR=/root/px4 +ARG PX4_VERSION=v1.16.0 + +RUN <&2; exit 1 +fi + +sed -i 's/PIP_USER_ARGUMENT="--user"/PIP_USER_ARGUMENT=""/g' "${prereqs}" +if grep -q 'PIP_USER_ARGUMENT="--user"' "${prereqs}"; then + echo "install-prereqs: PIP_USER_ARGUMENT not neutralised -- upstream changed" >&2; exit 1 +fi + +sed -i 's/sudo usermod -a -G dialout $USER/true/g' "${prereqs}" +if grep -q 'usermod -a -G dialout' "${prereqs}"; then + echo "install-prereqs: usermod call not stubbed -- upstream changed" >&2; exit 1 +fi +EOF +RUN Tools/environment_install/install-prereqs-ubuntu.sh -y + +# Build ArduSub. On Noble, install-prereqs-ubuntu.sh puts its python deps in a +# venv ($HOME/venv-ardupilot, --system-site-packages) instead of site-packages and +# writes the activation line to ~/.ardupilot_env (the docker path, since +# /.dockerenv exists). waf needs those deps, so source it here. It is deliberately +# NOT carried into the final image: ardusub_interface.launch.py execs the +# `ardusub` binary directly, not sim_vehicle.py, so this is a build-time need only. +RUN if [ -f ~/.ardupilot_env ]; then source ~/.ardupilot_env; fi \ + && modules/waf/waf-light configure --board sitl \ + && modules/waf/waf-light build --target bin/ardusub + +# --------------------------------------------------------------------------- # +# final -- base plus the three artifacts. No autopilot source trees ship. +# --------------------------------------------------------------------------- # +FROM base AS final + ARG HOME_DIR=/root +ENV PX4_DIR=${HOME_DIR}/px4 + +# PX4 SITL binaries + romfs, and the gz model/config tree PX4_GZ_STANDALONE +# resolves through GZ_SIM_RESOURCE_PATH. Paths match the builder's so the env +# vars below (and anything referencing them) are unchanged. +COPY --from=px4-builder ${PX4_DIR}/px4_sitl ${PX4_DIR}/px4_sitl +COPY --from=px4-builder ${PX4_DIR}/PX4-Autopilot/Tools/simulation/gz \ + ${PX4_DIR}/PX4-Autopilot/Tools/simulation/gz + +# ArduSub SITL. Only the binary is needed -- it links nothing outside the apt +# libs already in `base`, and takes its parameters from +# multivehicle_interface/config/ardusub.parm at launch. +COPY --from=ardupilot-builder /root/auv/ardupilot/build/sitl/bin/ardusub /usr/local/bin/ardusub + +# The example missions and controllers (multivehicle_examples, bluerov_tasks, +# mission_planner_2). Kept in `final` rather than `base` on purpose: touching this +# list must not invalidate the px4-builder / ardupilot-builder caches. RUN apt-get update && apt-get install -y --no-install-recommends \ python3-transforms3d \ ros-jazzy-navigation2 \ @@ -17,4 +301,30 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ RUN pip3 install --no-cache-dir --break-system-packages mavsdk +COPY scripts/setup_dashboard.sh /usr/local/bin/setup_dashboard.sh +RUN chmod +x /usr/local/bin/setup_dashboard.sh +RUN cat >> /root/.bashrc <<'EOF' + +# bb_robotx_dashboard runtime env +export ROBOCOMMAND_HOST=localhost +export ROBOCOMMAND_PORT=9000 +export ROBOCOMMAND_TEAM_ID=42 +export DASHBOARD_LISTEN_HOST=0.0.0.0 +export DASHBOARD_LISTEN_PORT=8080 +export DASHBOARD_ADMIN_SECRET=bumblebee + +# bb_robotx_dashboard one-shot proto bootstrap (against the mounted workspace) +if [ -z "${DASHBOARD_BOOTSTRAPPED:-}" ]; then + export DASHBOARD_BOOTSTRAPPED=1 + /usr/local/bin/setup_dashboard.sh || true +fi +EOF + WORKDIR ${HOME_DIR} + +ENV GZ_SIM_RESOURCE_PATH=${PX4_DIR}/PX4-Autopilot/Tools/simulation/gz/models +ENV GZ_SIM_SERVER_CONFIG_PATH=${PX4_DIR}/PX4-Autopilot/Tools/simulation/gz/server.config +# The ArduPilotPlugin comes from the colcon-built src/ardupilot_gazebo, which +# bb_worlds' resource_paths.sh hook prepends to GZ_SIM_SYSTEM_PLUGIN_PATH once +# install/setup.bash is sourced -- nothing to set here. +ENV PATH="/root/.local/bin:${PATH}" diff --git a/multivehicle/docker/scripts/setup_dashboard.sh b/multivehicle/docker/scripts/setup_dashboard.sh new file mode 100755 index 0000000..c5c7562 --- /dev/null +++ b/multivehicle/docker/scripts/setup_dashboard.sh @@ -0,0 +1,60 @@ +#!/usr/bin/env bash +# bb_robotx_dashboard runtime bootstrap. +# +# Runs once per container shell (hooked from ~/.bashrc). Generates the protobuf +# bindings the dashboard backend needs, against the dashboard source in the +# mounted workspace. + +set -uo pipefail + +# Locate the dashboard package in the mounted workspace. Override with +# DASHBOARD_PKG_DIR if your workspace lives somewhere else. +PKG_DIR="${DASHBOARD_PKG_DIR:-/root/HOST/mvsim_ws/src/bb_robotx_dashboard}" +if [ ! -d "${PKG_DIR}" ]; then + # Fall back to a shallow search under the mounted home. + PKG_DIR="$(find /root/HOST -maxdepth 5 -type d -name bb_robotx_dashboard \ + -not -path '*/build/*' -not -path '*/install/*' 2>/dev/null | head -n1)" +fi + +# No dashboard checked out — nothing to bootstrap, stay quiet. +[ -n "${PKG_DIR}" ] && [ -d "${PKG_DIR}" ] || exit 0 + +did_work=0 + +# 1. Clone the upstream robocommand repo (provides the .proto source). +if [ ! -d "${PKG_DIR}/third_party/robocommand/proto" ]; then + echo "[setup_dashboard] cloning robocommand proto source..." + git clone https://github.com/MonkeScripts/robocommand \ + "${PKG_DIR}/third_party/robocommand" || true + did_work=1 +fi + +# 2. Wire the image's pinned protoc 33 into third_party/protoc/ so +# compile_protos.sh picks the local (edition-2024-capable) binary instead of +# the system protoc 3.x. We symlink the baked /opt/protoc rather than +# re-downloading it over the network. +if [ ! -x "${PKG_DIR}/third_party/protoc/bin/protoc" ] \ + && [ -x /opt/protoc/bin/protoc ]; then + mkdir -p "${PKG_DIR}/third_party/protoc/bin" + ln -sf /opt/protoc/bin/protoc "${PKG_DIR}/third_party/protoc/bin/protoc" +fi + +# 3. Generate the Python protobuf bindings if missing. +if [ -d "${PKG_DIR}/third_party/robocommand/proto" ] \ + && [ ! -f "${PKG_DIR}/bb_robotx_dashboard/proto/report_pb2.py" ]; then + echo "[setup_dashboard] compiling proto bindings..." + ( cd "${PKG_DIR}" && bash scripts/compile_protos.sh ) || true + did_work=1 +fi + +if [ ! -d "${PKG_DIR}/frontend/dist" ]; then + cat < str: + """Derive ArduSub home "lat,lon,alt,yaw" from a world's spherical_coordinates. + + The world file is located via GZ_SIM_RESOURCE_PATH (multivehicle_sim adds its + worlds/ dir there through a colcon env hook). Falls back to the RobotX 2026 + Singapore River course origin if the world has no . + """ + # RobotX 2026 Singapore River course origin (matches + # robotx_2026_sg_river.world). + home_lat = 1.2894320 + home_lon = 103.8553700 + home_alt = 0.0 + home_heading = 0.0 + + if world_name == "empty.sdf": + return f"{home_lat},{home_lon},{home_alt},{home_heading}" + + world_filename = f"{world_name}.world" + resource_path = os.environ.get("GZ_SIM_RESOURCE_PATH", "") + search_dirs = resource_path.split(":") if resource_path else [] + + for directory in search_dirs: + candidate = os.path.join(directory, world_filename) + if not os.path.exists(candidate): + continue + try: + tree = ET.parse(candidate) + world_elem = tree.getroot().find("world") + sc = ( + world_elem.find("spherical_coordinates") + if world_elem is not None + else None + ) + if sc is None: + break + + lat_elem = sc.find("latitude_deg") + lon_elem = sc.find("longitude_deg") + elev_elem = sc.find("elevation") + head_elem = sc.find("heading_deg") + + if lat_elem is not None: + home_lat = float(lat_elem.text) + if lon_elem is not None: + home_lon = float(lon_elem.text) + if elev_elem is not None: + home_alt = float(elev_elem.text) + if head_elem is not None: + home_heading = float(head_elem.text) + print(f"[interface] ArduSub home from {candidate}: {home_lat},{home_lon}") + except Exception as exc: + print(f"World coordinate parsing failed: {exc}. Using default ArduSub home.") + break + + return f"{home_lat},{home_lon},{home_alt},{home_heading}" + + +def launch_setup(context, *args, **kwargs): + pkg_interface = get_package_share_directory("multivehicle_interface") + ardusub_params_file = os.path.join(pkg_interface, "config", "ardusub.parm") + mavros_params_file = os.path.join( + pkg_interface, "mavros_params", "sim_mavros_params.yaml" + ) + + launch_ardusub = LaunchConfiguration("ardusub") + launch_mavros = LaunchConfiguration("mavros") + use_sim_time = LaunchConfiguration("use_sim_time") + odom_source = LaunchConfiguration("odom_source").perform(context) + world_name = LaunchConfiguration("world_name").perform(context) + home = LaunchConfiguration("home").perform(context) + home_str = home if home else _home_from_world(world_name) + + # Launch ArduSub SITL with SIM_JSON. + # -w: wipe eeprom; --home lat,lon,alt,yaw (yaw is provided by Gazebo). + # ardusub must be on $PATH. + ardusub_launch = ExecuteProcess( + cmd=[ + "ardusub", + "-S", + "-w", + "-M", + "JSON", + "--defaults", + ardusub_params_file, + "-I0", + "--home", + home_str, + ], + output="screen", + condition=IfCondition(launch_ardusub), + ) + + # Translate messages MAV <-> ROS. + mavros_node = Node( + package="mavros", + executable="mavros_node", + output="screen", + parameters=[mavros_params_file, {"use_sim_time": use_sim_time}], + condition=IfCondition(launch_mavros), + ) + + actions = [ardusub_launch, mavros_node] + + if odom_source == "ground_truth": + actions.append( + Node( + package="multivehicle_interface", + executable="ground_truth_to_mavros", + output="screen", + parameters=[{"use_sim_time": use_sim_time}], + ) + ) + elif odom_source not in ("none", "false"): + raise ValueError("odom_source must be one of: ground_truth, none") + + return actions + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "ardusub", default_value="true", description="Launch ArduSub SITL" + ), + DeclareLaunchArgument( + "mavros", default_value="true", description="Launch MAVROS" + ), + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Use simulation time for interface adapter nodes", + ), + DeclareLaunchArgument( + "world_name", + default_value="robotx_2026_sg_river", + description="Gazebo world name used to derive ArduSub home coordinates", + ), + DeclareLaunchArgument( + "home", + default_value="", + description="Optional ArduSub home override: lat,lon,alt,yaw", + ), + DeclareLaunchArgument( + "odom_source", + default_value="ground_truth", + description="Odometry adapter to publish to /mavros/odometry/out: " + "ground_truth or none", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/multivehicle/packages/multivehicle_interface/mavros_params/sim_mavros_params.yaml b/multivehicle/packages/multivehicle_interface/mavros_params/sim_mavros_params.yaml new file mode 100644 index 0000000..0a7e457 --- /dev/null +++ b/multivehicle/packages/multivehicle_interface/mavros_params/sim_mavros_params.yaml @@ -0,0 +1,47 @@ +# Connect to the FCU (ArduSub) and pass messages to/from the GCS (QGroundControl, mavproxy) +# +# See https://github.com/mavlink/mavros/tree/ros2/mavros for connection schemas and defaults +# +# udp://[bind_host][:port]@[remote_host[:port]][/?ids=sysid,compid] +# udp default ports: 14555@14550 +# +# tcp://[server_host][:port][/?ids=sysid,compid] +# tcp default port: 5760 + +mavros: + ros__parameters: + system_id: 255 + + # /mavros/local_position/pose requires 2 plugins: + # imu handles the ATTITUDE_QUATERNION msg (MAV id 31) + # local_position handles the LOCAL_POSITION_NED msg (MAV id 32) + # Also be sure to set the message interval to ~50ms for these 2 messages + + # The vision_pose plugin is provided by mavros_extras. + # MAVROS will not complain if this package is missing. + + plugin_allowlist: + - sys_status + - command + - imu + - local_position + - rc_io + - setpoint_position + - vision_pose + - odometry + +mavros_node: + ros__parameters: + fcu_url: "tcp://localhost" + gcs_url: "udp://@localhost:14550" + +mavros/local_position: + ros__parameters: + frame_id: "map" # frame_id of /mavros/local_position/pose, etc. + tf: + send: true # Publish map->base_link tf (convert_to_controls_pose / BT goto depend on it) + +mavros/vision_pose: + ros__parameters: + tf: + listen: false # Do not listen to tf diff --git a/multivehicle/packages/multivehicle_interface/multivehicle_interface/__init__.py b/multivehicle/packages/multivehicle_interface/multivehicle_interface/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/multivehicle/packages/multivehicle_interface/multivehicle_interface/blueboat_odom_to_tf.py b/multivehicle/packages/multivehicle_interface/multivehicle_interface/blueboat_odom_to_tf.py new file mode 100755 index 0000000..629450f --- /dev/null +++ b/multivehicle/packages/multivehicle_interface/multivehicle_interface/blueboat_odom_to_tf.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python3 +"""Broadcast the odom->base_link transform from a nav_msgs/Odometry topic.""" + +import rclpy +from rclpy.node import Node +from nav_msgs.msg import Odometry +from geometry_msgs.msg import TransformStamped +from tf2_ros import TransformBroadcaster + + +class OdomToTf(Node): + def __init__(self): + super().__init__("blueboat_odom_to_tf") + + self.declare_parameter("odom_topic", "/blueboat/odom") + self.declare_parameter("frame_id", "") # "" -> use msg.header.frame_id + self.declare_parameter("child_frame_id", "") # "" -> use msg.child_frame_id + self._frame_id = self.get_parameter("frame_id").value + self._child_frame_id = self.get_parameter("child_frame_id").value + + self._br = TransformBroadcaster(self) + self.create_subscription( + Odometry, self.get_parameter("odom_topic").value, self._on_odom, 10 + ) + + def _on_odom(self, msg: Odometry): + t = TransformStamped() + t.header.stamp = msg.header.stamp + t.header.frame_id = self._frame_id or msg.header.frame_id or "odom" + t.child_frame_id = self._child_frame_id or msg.child_frame_id or "base_link" + t.transform.translation.x = msg.pose.pose.position.x + t.transform.translation.y = msg.pose.pose.position.y + t.transform.translation.z = msg.pose.pose.position.z + t.transform.rotation = msg.pose.pose.orientation + self._br.sendTransform(t) + + +def main(args=None): + rclpy.init(args=args) + node = OdomToTf() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/multivehicle/packages/multivehicle_interface/multivehicle_interface/ground_truth_to_mavros.py b/multivehicle/packages/multivehicle_interface/multivehicle_interface/ground_truth_to_mavros.py new file mode 100755 index 0000000..8dc157a --- /dev/null +++ b/multivehicle/packages/multivehicle_interface/multivehicle_interface/ground_truth_to_mavros.py @@ -0,0 +1,53 @@ +#!/usr/bin/env python3 + +import rclpy +from rclpy.node import Node +from nav_msgs.msg import Odometry + + +class OdomRepublisher(Node): + def __init__(self): + super().__init__("odom_republisher") + + self.declare_parameter("odom_topic", "/bluerov/odom") + self.declare_parameter("out_topic", "/mavros/odometry/out") + self.declare_parameter("frame_id", "map") + self.declare_parameter("child_frame_id", "base_link") + + odom_topic = self.get_parameter("odom_topic").value + out_topic = self.get_parameter("out_topic").value + self._frame_id = self.get_parameter("frame_id").value + self._child_frame_id = self.get_parameter("child_frame_id").value + + self.subscription = self.create_subscription( + Odometry, odom_topic, self.odom_callback, 10 + ) + self.publisher = self.create_publisher(Odometry, out_topic, 10) + self.get_logger().info( + f"Odometry republisher started ('{odom_topic}' -> '{out_topic}')." + ) + + def odom_callback(self, msg: Odometry): + repub_msg = Odometry() + repub_msg.header.frame_id = self._frame_id + repub_msg.child_frame_id = self._child_frame_id + repub_msg.pose = msg.pose + repub_msg.twist = msg.twist + self.publisher.publish(repub_msg) + self.get_logger().debug("Republished odometry message.") + + +def main(args=None): + rclpy.init(args=args) + node = OdomRepublisher() + try: + rclpy.spin(node) + except KeyboardInterrupt: + node.get_logger().info("Node stopped by user.") + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/multivehicle/packages/multivehicle_interface/multivehicle_interface/gz_pose_to_odom.py b/multivehicle/packages/multivehicle_interface/multivehicle_interface/gz_pose_to_odom.py new file mode 100755 index 0000000..51b2efe --- /dev/null +++ b/multivehicle/packages/multivehicle_interface/multivehicle_interface/gz_pose_to_odom.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +"""Republish a gz model's groundtruth world pose as nav_msgs/Odometry.""" + +import rclpy +from rclpy.node import Node +from nav_msgs.msg import Odometry +from tf2_msgs.msg import TFMessage + + +class GzPoseToOdom(Node): + def __init__(self): + super().__init__("gz_pose_to_odom") + + self.declare_parameter("pose_topic", "/x500/pose_info") + self.declare_parameter("model_name", "x500_mono_cam_1") + self.declare_parameter("odom_topic", "/x500/odom") + self.declare_parameter("frame_id", "map") + self.declare_parameter("child_frame_id", "x500/base_link") + + self._model_name = ( + self.get_parameter("model_name").get_parameter_value().string_value + ) + self._frame_id = ( + self.get_parameter("frame_id").get_parameter_value().string_value + ) + self._child_frame_id = ( + self.get_parameter("child_frame_id").get_parameter_value().string_value + ) + pose_topic = self.get_parameter("pose_topic").get_parameter_value().string_value + odom_topic = self.get_parameter("odom_topic").get_parameter_value().string_value + + self._pub = self.create_publisher(Odometry, odom_topic, 10) + self._sub = self.create_subscription(TFMessage, pose_topic, self._on_tf, 10) + self.get_logger().info( + f"Republishing gz model '{self._model_name}' pose from " + f"'{pose_topic}' to '{odom_topic}'." + ) + + def _on_tf(self, msg: TFMessage): + for tf in msg.transforms: + if tf.child_frame_id != self._model_name: + continue + odom = Odometry() + odom.header.stamp = tf.header.stamp + odom.header.frame_id = self._frame_id + odom.child_frame_id = self._child_frame_id + odom.pose.pose.position.x = tf.transform.translation.x + odom.pose.pose.position.y = tf.transform.translation.y + odom.pose.pose.position.z = tf.transform.translation.z + odom.pose.pose.orientation = tf.transform.rotation + self._pub.publish(odom) + return + + +def main(args=None): + rclpy.init(args=args) + node = GzPoseToOdom() + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == "__main__": + main() diff --git a/multivehicle/packages/multivehicle_interface/package.xml b/multivehicle/packages/multivehicle_interface/package.xml new file mode 100644 index 0000000..173d5cd --- /dev/null +++ b/multivehicle/packages/multivehicle_interface/package.xml @@ -0,0 +1,32 @@ + + + multivehicle_interface + 0.1.0 + + Autopilot (ArduSub SITL + MAVROS) interface and Gazebo odometry adapters for + the multivehicle simulator. + + MonkeScripts + MIT + + geometry_msgs + nav_msgs + tf2_msgs + tf2_ros + + rclpy + ament_index_python + launch_ros + mavros + mavros_extras + mavros_msgs + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/multivehicle/packages/multivehicle_interface/resource/multivehicle_interface b/multivehicle/packages/multivehicle_interface/resource/multivehicle_interface new file mode 100644 index 0000000..745d03c --- /dev/null +++ b/multivehicle/packages/multivehicle_interface/resource/multivehicle_interface @@ -0,0 +1 @@ +multivehicle_interface diff --git a/multivehicle/packages/multivehicle_interface/setup.cfg b/multivehicle/packages/multivehicle_interface/setup.cfg new file mode 100644 index 0000000..64e75df --- /dev/null +++ b/multivehicle/packages/multivehicle_interface/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/multivehicle_interface +[install] +install_scripts=$base/lib/multivehicle_interface diff --git a/multivehicle/packages/multivehicle_interface/setup.py b/multivehicle/packages/multivehicle_interface/setup.py new file mode 100644 index 0000000..7f144f9 --- /dev/null +++ b/multivehicle/packages/multivehicle_interface/setup.py @@ -0,0 +1,33 @@ +from glob import glob + +from setuptools import find_packages, setup + +package_name = "multivehicle_interface" + +setup( + name=package_name, + version="0.1.0", + packages=find_packages(exclude=["test"]), + data_files=[ + ("share/ament_index/resource_index/packages", [f"resource/{package_name}"]), + (f"share/{package_name}", ["package.xml"]), + (f"share/{package_name}/config", glob("config/*")), + (f"share/{package_name}/launch", glob("launch/*.launch.py")), + (f"share/{package_name}/mavros_params", glob("mavros_params/*")), + ], + install_requires=["setuptools"], + zip_safe=True, + maintainer="MonkeScripts", + maintainer_email="shaolianghe0.0@gmail.com", + description="Autopilot (ArduSub + MAVROS) interface and gz odometry adapters " + "for the multivehicle simulator", + license="MIT", + tests_require=["pytest"], + entry_points={ + "console_scripts": [ + "ground_truth_to_mavros = multivehicle_interface.ground_truth_to_mavros:main", + "gz_pose_to_odom = multivehicle_interface.gz_pose_to_odom:main", + "blueboat_odom_to_tf = multivehicle_interface.blueboat_odom_to_tf:main", + ], + }, +) diff --git a/multivehicle/packages/multivehicle_sim/CMakeLists.txt b/multivehicle/packages/multivehicle_sim/CMakeLists.txt new file mode 100644 index 0000000..bde8572 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/CMakeLists.txt @@ -0,0 +1,19 @@ +cmake_minimum_required(VERSION 3.12.2) +project(multivehicle_sim) + +find_package(ament_cmake REQUIRED) +find_package(ament_cmake_python REQUIRED) + +ament_python_install_package(${PROJECT_NAME}) + +install(DIRECTORY launch config models + DESTINATION share/${PROJECT_NAME}) + +ament_environment_hooks(hooks/setup.dsv) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/multivehicle/packages/multivehicle_sim/config/blueboat_gz_bridge.yaml b/multivehicle/packages/multivehicle_sim/config/blueboat_gz_bridge.yaml new file mode 100644 index 0000000..967c58d --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/config/blueboat_gz_bridge.yaml @@ -0,0 +1,17 @@ +- ros_topic_name: /blueboat/odom # <--- ROS side name + gz_topic_name: /model/blueboat/odometry # <--- Gazebo side name (OdometryPublisher default) + ros_type_name: nav_msgs/msg/Odometry + gz_type_name: gz.msgs.Odometry + direction: "GZ_TO_ROS" + +- ros_topic_name: /blueboat/thrusters/left/thrust + gz_topic_name: /blueboat/thrusters/left/thrust + ros_type_name: std_msgs/msg/Float64 + gz_type_name: gz.msgs.Double + direction: "ROS_TO_GZ" + +- ros_topic_name: /blueboat/thrusters/right/thrust + gz_topic_name: /blueboat/thrusters/right/thrust + ros_type_name: std_msgs/msg/Float64 + gz_type_name: gz.msgs.Double + direction: "ROS_TO_GZ" diff --git a/multivehicle/packages/multivehicle_sim/config/bluerov_gz_bridge.yaml b/multivehicle/packages/multivehicle_sim/config/bluerov_gz_bridge.yaml new file mode 100644 index 0000000..8d805f2 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/config/bluerov_gz_bridge.yaml @@ -0,0 +1,17 @@ +- ros_topic_name: /bluerov/odom # <--- ROS side name + gz_topic_name: /model/bluerov/odometry # <--- Gazebo side name + ros_type_name: nav_msgs/msg/Odometry + gz_type_name: gz.msgs.Odometry + direction: "GZ_TO_ROS" + +# Front camera (forward-facing on the bow) +- ros_topic_name: /bluerov/front_cam/image + gz_topic_name: /bluerov/front_cam/image + ros_type_name: sensor_msgs/msg/Image + gz_type_name: gz.msgs.Image + direction: "GZ_TO_ROS" +- ros_topic_name: /bluerov/front_cam/camera_info + gz_topic_name: /bluerov/front_cam/camera_info + ros_type_name: sensor_msgs/msg/CameraInfo + gz_type_name: gz.msgs.CameraInfo + direction: "GZ_TO_ROS" \ No newline at end of file diff --git a/multivehicle/packages/multivehicle_sim/config/gz_bridge.yaml b/multivehicle/packages/multivehicle_sim/config/gz_bridge.yaml new file mode 100644 index 0000000..1d3b043 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/config/gz_bridge.yaml @@ -0,0 +1,4 @@ +- topic_name: "/clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: "GZ_TO_ROS" diff --git a/multivehicle/packages/multivehicle_sim/hooks/setup.dsv b/multivehicle/packages/multivehicle_sim/hooks/setup.dsv new file mode 100644 index 0000000..42468d7 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/hooks/setup.dsv @@ -0,0 +1 @@ +prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/multivehicle_sim/models diff --git a/multivehicle/packages/multivehicle_sim/launch/bluerov.launch.py b/multivehicle/packages/multivehicle_sim/launch/bluerov.launch.py new file mode 100644 index 0000000..53962bb --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/launch/bluerov.launch.py @@ -0,0 +1,190 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + LogInfo, + RegisterEventHandler, + OpaqueFunction, +) +from launch.event_handlers import OnProcessExit +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(context, *args, **kwargs): + """Spawn the BlueROV2 into an already-running Gazebo world. + + The world itself is started separately by ``world.launch.py``. Here we only + spawn the vehicle, bring up its ROS<->gz bridge, and include the autopilot + interface (ArduSub SITL + MAVROS + odom adapter) from the + ``multivehicle_interface`` package. The interface launch derives the ArduSub + home from the world's via GZ_SIM_RESOURCE_PATH. + """ + + pkg_multivehicle_sim = get_package_share_directory("multivehicle_sim") + bluerov_gz_bridge_config_file = os.path.join( + pkg_multivehicle_sim, "config", "bluerov_gz_bridge.yaml" + ) + + use_sim_time = LaunchConfiguration("use_sim_time") + namespace = LaunchConfiguration("namespace") + world_name = LaunchConfiguration("world_name") + launch_ardusub = LaunchConfiguration("ardusub") + launch_mavros = LaunchConfiguration("mavros") + odom_source = LaunchConfiguration("odom_source") + + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + roll = LaunchConfiguration("roll") + pitch = LaunchConfiguration("pitch") + yaw = LaunchConfiguration("yaw") + + description_file = PathJoinSubstitution( + [ + FindPackageShare("multivehicle_sim"), + "models", + "bluerov2", + "model.sdf", + ] + ) + + # Attach the vehicle to the running world via `ros_gz_sim create`. + gz_spawner = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-name", + namespace, + "-file", + description_file, + "-x", + x, + "-y", + y, + "-z", + z, + "-R", + roll, + "-P", + pitch, + "-Y", + yaw, + ], + output="both", + parameters=[{"use_sim_time": use_sim_time}], + ) + + spawn_exit_handler = RegisterEventHandler( + OnProcessExit( + target_action=gz_spawner, + on_exit=LogInfo(msg="Robot Model Spawn Process Finished"), + ) + ) + + gz_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + name="bluerov_gz_bridge", + parameters=[{"config_file": bluerov_gz_bridge_config_file}], + ) + + # Autopilot interface: ArduSub SITL + MAVROS (+ ground_truth odom adapter), + # provided by the multivehicle_interface package. + ardusub_interface_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("multivehicle_interface"), + "launch", + "ardusub_interface.launch.py", + ] + ) + ] + ), + launch_arguments=[ + ("ardusub", launch_ardusub), + ("mavros", launch_mavros), + ("use_sim_time", use_sim_time), + ("world_name", world_name), + ("odom_source", odom_source), + ], + ) + + return [ + gz_spawner, + spawn_exit_handler, + gz_bridge, + ardusub_interface_launch, + ] + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Flag to indicate whether to use simulation time", + ), + DeclareLaunchArgument( + "world_name", + default_value="robotx_2026_sg_river", + description="World the vehicle is spawned into; used by the interface " + "launch to derive the ArduSub home coordinates (the world is launched " + "by world.launch.py)", + ), + DeclareLaunchArgument( + "namespace", + default_value="bluerov", + description="Namespace", + ), + DeclareLaunchArgument( + "x", + default_value="47.824", + description="Initial x position (default incident-zone centre)", + ), + DeclareLaunchArgument( + "y", + default_value="-415.373", + description="Initial y position (default incident-zone centre)", + ), + DeclareLaunchArgument( + "z", + default_value="0.0", + description="Initial z position", + ), + DeclareLaunchArgument( + "roll", + default_value="0.0", + description="Initial roll angle", + ), + DeclareLaunchArgument( + "pitch", + default_value="0.0", + description="Initial pitch angle", + ), + DeclareLaunchArgument( + "yaw", + default_value="0.0", + description="Initial yaw angle", + ), + DeclareLaunchArgument( + "ardusub", default_value="true", description="Launch ArduSUB?" + ), + DeclareLaunchArgument( + "mavros", default_value="true", description="Launch mavros?" + ), + DeclareLaunchArgument( + "odom_source", + default_value="ground_truth", + description="Odometry adapter for MAVROS: ground_truth or none", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/multivehicle/packages/multivehicle_sim/launch/boat.launch.py b/multivehicle/packages/multivehicle_sim/launch/boat.launch.py new file mode 100644 index 0000000..ac59235 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/launch/boat.launch.py @@ -0,0 +1,143 @@ +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + LogInfo, + RegisterEventHandler, + OpaqueFunction, +) +from launch.event_handlers import OnProcessExit +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def launch_setup(context, *args, **kwargs): + """Spawn the BlueBoat USV into an already-running Gazebo world. + + The world itself is started separately by ``world.launch.py`` (matching the + ``bluerov.launch.py`` flow). This launch only attaches the vehicle via + ``ros_gz_sim create`` — it does NOT start its own Gazebo instance. + """ + + use_sim_time = LaunchConfiguration("use_sim_time") + namespace = LaunchConfiguration("namespace") + + blueboat_gz_bridge_config_file = os.path.join( + get_package_share_directory("multivehicle_sim"), + "config", + "blueboat_gz_bridge.yaml", + ) + + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + roll = LaunchConfiguration("roll") + pitch = LaunchConfiguration("pitch") + yaw = LaunchConfiguration("yaw") + + description_file = PathJoinSubstitution( + [ + FindPackageShare("multivehicle_sim"), + "models", + "blueboat", + "model.sdf", + ] + ) + + # Attach the vehicle to the running world via `ros_gz_sim create`. + gz_spawner = Node( + package="ros_gz_sim", + executable="create", + arguments=[ + "-name", + namespace, + "-file", + description_file, + "-x", + x, + "-y", + y, + "-z", + z, + "-R", + roll, + "-P", + pitch, + "-Y", + yaw, + ], + output="both", + parameters=[{"use_sim_time": use_sim_time}], + ) + + spawn_exit_handler = RegisterEventHandler( + OnProcessExit( + target_action=gz_spawner, + on_exit=LogInfo(msg="Robot Model Spawn Process Finished"), + ) + ) + + # Bridge the BlueBoat's groundtruth odometry (gz OdometryPublisher) to ROS + # as /blueboat/odom, mirroring the bluerov.launch.py bridge setup. + gz_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + name="blueboat_gz_bridge", + parameters=[{"config_file": blueboat_gz_bridge_config_file}], + ) + + return [ + gz_spawner, + spawn_exit_handler, + gz_bridge, + ] + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Flag to indicate whether to use simulation time", + ), + DeclareLaunchArgument( + "namespace", + default_value="blueboat", + description="Namespace", + ), + DeclareLaunchArgument( + "x", + default_value="10.0", + description="Initial x position", + ), + DeclareLaunchArgument( + "y", + default_value="-390.0", + description="Initial y position", + ), + DeclareLaunchArgument( + "z", + default_value="0.0", + description="Initial z position", + ), + DeclareLaunchArgument( + "roll", + default_value="0.0", + description="Initial roll angle", + ), + DeclareLaunchArgument( + "pitch", + default_value="0.0", + description="Initial pitch angle", + ), + DeclareLaunchArgument( + "yaw", + default_value="0.0", + description="Initial yaw angle", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/multivehicle/packages/multivehicle_sim/launch/uav_gz.launch.py b/multivehicle/packages/multivehicle_sim/launch/uav_gz.launch.py new file mode 100644 index 0000000..472461b --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/launch/uav_gz.launch.py @@ -0,0 +1,117 @@ +"""Bridge ALL of the PX4 UAV's gz interfaces into ROS with a single bridge. + +`model_name` is the gz model PX4 spawns (`_`): + - x500_mono_cam_1 for SYS_AUTOSTART=4010 + `px4 -i 1` (front camera) + - x500_mono_cam_down_1 for SYS_AUTOSTART=4014 (down camera) + - x500_1 for SYS_AUTOSTART=4001 (no camera; set camera:=false) +""" + +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def launch_setup(context, *args, **kwargs): + world = LaunchConfiguration("world_name").perform(context) + model_name = LaunchConfiguration("model_name").perform(context) + odom_topic = LaunchConfiguration("odom_topic").perform(context) + pose_topic = LaunchConfiguration("pose_topic").perform(context) + camera_ns = LaunchConfiguration("camera_ns").perform(context).rstrip("/") + use_camera = LaunchConfiguration("camera").perform(context).lower() == "true" + use_sim_time = ( + LaunchConfiguration("use_sim_time").perform(context).lower() == "true" + ) + + gz_pose = f"/world/{world}/pose/info" + bridge_args = [f"{gz_pose}@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V"] + bridge_remaps = [(gz_pose, pose_topic)] + + if use_camera: + sensor = f"/world/{world}/model/{model_name}/link/camera_link/sensor/imager" + gz_image, gz_info = f"{sensor}/image", f"{sensor}/camera_info" + bridge_args += [ + f"{gz_image}@sensor_msgs/msg/Image[gz.msgs.Image", + f"{gz_info}@sensor_msgs/msg/CameraInfo[gz.msgs.CameraInfo", + ] + bridge_remaps += [ + (gz_image, f"{camera_ns}/image"), + (gz_info, f"{camera_ns}/camera_info"), + ] + + uav_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + name="uav_gz_bridge", + arguments=bridge_args, + remappings=bridge_remaps, + parameters=[{"use_sim_time": use_sim_time}], + output="screen", + ) + + pose_to_odom = Node( + package="multivehicle_interface", + executable="gz_pose_to_odom", + name="gz_pose_to_odom", + output="screen", + parameters=[ + { + "use_sim_time": use_sim_time, + "pose_topic": pose_topic, + "model_name": model_name, + "odom_topic": odom_topic, + } + ], + ) + + return [uav_bridge, pose_to_odom] + + +def generate_launch_description(): + return LaunchDescription( + [ + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Drive node clocks from /clock (sim time).", + ), + DeclareLaunchArgument( + "world_name", + default_value="robotx_2026_sg_river", + description="Running gz-sim world name; used to build the " + "/world//... gz topic names.", + ), + DeclareLaunchArgument( + "model_name", + default_value="x500_mono_cam_1", + description="gz model name PX4 assigns the drone " + "(_): x500_mono_cam_1 for SYS_AUTOSTART=4010 " + "+ `-i 1` (front cam); x500_mono_cam_down_1 for 4014 (down cam); " + "x500_1 for 4001 (no cam, pair with camera:=false).", + ), + DeclareLaunchArgument( + "odom_topic", + default_value="/x500/odom", + description="nav_msgs/Odometry output topic for the UAV pose.", + ), + DeclareLaunchArgument( + "pose_topic", + default_value="/x500/pose_info", + description="Intermediate TFMessage topic the pose bridge " + "publishes and gz_pose_to_odom subscribes to.", + ), + DeclareLaunchArgument( + "camera", + default_value="true", + description="Also bridge the front camera (image + camera_info). " + "Set false for the plain x500 airframe (4001).", + ), + DeclareLaunchArgument( + "camera_ns", + default_value="/x500/front_cam", + description="ROS namespace the camera is remapped under " + "(-> /image, /camera_info).", + ), + OpaqueFunction(function=launch_setup), + ] + ) diff --git a/multivehicle/packages/multivehicle_sim/launch/world.launch.py b/multivehicle/packages/multivehicle_sim/launch/world.launch.py new file mode 100644 index 0000000..a14d069 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/launch/world.launch.py @@ -0,0 +1,170 @@ +import math +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + IncludeLaunchDescription, + OpaqueFunction, +) +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + +# ENU→NED: rotation by π about axis (1,1,0)/√2 +ENU_NED_Q = str(math.sqrt(2) / 2) + + +def launch_setup(context, *args, **kwargs): + paused = LaunchConfiguration("paused") + gui = LaunchConfiguration("gui") + debug = LaunchConfiguration("debug") + headless = LaunchConfiguration("headless") + verbose = LaunchConfiguration("verbose") + world_name = LaunchConfiguration("world_name") + + if world_name.perform(context) != "empty.sdf": + w_name = world_name.perform(context) + world_filename = f"{w_name}.world" + gz_args = [world_filename] + else: + gz_args = [world_name.perform(context)] + + if headless.perform(context) == "true": + gz_args.append(" -s") + if paused.perform(context) == "false": + gz_args.append(" -r") + if debug.perform(context) == "true": + gz_args.append(" -v ") + gz_args.append(verbose.perform(context)) + + gz_sim_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [ + PathJoinSubstitution( + [ + FindPackageShare("ros_gz_sim"), + "launch", + "gz_sim.launch.py", + ] + ) + ] + ), + launch_arguments=[ + ("gz_args", gz_args), + ], + condition=IfCondition(gui), + ) + + # World-level static TF publishers (world → map, and the ENU→NED frames). + world_tfs = [ + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="world2map", + arguments=[ + "0", + "0", + "0", + "0", + "0", + "0", + "world", + "map", + ], + ), + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="world2world_ned", + arguments=[ + "0", + "0", + "0", + ENU_NED_Q, + ENU_NED_Q, + "0", + "0", + "world", + "world_ned", + ], + ), + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="map2map_ned", + arguments=[ + "0", + "0", + "0", + ENU_NED_Q, + ENU_NED_Q, + "0", + "0", + "map", + "map_ned", + ], + ), + ] + + clock_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + name="gz_clock_bridge", + parameters=[ + { + "config_file": os.path.join( + get_package_share_directory("multivehicle_sim"), + "config", + "gz_bridge.yaml", + ) + } + ], + ) + + return [gz_sim_launch, clock_bridge] + world_tfs + + +def generate_launch_description(): + args = [ + DeclareLaunchArgument( + "paused", + default_value="false", + description="Start the simulation paused", + ), + DeclareLaunchArgument( + "gui", + default_value="true", + description="Flag to enable the gazebo gui", + ), + DeclareLaunchArgument( + "use_sim_time", + default_value="true", + description="Flag to indicate whether to use simulation time", + ), + DeclareLaunchArgument( + "debug", + default_value="false", + description="Flag to enable the gazebo debug flag", + ), + DeclareLaunchArgument( + "headless", + default_value="false", + description="Flag to enable the gazebo headless mode", + ), + DeclareLaunchArgument( + "verbose", + default_value="0", + description="Adjust level of console verbosity", + ), + DeclareLaunchArgument( + "world_name", + default_value="robotx_2026_sg_river", + description="Gazebo world file to launch", + ), + ] + + return LaunchDescription(args + [OpaqueFunction(function=launch_setup)]) diff --git a/multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_aerial.dae b/multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_aerial.dae new file mode 100755 index 0000000..c1ee05e --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/models/blueboat/meshes/blueboat_aerial.dae @@ -0,0 +1,213 @@ + + + + + Blender User + Blender 3.2.0 commit date:2022-06-08, commit time:10:22, hash:e05e1e369187 + + 2023-11-10T13:58:31 + 2023-11-10T13:58:31 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.7921569 0.8196079 0.9333333 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.7921569 0.8196079 0.9333333 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.7921569 0.8196079 0.9333333 1 + + + 1.45 + + + + + + + + + + + + + + + + + + + + + + + -0.3575766 0.004038631 0.1830599 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5 0 4 0 3 0 64 1 62 1 63 1 74 2 349 2 506 2 112 3 389 3 113 3 112 4 113 4 114 4 115 5 112 5 114 5 116 6 115 6 114 6 116 7 114 7 117 7 118 8 116 8 117 8 118 9 117 9 119 9 120 10 118 10 119 10 121 11 120 11 119 11 121 12 119 12 122 12 123 13 121 13 122 13 123 14 122 14 124 14 125 15 126 15 662 15 125 16 662 16 124 16 127 17 123 17 124 17 1 18 126 18 125 18 128 19 127 19 124 19 128 20 124 20 662 20 661 21 1 21 125 21 658 22 661 22 125 22 127 23 128 23 663 23 127 24 663 24 129 24 6 25 658 25 125 25 659 26 666 26 1 26 659 27 1 27 661 27 130 28 6 28 125 28 131 29 659 29 132 29 131 30 129 30 666 30 131 31 127 31 129 31 131 32 666 32 659 32 653 33 6 33 130 33 652 34 653 34 130 34 131 35 132 35 3 35 133 36 652 36 130 36 654 37 4 37 6 37 654 38 6 38 653 38 130 39 10 39 133 39 131 40 3 40 4 40 131 41 4 41 654 41 647 42 10 42 130 42 131 43 654 43 134 43 646 44 8 44 10 44 646 45 10 45 647 45 13 46 647 46 130 46 650 47 13 47 130 47 131 48 134 48 8 48 131 49 8 49 646 49 642 50 650 50 130 50 135 51 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4 0 1 0 0 0 1 1 2 1 0 1 4 2 3 2 312 2 4 3 0 3 3 3 5 4 7 4 6 4 6 5 7 5 8 5 8 6 7 6 9 6 7 7 10 7 9 7 10 8 11 8 9 8 9 9 11 9 12 9 11 10 13 10 12 10 12 11 13 11 14 11 13 12 15 12 14 12 14 13 15 13 16 13 15 14 17 14 16 14 16 15 17 15 18 15 18 16 17 16 19 16 17 17 20 17 19 17 395 18 24 18 23 18 396 19 25 19 395 19 395 20 25 20 24 20 24 21 26 21 23 21 23 22 26 22 27 22 24 23 28 23 26 23 25 24 28 24 24 24 28 25 29 25 26 25 25 26 31 26 28 26 26 27 29 27 27 27 27 28 29 28 30 28 28 29 31 29 29 29 31 30 32 30 29 30 29 31 32 31 30 31 31 32 34 32 32 32 30 33 32 33 35 33 30 34 35 34 33 34 32 35 34 35 36 35 32 36 36 36 35 36 36 37 37 37 35 37 35 38 37 38 33 38 36 39 34 39 38 39 38 40 40 40 36 40 36 41 40 41 37 41 33 42 37 42 39 42 37 43 40 43 39 43 40 44 41 44 39 44 39 45 41 45 42 45 38 46 43 46 40 46 40 47 43 47 41 47 41 48 44 48 42 48 41 49 43 49 44 49 43 50 46 50 44 50 43 51 45 51 46 51 44 52 47 52 42 52 44 53 46 53 47 53 47 54 46 54 48 54 45 55 49 55 46 55 46 56 49 56 48 56 47 57 48 57 50 57 48 58 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113 54 116 55 30 55 115 55 51 56 30 56 116 56 96 57 114 57 95 57 96 58 112 58 114 58 97 59 115 59 112 59 97 60 112 60 96 60 97 61 116 61 115 61 76 62 116 62 97 62 77 63 116 63 76 63 77 64 51 64 116 64 98 65 95 65 71 65 98 66 117 66 95 66 99 67 117 67 98 67 99 68 118 68 117 68 74 69 118 69 99 69 74 70 119 70 118 70 75 71 119 71 74 71 75 72 195 72 119 72 75 73 69 73 195 73 73 74 69 74 75 74 73 75 120 75 69 75 73 76 121 76 120 76 24 77 121 77 73 77 29 78 121 78 24 78 124 79 123 79 122 79 117 80 96 80 95 80 117 81 97 81 96 81 118 82 97 82 117 82 118 83 76 83 97 83 119 84 76 84 118 84 119 85 77 85 76 85 195 86 77 86 119 86 195 87 71 87 77 87 120 88 71 88 195 88 121 89 71 89 120 89 121 90 98 90 71 90 121 91 99 91 98 91 29 92 99 92 121 92 122 93 99 93 29 93 122 94 74 94 99 94 123 95 74 95 122 95 123 96 75 96 74 96 124 97 75 97 123 97 124 98 73 98 75 98 25 99 73 99 124 99 26 100 73 100 25 100 26 101 24 101 73 101 28 102 24 102 26 102 127 103 133 103 19 103 128 104 133 104 127 104 128 105 91 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194 3 194 9 195 7 195 172 195 170 196 9 196 172 196 146 197 148 197 145 197 150 198 146 198 145 198 13 199 144 199 149 199 13 200 149 200 2 200 0 201 18 201 177 201 18 202 17 202 177 202 177 203 17 203 2 203 17 204 13 204 2 204 149 205 144 205 174 205 144 206 163 206 174 206 174 207 150 207 145 207 163 208 150 208 174 208 148 209 146 209 173 209 146 210 168 210 173 210 173 211 168 211 172 211 168 212 170 212 172 212 106 213 105 213 7 213 6 214 36 214 3 214 152 215 159 215 179 215 161 216 159 216 152 216 159 217 158 217 179 217 179 218 158 218 181 218 151 219 155 219 183 219 155 220 156 220 183 220 183 221 156 221 147 221 156 222 153 222 147 222 3 223 36 223 11 223 3 224 11 224 161 224 156 225 155 225 154 225 156 226 154 226 138 226 138 227 16 227 153 227 156 228 138 228 153 228 16 229 18 229 153 229 157 230 155 230 158 230 157 231 154 231 155 231 15 232 14 232 13 232 17 233 15 233 13 233 159 234 160 234 140 234 159 235 161 235 160 235 158 236 159 236 140 236 158 237 140 237 157 237 162 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81 112 3 113 0 113 82 113 83 114 3 114 82 114 84 115 33 115 81 115 84 116 35 116 33 116 5 117 3 117 83 117 5 118 83 118 72 118 9 119 35 119 84 119 9 120 85 120 35 120 5 121 72 121 86 121 7 122 5 122 86 122 9 123 86 123 85 123 7 124 86 124 9 124 66 125 10 125 87 125 88 126 66 126 87 126 88 127 87 127 89 127 90 128 88 128 89 128 90 129 89 129 91 129 92 130 90 130 91 130 93 131 92 131 91 131 93 132 91 132 78 132 94 133 93 133 78 133 94 134 78 134 95 134 96 135 94 135 95 135 96 136 95 136 80 136 94 137 97 137 98 137 96 138 97 138 94 138 93 139 98 139 99 139 93 140 94 140 98 140 96 141 100 141 97 141 93 141 99 141 101 141 92 141 93 141 101 141 61 142 100 142 96 142 92 143 101 143 102 143 61 141 54 141 100 141 90 141 92 141 102 141 61 141 55 141 54 141 90 144 102 144 103 144 55 141 61 141 62 141 103 145 88 145 90 145 104 146 88 146 103 146 56 147 62 147 63 147 56 148 55 148 62 148 105 141 88 141 104 141 105 141 66 141 88 141 57 149 56 149 63 149 57 150 63 150 64 150 60 151 66 151 105 151 58 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4 0 168 0 2 0 4 1 7 1 6 1 129 2 54 2 38 2 12 3 170 3 7 3 174 4 14 4 11 4 15 5 18 5 175 5 185 6 24 6 20 6 20 7 24 7 22 7 21 8 40 8 23 8 23 9 56 9 25 9 24 10 179 10 22 10 179 11 29 11 42 11 41 12 28 12 180 12 32 13 30 13 29 13 31 14 181 14 180 14 49 15 33 15 31 15 34 16 188 16 59 16 182 17 188 17 34 17 44 18 35 18 43 18 8 19 15 19 13 19 8 20 18 20 15 20 16 21 17 21 39 21 8 22 19 22 18 22 18 23 19 23 40 23 39 24 20 24 55 24 55 25 56 25 40 25 179 26 45 26 22 26 41 27 27 27 26 27 42 28 45 28 179 28 31 29 180 29 28 29 51 30 9 30 36 30 20 31 39 31 17 31 19 32 55 32 40 32 23 33 40 33 56 33 57 34 41 34 26 34 27 35 41 35 180 35 29 36 30 36 42 36 42 37 30 37 47 37 58 38 42 38 47 38 30 39 32 39 47 39 34 40 47 40 32 40 47 41 34 41 48 41 49 42 43 42 33 42 43 43 48 43 44 43 188 44 51 44 59 44 51 45 52 45 59 45 44 46 53 46 35 46 51 47 36 47 52 47 54 48 53 48 44 48 22 49 55 49 20 49 55 50 25 50 56 50 57 51 25 51 55 51 57 52 55 52 22 52 25 53 57 53 26 53 45 54 57 54 22 54 57 55 45 55 46 55 46 56 41 56 57 56 45 57 42 57 46 57 46 58 28 58 41 58 58 59 46 59 42 59 28 60 46 60 58 60 28 61 58 61 31 61 47 62 48 62 58 62 58 63 49 63 31 63 48 64 49 64 58 64 49 65 48 65 43 65 34 66 59 66 48 66 59 67 50 67 48 67 52 68 50 68 59 68 50 69 44 69 48 69 44 70 50 70 54 70 36 71 50 71 52 71 37 72 54 72 50 72 36 73 37 73 50 73 38 74 54 74 37 74 38 75 60 75 129 75 63 76 60 76 94 76 64 77 9 77 128 77 68 78 64 78 66 78 71 79 70 79 143 79 72 80 69 80 130 80 116 81 75 81 73 81 77 82 76 82 74 82 118 83 76 83 77 83 117 84 79 84 136 84 118 85 77 85 98 85 164 86 79 86 80 86 100 87 139 87 165 87 84 88 81 88 82 88 83 89 139 89 100 89 86 90 84 90 138 90 147 91 83 91 85 91 103 92 85 92 87 92 88 93 123 93 86 93 124 94 158 94 90 94 124 95 90 95 140 95 93 96 92 96 141 96 9 97 64 97 95 97 66 98 64 98 128 98 63 99 97 99 65 99 117 100 75 100 116 100 98 101 110 101 118 101 98 102 78 102 99 102 120 103 80 103 79 103 99 104 78 104 81 104 100 105 165 105 80 105 81 106 101 106 99 106 103 107 147 107 85 107 123 108 88 108 111 108 87 109 89 109 103 109 125 110 124 110 140 110 93 111 141 111 91 111 105 112 93 112 104 112 106 113 105 113 125 113 125 114 127 114 106 114 94 115 60 115 38 115 38 116 37 116 94 116 37 117 114 117 94 117 9 118 95 118 36 118 37 119 95 119 114 119 96 120 97 120 63 120 68 121 96 121 64 121 69 122 109 122 108 122 109 123 71 123 108 123 110 124 73 124 115 124 115 125 109 125 110 125 76 126 110 126 109 126 98 127 119 127 110 127 98 128 99 128 120 128 101 129 100 129 120 129 122 130 123 130 112 130 111 131 112 131 123 131 124 132 112 132 111 132 91 133 89 133 112 133 104 134 112 134 125 134 125 135 112 135 124 135 61 136 93 136 105 136 62 137 105 137 106 137 62 138 106 138 127 138 105 139 113 139 61 139 107 140 113 140 105 140 95 141 37 141 36 141 96 142 94 142 114 142 64 143 96 143 114 143 68 144 66 144 67 144 97 145 143 145 65 145 96 146 108 146 97 146 69 147 68 147 67 147 69 148 108 148 68 148 97 149 71 149 143 149 97 150 108 150 71 150 115 151 71 151 109 151 115 152 70 152 71 152 109 153 69 153 74 153 72 154 74 154 69 154 115 155 73 155 70 155 76 156 109 156 74 156 116 157 73 157 110 157 117 158 136 158 75 158 98 159 77 159 78 159 119 160 79 160 117 160 98 161 120 161 119 161 81 162 84 162 101 162 83 163 100 163 102 163 121 164 101 164 84 164 84 165 86 165 121 165 83 166 102 166 85 166 102 167 126 167 122 167 121 168 86 168 123 168 122 169 85 169 102 169 122 170 87 170 85 170 123 171 122 171 126 171 87 172 122 172 112 172 89 173 87 173 112 173 105 174 104 174 125 174 104 175 93 175 91 175 125 176 140 176 127 176 61 177 92 177 93 177 107 178 105 178 62 178 114 179 95 179 64 179 96 180 63 180 94 180 108 181 96 181 68 181 119 182 117 182 110 182 119 183 120 183 79 183 120 184 99 184 101 184 100 185 101 185 126 185 126 186 102 186 100 186 101 187 121 187 126 187 126 188 121 188 123 188 91 189 112 189 104 189 76 190 118 190 110 190 117 191 116 191 110 191 120 192 100 192 80 192 142 193 128 193 9 193 63 194 151 194 60 194 143 195 153 195 65 195 131 196 72 196 130 196 132 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+ + + + + + + + 1 0 0 0 0 -1 8.74228e-8 0 0 -8.74228e-8 -1 0.037 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/multivehicle/packages/multivehicle_sim/models/blueboat/model.config b/multivehicle/packages/multivehicle_sim/models/blueboat/model.config new file mode 100755 index 0000000..6bc8e06 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/models/blueboat/model.config @@ -0,0 +1,32 @@ + + + BlueBoat + 1.0 + model.sdf + + + Rhys Mainwaring + rhys.mainwaring@me.com + + + + BlueRobotics BlueBoat. + https://bluerobotics.com/store/boat/blueboat/blueboat/ + + 3D Models retrieved from: + https://cad.bluerobotics.com/BLUEBOAT_120_BR-101447_RevA_PUB.zip + + Properties + + Control in this workspace + + This model has NO ArduPilotPlugin. It is a skid-steer USV driven directly + from ROS 2: per-thruster gz-sim Thruster plugins subscribe to + /blueboat/thrusters/{left,right}/thrust (bridged from ROS by + config/blueboat_gz_bridge.yaml). The control stack + (blueboat_thrust_mixer + blueboat_waypoint_controller, see + config/blueboat_control.yaml) provides guidance and thrust allocation + instead of an autopilot. + + + diff --git a/multivehicle/packages/multivehicle_sim/models/blueboat/model.sdf b/multivehicle/packages/multivehicle_sim/models/blueboat/model.sdf new file mode 100755 index 0000000..0f4fc1a --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/models/blueboat/model.sdf @@ -0,0 +1,447 @@ + + + + + + -0.05 0 -0.60 0 0 0 + 30.0 + + 2.42369 + 0 + 0 + 3.9235025 + 0 + 5.6403125 + + + + + + models://blueboat/meshes/blueboat_hull_collision.stl + + + + + + -0.05 0.295 -0.19 0 0 0 + + + 1.20 0.065 0.37 + + + + + -0.05 -0.295 -0.19 0 0 0 + + + 1.20 0.065 0.37 + + + + + + + models://blueboat/meshes/blueboat_hull.dae + + + + 0 0 1 1 + 1 0 1 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + + models://blueboat/meshes/blueboat_aerial.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + + models://blueboat/meshes/blueboat_crosstube.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + + models://blueboat/meshes/blueboat_flag.dae + + + + 1 1 0 1 + 1 1 0 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + + models://blueboat/meshes/blueboat_frame_asm_fore.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.9 + 0.1 + + + + + + + + models://blueboat/meshes/blueboat_frame_asm_aft.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.9 + 0.1 + + + + + + + + models://blueboat/meshes/blueboat_hatch_asm_stbd.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + + models://blueboat/meshes/blueboat_hatch_asm_port.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + + models://blueboat/meshes/blueboat_motor_stbd.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + + models://blueboat/meshes/blueboat_motor_port.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + + -0.488 -0.295 -0.272 -90 0 90 + + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + + + models://blueboat/meshes/blueboat_prop_stbd.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + base_link + motor_stbd_link + + 0 0 -1 + + -1e16 + 1e16 + + + 0.02 + + + + + + -0.488 0.295 -0.272 -90 0 90 + + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + + + + models://blueboat/meshes/blueboat_prop_port.dae + + + + 0.01 0.01 0.01 1 + 0.01 0.01 0.01 1 + 0.7 0.7 0.7 1 + + + 0.5 + 0.5 + + + + + + + base_link + motor_port_link + + 0 0 -1 + + -1e16 + 1e16 + + + 0.02 + + + + + + + + 0 0 0 0 0 0 + 0.1 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + 0 0 0 180 0 0 + 1 + 250.0 + + + + imu_link + base_link + + + + + + + 0 0 0.05 0 0 0 + + 0.1 + + 0.0001 + 0 + 0 + 0.0001 + 0 + 0.0001 + + + + 0 0 0 0 0 0 + 1 + 1.0 + navsat + + + 1 + 0 + + + + + + imu_link + navsat_link + + + + base_link + 1000.0 + true + true + + 0 + 0 + 0 + 0 + 0 + 0 + + -58.42 + -55.137 + -50.0 + -50 + -50 + -50 + + + + + + + odom + base_link + 3 + + + + + blueboat + thrusters/left/thrust + motor_port_joint + -0.02 + 1025 + 0.112 + 0 + 0 + + + + + blueboat + thrusters/right/thrust + motor_stbd_joint + 0.02 + 1025 + 0.112 + 0 + 0 + + + + + + diff --git a/multivehicle/packages/multivehicle_sim/models/bluerov2/BlueROV2.md b/multivehicle/packages/multivehicle_sim/models/bluerov2/BlueROV2.md new file mode 100644 index 0000000..717e421 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/models/bluerov2/BlueROV2.md @@ -0,0 +1,60 @@ +# BlueROV2 + +A Gazebo model of the BlueROV2. + +![BlueROV2 Gazebo](/images/bluerov2.png) + +## Usage + +Gazebo and all other requirements documented in the project [README](/README.md) should +be installed. + +Update the `GZ_SIM_RESOURCE_PATH` to include the BlueROV2 models: + +~~~bash +export GZ_SIM_RESOURCE_PATH=$GZ_SIM_RESOURCE_PATH:\ +~/colcon_ws/src/bluerov2_gz/models:\ +~/colcon_ws/src/bluerov2_gz/worlds +~~~ + +### Start Gazebo + +~~~bash +gz sim -v 3 -r bluerov2_underwater.world +~~~ + +### Run ArduPilot SITL + +> **Not available inside `multivehicle_sim:jazzy`.** The image ships only the +> `ardusub` binary (`/usr/local/bin/ardusub`), not the ArduPilot source tree, so +> `Tools/autotest/sim_vehicle.py` and MAVProxy are absent. In the container use +> `ros2 launch multivehicle_sim bluerov.launch.py`, which execs `ardusub` +> directly (see `multivehicle_interface/launch/ardusub_interface.launch.py`). +> The command below is for a host checkout of ArduPilot. + +~~~bash +Tools/autotest/sim_vehicle.py -L RATBeach -v ArduSub --model=JSON --out=udp:0.0.0.0:14550 --console +~~~ + +### Send commands to the ROV + +~~~ +arm throttle +rc 3 1450 +rc 3 1500 +mode alt_hold +rc 5 1550 +disarm +~~~ + +### Notes + +The BlueROV2 model has not been tuned. + +## Credits + +All meshes have been obtained from [Blue Robotics](https://bluerobotics.com/) at the +following sources: + +- [BlueROV2 Mesh](https://grabcad.com/library/bluerov2-1) +- [T200 Propeller Mesh](https://grabcad.com/library/bluerobotics-t200-thruster-1) \ No newline at end of file diff --git a/multivehicle/packages/multivehicle_sim/models/bluerov2/configs.yaml b/multivehicle/packages/multivehicle_sim/models/bluerov2/configs.yaml new file mode 100644 index 0000000..7c80459 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/models/bluerov2/configs.yaml @@ -0,0 +1,36 @@ +model_name: "bluerov2" +mass: 10.0 +fluid_density: 998.0 +control_method: 0 +bounding_box: + x: 0.457 + y: 0.338 + z: 0.25 +center_of_mass: + x: 0.0 + y: 0.0 + z: 0.011 +center_of_volume: + x: 0.0 + y: 0.0 + z: 0.06 +buoyancy_adjustment: 0.05 +thrusters: + - x: 0.14 # Thruster 1 + y: -0.092 + z: 0.0 + - x: 0.14 # Thruster 2 + y: 0.092 + z: 0.0 + - x: -0.14 # Thruster 3 + y: -0.092 + z: 0.0 + - x: -0.14 # Thruster 4 + y: 0.092 + z: 0.0 + - x: 0.0 # Thruster 5 + y: -0.109 + z: 0.077 + - x: 0.0 # Thruster 6 + y: 0.109 + z: 0.077 diff --git a/multivehicle/packages/multivehicle_sim/models/bluerov2/meshes/bluerov2.dae b/multivehicle/packages/multivehicle_sim/models/bluerov2/meshes/bluerov2.dae new file mode 100644 index 0000000..fa9a258 --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/models/bluerov2/meshes/bluerov2.dae @@ -0,0 +1,719 @@ + + + + + Blender User + Blender 3.5.1 commit date:2023-04-24, commit time:18:11, hash:e1ccd9d4a1d3 + + 2023-05-22T23:55:13 + 2023-05-22T23:55:13 + + Z_UP + + + + + + + + 0 0 0 1 + + + 1 0 0 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.25098 0.25098 0.25098 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.776471 0.756863 0.737255 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.207843 0.207843 0.207843 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.294118 0.294118 0.294118 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 1 1 1 1 + + + 0 0 0 0.4 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.752941 0.752941 0.752941 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 1 0.94902 0.909804 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.513725 0.513725 0.513725 1 + + + 0 0 0 0.1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.698039 0.698039 0.698039 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.14902 0.6 0.815686 1 + + + 1.45 + + + + + + + + + + + 0 0 0 1 + + + 0.098039 0.098039 0.098039 1 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52296 30003 10954 52297 29915 10956 52298 30004 10955 52299 29915 10956 52300 29914 10957 52301 29914 10957 52302 29915 10956 52303 30005 10958 52304 30005 10958 52305 29915 10956 52306 29936 10959 52307 29915 10960 52308 30006 10960 52309 29936 10960 52310 29936 10961 52311 30006 10961 52312 30007 10962 52313 30007 10963 52314 30006 10964 52315 30008 10965 52316 30008 10965 52317 30006 10964 52318 30009 10966 52319 30010 10967 52320 30007 10963 52321 30008 10965 52322 30011 10968 52323 29934 10968 52324 29936 10968 52325 29936 10959 52326 29934 10969 52327 30005 10958 52328 29934 10970 52329 30011 10970 52330 30015 10971 52331 30015 10972 52332 30011 10973 52333 30012 10974 52334 30012 10974 52335 30011 10973 52336 30013 10975 52337 30014 10976 52338 30015 10972 52339 30012 10974 52340 30005 10958 52341 29934 10969 52342 30016 10977 52343 30017 10978 52344 30018 10979 52345 29934 10980 52346 29934 10980 52347 30018 10979 52348 29932 10981 52349 29934 10982 52350 29932 10982 52351 30016 10982 52352 30018 10979 52353 30017 10978 52354 30019 10983 52355 30019 10983 52356 30017 10978 52357 30020 10984 52358 30021 10985 52359 30018 10979 52360 30019 10983 52361 30022 10986 52362 30023 10987 52363 29932 10988 52364 29932 10988 52365 30023 10987 52366 29930 10989 52367 29932 10990 52368 29930 10990 52369 30016 10990 52370 30016 10991 52371 29930 10991 52372 30024 10991 52373 30023 10987 52374 30022 10986 52375 30025 10992 52376 30025 10992 52377 30022 10986 52378 30026 10993 52379 30027 10994 52380 30023 10987 52381 30025 10992 52382 30028 10995 52383 30029 10996 52384 29930 10997 52385 29930 10997 52386 30029 10996 52387 29928 10998 52388 29930 10999 52389 29928 10999 52390 30024 10999 52391 30024 11000 52392 29928 11000 52393 30030 11000 52394 30029 10996 52395 30028 10995 52396 30031 11001 52397 30031 11001 52398 30028 10995 52399 30032 11002 52400 30033 11003 52401 30029 10996 52402 30031 11001 52403 30034 11004 52404 29926 11004 52405 29928 11004 52406 29928 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52960 30988 11150 52961 30990 11151 52962 30995 11152 52963 30991 11153 52964 30991 11153 52965 30995 11152 52966 30989 11154 52967 30991 11153 52968 30989 11154 52969 30992 11155 52970 30993 11148 52971 30994 11147 52972 30990 11151 52973 30990 11151 52974 30994 11147 52975 30995 11152 52976 30988 11150 52977 30989 11154 52978 30994 11147 52979 30994 11147 52980 30989 11154 52981 30995 11152 52982 30990 11151 52983 30991 11153 52984 30993 11148 52985 30993 11148 52986 30991 11153 52987 30996 11149 52988 30996 11149 52989 30991 11153 52990 30992 11155 52991 30997 11156 52992 31005 11157 52993 31004 11158 52994 30997 11156 52995 31004 11158 52996 30998 11159 52997 31002 11160 52998 30998 11159 52999 31001 11161 53000 31001 11161 53001 30998 11159 53002 31004 11158 53003 30999 11162 53004 31003 11163 53005 31000 11164 53006 31000 11164 53007 31003 11163 53008 31002 11160 53009 31000 11164 53010 31002 11160 53011 31001 11161 53012 31005 11157 53013 30997 11156 53014 30999 11162 53015 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56280 31967 11850 56281 31906 11845 56282 31907 11852 56283 31906 11845 56284 31967 11850 56285 31907 11852 56286 31913 11851 56287 31908 11878 56288 31913 11851 56289 31914 11876 56290 31908 11878 56291 31908 11878 56292 31914 11876 56293 31909 11847 56294 31913 11851 56295 31970 11854 56296 31914 11876 56297 31970 11854 56298 31915 11879 56299 31914 11876 56300 31915 11879 56301 31972 11880 56302 31916 11881 56303 31972 11880 56304 31971 11882 56305 31916 11881 56306 31917 11883 56307 31916 11881 56308 31971 11882 56309 31927 11884 56310 31973 11858 56311 31928 11859 56312 31929 11855 56313 31934 11857 56314 31930 11871 56315 31934 11857 56316 31975 11864 56317 31935 11866 56318 31939 11885 56319 31938 11868 56320 31943 11869 56321 31943 11869 56322 31950 11825 56323 31952 11823 56324 31946 11835 56325 31896 11815 56326 31897 11843 56327 31941 11886 56328 31951 11827 56329 31942 11870 56330 31942 11870 56331 31951 11827 56332 31950 11825 56333 31951 11827 56334 31941 11886 56335 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11832 56557 31977 11903 56558 31994 11904 56559 31981 11905 56560 31980 11896 56561 31995 11906 56562 31979 11902 56563 31993 11901 56564 31977 11903 56565 31983 11907 56566 31978 11900 56567 31978 11900 56568 31983 11907 56569 31993 11901 56570 31993 11901 56571 31996 11908 56572 31995 11906 56573 31995 11906 56574 31997 11909 56575 31979 11902 56576 31980 11896 56577 31984 11910 56578 31994 11904 56579 31994 11904 56580 31985 11911 56581 31981 11905 56582 31981 11905 56583 31982 11912 56584 31977 11903 56585 31982 11912 56586 31986 11913 56587 31983 11907 56588 31983 11907 56589 31987 11914 56590 31998 11915 56591 31998 11915 56592 31999 11916 56593 31996 11908 56594 31997 11909 56595 31996 11917 56596 31988 11918 56597 32000 11919 56598 31990 11920 56599 31989 11921 56600 32001 11922 56601 31999 11916 56602 31987 11914 56603 31986 11913 56604 31954 11834 56605 31987 11914 56606 31987 11914 56607 31955 11817 56608 32001 11922 56609 32001 11922 56610 31956 11816 56611 31999 11916 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11954 56889 32005 11925 56890 32009 11947 56891 32054 11923 56892 32005 11925 56893 32006 11950 56894 32002 11926 56895 32054 11923 56896 32007 11948 56897 32003 11949 56898 32009 11947 56899 32004 11946 56900 32010 11954 56901 32011 11952 56902 32006 11950 56903 32008 11991 56904 32014 11956 56905 32009 11947 56906 32014 11956 56907 32070 11953 56908 32009 11947 56909 32010 11954 56910 32009 11947 56911 32070 11953 56912 32011 11952 56913 32071 11958 56914 32012 11951 56915 32013 11960 56916 32012 11951 56917 32071 11958 56918 32013 11960 56919 32017 11959 56920 32014 11956 56921 32017 11959 56922 32019 11957 56923 32014 11956 56924 32018 11990 56925 32024 11963 56926 32019 11957 56927 32021 11966 56928 32026 11965 56929 32022 11962 56930 32026 11965 56931 32072 11992 56932 32022 11962 56933 32023 11993 56934 32022 11962 56935 32072 11992 56936 32023 11993 56937 32029 11967 56938 32024 11963 56939 32034 11975 56940 32074 11994 56941 32029 11967 56942 32029 11967 56943 32074 11994 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49709 253792 22732 49706 253793 22737 49709 253794 22734 49711 253795 22732 49706 253796 22734 49711 253797 22744 49704 253798 22732 49706 253799 22745 49718 253800 23106 49719 253801 22746 49720 253802 22746 49720 253803 23106 49719 253804 23125 49721 253805 23125 49721 253806 23106 49719 253807 22747 49722 253808 23125 49721 253809 22747 49722 253810 22748 49723 253811 22748 49723 253812 22747 49722 253813 23118 49724 253814 22748 49723 253815 23118 49724 253816 23108 49725 253817 23108 49725 253818 23118 49724 253819 23120 49726 253820 23108 49725 253821 23120 49726 253822 22740 49715 253823 22740 49715 253824 23120 49726 253825 22749 49727 253826 22740 49715 253827 22749 49727 253828 22739 49713 253829 22749 49727 253830 23120 49726 253831 22751 49728 253832 22752 49729 253833 22749 49727 253834 22751 49728 253835 22752 49729 253836 22753 49730 253837 22754 49731 253838 22762 49732 253839 22754 49731 253840 22755 49733 253841 22757 49734 253842 22756 49735 253843 22758 49736 253844 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49768 253950 22781 49769 253951 22782 49770 253952 22782 49770 253953 22781 49769 253954 22804 49771 253955 22782 49770 253956 22804 49771 253957 22783 49772 253958 22782 49770 253959 22783 49772 253960 23130 49773 253961 23130 49773 253962 22783 49772 253963 22784 49774 253964 22784 49774 253965 22783 49772 253966 22789 49775 253967 22784 49774 253968 22789 49775 253969 22785 49776 253970 22785 49776 253971 22789 49775 253972 22802 49777 253973 22785 49776 253974 22802 49777 253975 23129 49778 253976 23129 49778 253977 22802 49777 253978 22782 49770 253979 23129 49778 253980 22782 49770 253981 23130 49773 253982 22786 49779 253983 22787 49780 253984 22781 49769 253985 22788 49781 253986 22789 49775 253987 22786 49779 253988 22786 49779 253989 22789 49775 253990 22790 49782 253991 22786 49779 253992 22790 49782 253993 22791 49783 253994 22791 49783 253995 22790 49782 253996 22792 49784 253997 22792 49784 253998 22790 49782 253999 22793 49785 254000 22792 49784 254001 22793 49785 254002 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254055 22804 49771 254056 22794 49786 254057 22791 49783 254058 22787 49780 254059 22786 49779 254060 22781 49769 254061 22787 49780 254062 22795 49787 254063 22806 49797 254064 22807 49798 254065 22808 49799 254066 22806 49797 254067 22808 49799 254068 22809 49794 254069 22809 49794 254070 22808 49799 254071 22801 49788 254072 22807 49798 254073 22806 49797 254074 22798 49791 254075 22807 49798 254076 22798 49791 254077 22796 49789 254078 22796 49789 254079 22798 49791 254080 22788 49781 254081 22810 49800 254082 22835 49801 254083 23049 49802 254084 23049 49802 254085 22835 49801 254086 22811 49803 254087 22810 49800 254088 22812 49804 254089 22813 49805 254090 22813 49805 254091 22812 49804 254092 22814 49806 254093 22813 49805 254094 22814 49806 254095 22821 49807 254096 22821 49807 254097 22814 49806 254098 22815 49808 254099 22815 49808 254100 22814 49806 254101 22816 49809 254102 22816 49809 254103 22814 49806 254104 22817 49810 254105 22816 49809 254106 22817 49810 254107 23099 49811 254108 23099 49811 254109 22817 49810 254110 22818 49812 254111 23099 49811 254112 22818 49812 254113 22819 49813 254114 22819 49813 254115 22818 49812 254116 22813 49805 254117 22819 49813 254118 22813 49805 254119 22820 49814 254120 22820 49814 254121 22813 49805 254122 22821 49807 254123 22739 49713 254124 22749 49727 254125 22810 49800 254126 22810 49800 254127 22749 49727 254128 22812 49804 254129 22822 49815 254130 22823 49816 254131 22812 49804 254132 23049 49802 254133 22817 49810 254134 22822 49815 254135 22822 49815 254136 22817 49810 254137 22824 49817 254138 22822 49815 254139 22824 49817 254140 22825 49818 254141 22825 49818 254142 22824 49817 254143 22826 49819 254144 22825 49818 254145 22826 49819 254146 22827 49820 254147 22827 49820 254148 22826 49819 254149 22828 49821 254150 22827 49820 254151 22828 49821 254152 22823 49816 254153 22823 49816 254154 22828 49821 254155 22812 49804 254156 22812 49804 254157 22828 49821 254158 22814 49806 254159 22818 49812 254160 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49925 254582 22914 49950 254583 22912 49949 254584 22935 49982 254585 22936 49983 254586 22927 49977 254587 22935 49982 254588 22927 49977 254589 22936 49983 254590 22926 49975 254591 22936 49983 254592 22989 49984 254593 22926 49975 254594 22933 49976 254595 22931 49979 254596 22929 49978 254597 22901 49924 254598 22934 49925 254599 22924 49985 254600 22924 49985 254601 22934 49925 254602 22925 49981 254603 22926 49975 254604 22924 49985 254605 22925 49981 254606 22933 49976 254607 22926 49975 254608 22925 49981 254609 22927 49977 254610 22933 49976 254611 22929 49978 254612 22935 49982 254613 22927 49977 254614 22929 49978 254615 22935 49982 254616 22929 49978 254617 22928 49953 254618 22914 49950 254619 22935 49982 254620 22928 49953 254621 22940 49930 254622 22941 49986 254623 22942 49987 254624 22942 49987 254625 22941 49986 254626 22943 49988 254627 22942 49987 254628 22943 49988 254629 22944 49989 254630 22944 49989 254631 22943 49988 254632 22945 49990 254633 22944 49989 254634 22945 49990 254635 22946 49991 254636 22946 49991 254637 22945 49990 254638 22948 49952 254639 22946 49991 254640 22948 49952 254641 22947 49954 254642 22915 49951 254643 22948 49952 254644 22937 49992 254645 22938 49993 254646 22939 49994 254647 22949 49995 254648 22938 49993 254649 22949 49995 254650 22937 49992 254651 22937 49992 254652 22949 49995 254653 22950 49996 254654 22950 49996 254655 22913 49948 254656 22937 49992 254657 22937 49992 254658 22913 49948 254659 22915 49951 254660 22948 49952 254661 22945 49990 254662 22937 49992 254663 22939 49994 254664 22941 49986 254665 22940 49930 254666 22939 49994 254667 22940 49930 254668 22902 49927 254669 22938 49993 254670 22937 49992 254671 22945 49990 254672 22938 49993 254673 22945 49990 254674 22943 49988 254675 22938 49993 254676 22943 49988 254677 22941 49986 254678 22939 49994 254679 22938 49993 254680 22941 49986 254681 22958 49997 254682 23001 49998 254683 22951 49999 254684 22951 49999 254685 23001 49998 254686 22952 50000 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model://bluerov2/meshes/t200_ccw_prop.dae + + + + + @propeller_mass + + @propeller_ixx + 0 + 0 + @propeller_iyy + 0 + @propeller_izz + + + + + + @thruster2_x @thruster2_y @thruster2_z -@d90 @d90 -@d135 + + 0 0 0 -@d90 0 0 + + + model://bluerov2/meshes/t200_ccw_prop.dae + + + + + @propeller_mass + + @propeller_ixx + 0 + 0 + @propeller_iyy + 0 + @propeller_izz + + + + + + @thruster3_x @thruster3_y @thruster3_z -@d90 @d90 @d45 + + 0 0 0 @d90 0 0 + + + model://bluerov2/meshes/t200_cw_prop.dae + + + + + @propeller_mass + + @propeller_ixx + 0 + 0 + @propeller_iyy + 0 + @propeller_izz + + + + + + @thruster4_x @thruster4_y @thruster4_z -@d90 @d90 @d135 + + 0 0 0 @d90 0 0 + + + model://bluerov2/meshes/t200_cw_prop.dae + + + + + @propeller_mass + + @propeller_ixx + 0 + 0 + @propeller_iyy + 0 + @propeller_izz + + + + + + @thruster5_x @thruster5_y @thruster5_z 0 0 0 + + 0 0 0 -@d90 0 @d90 + + + model://bluerov2/meshes/t200_ccw_prop.dae + + + + + @propeller_mass + + @propeller_ixx + 0 + 0 + @propeller_iyy + 0 + @propeller_izz + + + + + + @thruster6_x @thruster6_y @thruster6_z 0 0 0 + + 0 0 0 @d90 0 @d90 + + + model://bluerov2/meshes/t200_cw_prop.dae + + + + + @propeller_mass + + @propeller_ixx + 0 + 0 + @propeller_iyy + 0 + @propeller_izz + + + + + + base_link + thruster1 + + 0 0 -1 + + + + + base_link + thruster2 + + 0 0 -1 + + + + + base_link + thruster3 + + 0 0 -1 + + + + + base_link + thruster4 + + 0 0 -1 + + + + + base_link + thruster5 + + 0 0 -1 + + + + + base_link + thruster6 + + 0 0 -1 + + + + + bluerov2 + thruster1_joint + @thrust_coefficient + @fluid_density + @propeller_diameter + true + @use_angvel_cmd + + + + bluerov2 + thruster2_joint + @thrust_coefficient + @fluid_density + @propeller_diameter + true + @use_angvel_cmd + + + + bluerov2 + thruster3_joint + + -@thrust_coefficient + @fluid_density + @propeller_diameter + true + @use_angvel_cmd + + + + bluerov2 + thruster4_joint + + -@thrust_coefficient + @fluid_density + @propeller_diameter + true + @use_angvel_cmd + + + + bluerov2 + thruster5_joint + @thrust_coefficient + @fluid_density + @propeller_diameter + true + @use_angvel_cmd + + + + bluerov2 + thruster6_joint + + -@thrust_coefficient + @fluid_density + @propeller_diameter + true + @use_angvel_cmd + + + + + 127.0.0.1 + 9002 + 5 + 1 + + + 0 0 0 @d180 0 0 + + + 0 0 0 @d180 0 @d90 + + + imu_sensor + + + + thruster1_joint + @servo_min + @servo_max + COMMAND + @thruster1_topic + @control_offset + @ccw_control_multiplier + + + thruster2_joint + @servo_min + @servo_max + COMMAND + @thruster2_topic + @control_offset + @ccw_control_multiplier + + + thruster3_joint + @servo_min + @servo_max + COMMAND + @thruster3_topic + @control_offset + @cw_control_multiplier + + + thruster4_joint + @servo_min + @servo_max + COMMAND + @thruster4_topic + @control_offset + @cw_control_multiplier + + + thruster5_joint + @servo_min + @servo_max + COMMAND + @thruster5_topic + @control_offset + @ccw_control_multiplier + + + thruster6_joint + @servo_min + @servo_max + COMMAND + @thruster6_topic + @control_offset + @cw_control_multiplier + + + + + + \ No newline at end of file diff --git a/multivehicle/packages/multivehicle_sim/multivehicle_sim/__init__.py b/multivehicle/packages/multivehicle_sim/multivehicle_sim/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/multivehicle/packages/multivehicle_sim/multivehicle_sim/bridge.py b/multivehicle/packages/multivehicle_sim/multivehicle_sim/bridge.py new file mode 100644 index 0000000..29b4bdc --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/multivehicle_sim/bridge.py @@ -0,0 +1,31 @@ +from dataclasses import dataclass +from enum import Enum + + +class BridgeDirection(Enum): + BIDIRECTIONAL = 0 + GZ_TO_ROS = 1 + ROS_TO_GZ = 2 + + +DIRECTION_SYMS = { + BridgeDirection.BIDIRECTIONAL: '@', + BridgeDirection.GZ_TO_ROS: '[', + BridgeDirection.ROS_TO_GZ: ']', +} + + +@dataclass +class Bridge: + gz_topic: str + ros_topic: str + gz_type: str + ros_type: str + direction: BridgeDirection + + def argument(self): + out = f'{self.gz_topic}@{self.ros_type}{DIRECTION_SYMS[self.direction]}{self.gz_type}' + return out + + def remapping(self): + return (self.gz_topic, self.ros_topic) diff --git a/multivehicle/packages/multivehicle_sim/package.xml b/multivehicle/packages/multivehicle_sim/package.xml new file mode 100644 index 0000000..1f9534b --- /dev/null +++ b/multivehicle/packages/multivehicle_sim/package.xml @@ -0,0 +1,43 @@ + + + + multivehicle_sim + 0.1.0 + +

Gazebo bringup and vehicle models for the multivehicle simulator + (BlueROV2 AUV, BlueBoat USV). Worlds and course/environment models come from + the bb_worlds package.

+ + MonkeScripts + MIT + + ament_cmake + ament_cmake_python + + xacro + geometry_msgs + std_msgs + sensor_msgs + nav_msgs + tf2 + tf2_ros + tf2_msgs + tf2_geometry_msgs + ament_index_python + ros_gz_bridge + ros_gz_sim + launch_ros + robot_state_publisher + + ardupilot_gazebo + gz_led_plugin + bb_worlds + multivehicle_interface + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/multivehicle/run.bash b/multivehicle/run.bash index 46840d8..22798f3 100755 --- a/multivehicle/run.bash +++ b/multivehicle/run.bash @@ -1,17 +1,67 @@ #!/usr/bin/env bash -set -e +# +# Launch the multivehicle_sim container with rocker (NVIDIA GPU + X11 + joystick + host net). +# +# Usage: ./run.bash [-c|-s|-t|-x|-h] +# image to run, e.g. multivehicle_sim:jazzy +# On hosts without an NVIDIA GPU, use ./run_no_nvidia.bash instead. +# Requires: docker, an X server, rocker (and the NVIDIA Container Toolkit). +# +# SPDX-License-Identifier: MIT +# Adapted from OSRF dockwater (Apache-2.0), Copyright (C) 2018 Open Source +# Robotics Foundation; modified for multivehicle_sim by MonkeScripts. +############################################################ +# Help # +############################################################ +Help() +{ + echo "Launch the multivehicle_sim container with rocker." + echo + echo "Syntax: ./run.bash [-c|-s|-t|-x|-h] " + echo "options:" + echo "c Add CUDA support." + echo "s Headless cloudsim variant (noVNC/TurboVNC)." + echo "t Minimal variant for CI." + echo "x Base variant with joystick + user override." + echo "h Print this help message and exit." + echo +} -IMAGE_NAME="${1:-multivehicle_examples:jazzy}" + +JOY=/dev/input/js0 +CUDA="" +HOST_RDP_PORT=3389 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" WORKSPACE_DIR="$(cd "${SCRIPT_DIR}/../../.." && pwd)" -rocker \ - --devices /dev/dri \ - --dev-helpers \ - --nvidia \ - --x11 \ - --git \ - --volume "${WORKSPACE_DIR}:/root/HOST/mvsim_ws" \ - --network=host \ - "${IMAGE_NAME}" +ROCKER_ARGS="--devices /dev/dri $JOY --dev-helpers --nvidia --x11 --git --volume ${WORKSPACE_DIR}:/root/HOST/mvsim_ws --network=host" + +while getopts ":cstxh" option; do + case $option in + c) # enable cuda library support + CUDA="--cuda ";; + s) # Build cloudsim image + ROCKER_ARGS="--nvidia --novnc --turbovnc --user --user-override-name=developer";; + t) # Build test image for Continuous Integration + echo "Building CI image" + ROCKER_ARGS="--dev-helpers --nvidia";; + x) # Build VRX Competition base image + echo "Building VRX Competition server base image" + ROCKER_ARGS="--dev-helpers --devices $JOY --nvidia --x11 --user --user-override-name=developer";; + h) # print this help message and exit + Help + exit;; + esac +done + +IMG_NAME=${@:$OPTIND:1} + +# Replace `:` with `_` to comply with docker container naming +# And append `_runtime` +CONTAINER_NAME="$(tr ':' '_' <<< "$IMG_NAME")_runtime" +ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME" +echo ${ROCKER_ARGS} +echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>" + +rocker ${CUDA} ${ROCKER_ARGS} $IMG_NAME diff --git a/multivehicle/run_no_nvidia.bash b/multivehicle/run_no_nvidia.bash new file mode 100755 index 0000000..ca2cd98 --- /dev/null +++ b/multivehicle/run_no_nvidia.bash @@ -0,0 +1,77 @@ +#!/usr/bin/env bash + +# +# SPDX-License-Identifier: MIT +# Adapted from OSRF dockwater (Apache-2.0), Copyright (C) 2018 Open Source +# Robotics Foundation; modified for multivehicle_sim by MonkeScripts. +# + +# Runs the multivehicle_sim container WITHOUT NVIDIA GPU passthrough, for hosts with an +# Intel/AMD integrated GPU (or no discrete NVIDIA GPU). Rendering falls back to +# Mesa — the host's iGPU via /dev/dri, or llvmpipe software rendering — which is +# slower, so expect a low real-time factor in Gazebo. +# +# IMPORTANT: do NOT export the NVIDIA PRIME offload vars +# (__NV_PRIME_RENDER_OFFLOAD / __GLX_VENDOR_LIBRARY_NAME) on this host — just +# launch the world normally: +# ros2 launch multivehicle_sim world.launch.py +# On a host with no X server, also pass headless:=true. +# +# For NVIDIA hosts use ./run.bash instead (and export the offload vars before +# launching, as in the README). +# +# Requires: +# docker +# an X server (for the GUI; omit on a headless host) +# rocker +# Recommended: +# A joystick mounted to /dev/input/js0 +############################################################ +# Help # +############################################################ +Help() +{ + echo "Runs the multivehicle_sim container without NVIDIA GPU passthrough (Mesa/iGPU)." + echo + echo "Syntax: run_no_nvidia.bash [-h] [IMAGE]" + echo " IMAGE docker image to run (default: multivehicle_sim:jazzy)" + echo "options:" + echo " h Print this help message and exit." + echo + echo "Do not export the NVIDIA PRIME offload vars on this host; just launch normally." +} + +while getopts ":h" option; do + case $option in + h) Help; exit;; + esac +done + +JOY=/dev/input/js0 + +# Devices: the DRI render node gives the container the host GPU (iGPU) for Mesa. +# Add the joystick only if it exists, so rocker doesn't error on machines +# without one. +DEVICES="/dev/dri" +if [ -e "$JOY" ]; then + DEVICES="/dev/dri $JOY" +fi + +SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" +WORKSPACE_DIR="$(cd "${SCRIPT_DIR}/../../.." && pwd)" + +# Same as run.bash but WITHOUT --nvidia. --x11 forwards the display for the GUI; +# drop it (and pass headless:=true to the world launch) on a headless host. +ROCKER_ARGS="--devices $DEVICES --dev-helpers --x11 --git --volume ${WORKSPACE_DIR}:/root/HOST/mvsim_ws --network=host" + +IMG_NAME=${@:$OPTIND:1} +IMG_NAME=${IMG_NAME:-multivehicle_sim:jazzy} + +# Replace `:` with `_` to comply with docker container naming, and append `_runtime` +CONTAINER_NAME="$(tr ':' '_' <<< "$IMG_NAME")_runtime" +ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME" +echo ${ROCKER_ARGS} +echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME> (no NVIDIA)" +echo "Reminder: do not export the NVIDIA PRIME offload vars on this host." + +rocker ${ROCKER_ARGS} $IMG_NAME diff --git a/multivehicle/tmuxp/mvsim.yaml b/multivehicle/tmuxp/mvsim.yaml new file mode 100644 index 0000000..5d190ea --- /dev/null +++ b/multivehicle/tmuxp/mvsim.yaml @@ -0,0 +1,97 @@ +# tmuxp session for the multivehicle SIMULATOR (run INSIDE the multivehicle_sim +# container). Brings up the whole sim — the world, all three vehicles, and the +# dashboard — but NOT the example apps (missions, controllers, the PX4 offboard +# flight demo). Load with: +# +# tmuxp load /root/HOST/mvsim_ws/src/examples/multivehicle/tmuxp/mvsim.yaml +# +# Every command is PRE-TYPED but NOT executed (enter: false) so you start them in +# dependency order and watch each one come up: +# +# 1) world — bring up Gazebo + the course first +# 2) bluerov — attach the ArduSub BlueROV2 to the running world +# 3) boat — spawn the BlueBoat USV into the running world +# 4) drone — uXRCE-DDS agent + PX4 SITL x500 + gz<->ROS bridge (-> /x500/odom) +# 5) dashboard — web backend (:8080) + sim-side LED/incident bridges +# +# WS_DIR=/root/HOST/my_ws tmuxp load .../mvsim.yaml + +session_name: mvsim + +# Mouse support (scroll/select/resize) + large scrollback history. +global_options: + mouse: 'on' + history-limit: 50000 + +# Sourced in every pane before its pre-typed command. +shell_command_before: + - 'WS_DIR="${WS_DIR:-/root/HOST/mvsim_ws}"' + - 'PX4_DIR="${PX4_DIR:-/root/px4}"' + # NVIDIA PRIME render offload — auto-enabled when an NVIDIA GPU is passed through + # (rocker --nvidia mounts /dev/nvidia0). Harmless / skipped on non-NVIDIA hosts. + - '[ -e /dev/nvidia0 ] && export __NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia || true' + - source /opt/ros/jazzy/setup.bash + - 'if [ -f "$WS_DIR/install/setup.bash" ]; then source "$WS_DIR/install/setup.bash"; else echo "WARNING: $WS_DIR/install/setup.bash not found - build first: colcon build --symlink-install"; fi' + - cd "$WS_DIR" + +windows: + # 1. Gazebo world (start this first). + - window_name: world + focus: true + panes: + - shell_command: + - cmd: ros2 launch multivehicle_sim world.launch.py world_name:=robotx_2026_sg_river + enter: false + + # 2. BlueROV2 — spawn + ArduSub SITL + MAVROS + ros<->gz bridge. Attaches to + # the running world. + - window_name: bluerov + panes: + - shell_command: + - cmd: ros2 launch multivehicle_sim bluerov.launch.py + enter: false + + # 3. BlueBoat USV — spawn into the running world (+ groundtruth odom bridge). + - window_name: boat + panes: + - shell_command: + - cmd: ros2 launch multivehicle_sim boat.launch.py + enter: false + + # 4. PX4 x500 drone — uXRCE-DDS agent (top), PX4 SITL standalone (middle), then + # the gz<->ROS bridge (bottom). Start top-to-bottom: agent first, then PX4 + # (which spawns the x500 into the running world, visible alongside the + # BlueROV2 + BlueBoat and connects its uORB topics to the agent), then the + # bridge for groundtruth pose -> /x500/odom + front camera. + # SYS_AUTOSTART=4010 -> x500 with a FRONT mono camera (gz model + # x500_mono_cam, spawned x500_mono_cam_1 for `-i 1`). PX4_UXRCE_DDS_NS=x500 + # namespaces its ROS 2 topics as /x500/fmu/...; PX4_GZ_MODEL_POSE places it + # on the pier deck (world xy 47.40,-388.95; z=3.85 = deck top + rest offset). + - window_name: drone + layout: even-vertical + panes: + - shell_command: + - cmd: MicroXRCEAgent udp4 -p 8888 + enter: false + - shell_command: + - cmd: PX4_GZ_STANDALONE=1 PX4_SYS_AUTOSTART=4010 PX4_UXRCE_DDS_NS=x500 PX4_PARAM_UXRCE_DDS_SYNCT=0 PX4_GZ_MODEL_POSE="47.40,-388.95,3.85,0,0.0" ${PX4_DIR}/px4_sitl/bin/px4 -w ${PX4_DIR}/px4_sitl/romfs -i 1 + enter: false + - shell_command: + - cmd: ros2 launch multivehicle_sim uav_gz.launch.py model_name:=x500_mono_cam_1 + enter: false + + # 5. Dashboard — fake vehicle (top, RoboCommand TCP server on :9000 the backend + # connects to), web backend (middle, http://localhost:8080), and the sim-side + # LED/incident bridges (bottom) tracking all three vehicles' /…/odom. + - window_name: dashboard + layout: even-vertical + panes: + - shell_command: + - cmd: ros2 run bb_robotx_dashboard fake_vehicle_publisher --port 9000 + enter: false + - shell_command: + - cmd: ros2 launch bb_robotx_dashboard dashboard.launch.py + enter: false + - shell_command: + - cmd: ros2 launch bb_robotx_dashboard robotx_2026_sim.launch.py bridges_pkg:=robotx_gz models_pkg:=bb_worlds auv_name:=bluerov auv_pose_topic:=/bluerov/odom asv_name:=blueboat asv_pose_topic:=/blueboat/odom uav_name:=x500 uav_pose_topic:=/x500/odom + enter: false diff --git a/multivehicle/tmuxp/mvsim_debug.yaml b/multivehicle/tmuxp/mvsim_debug.yaml index a7df87a..779f397 100644 --- a/multivehicle/tmuxp/mvsim_debug.yaml +++ b/multivehicle/tmuxp/mvsim_debug.yaml @@ -18,7 +18,7 @@ # loading, e.g.: # WS_DIR=/root/HOST/my_ws tmuxp load .../mvsim_debug.yaml -session_name: mvsim +session_name: mvsim_debug global_options: mouse: 'on'