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Create states and tester for depth control test #32

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890c75e
Testing on board
Jan 28, 2018
d74c94e
Create states and tester for depth control test
Wesley-Fisher Feb 17, 2020
d9333ec
Merge branch 'dev' into startup_states
Wesley-Fisher Feb 17, 2020
2b3dda8
Make a node for tests to run without submerging
Wesley-Fisher Feb 17, 2020
75ac9cd
Merge branch 'startup_states' of github.com:Wesley-Fisher/aquadrone20…
Wesley-Fisher Feb 17, 2020
8940dcd
Merge branch 'startup_states' of github.com:Wesley-Fisher/aquadrone20…
Jan 28, 2018
91ad526
Merge from master and fix
Wesley-Fisher Mar 28, 2020
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0 aquadrone_sim_demos/launch/empty.launch → ...ne_sim_demos/launch/demo_sub_empty.launch
100755 → 100644
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22 changes: 22 additions & 0 deletions aquadrone_sim_demos/launch/demo_sub_empty_dropin.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,22 @@
<launch>
<arg name="model_name" default="v28"/>

<include file="$(find aquadrone_sim_worlds)/launch/empty_dropin_world.launch">
<arg name="paused" value="false"/>
</include>

<include file="$(find aquadrone_description)/launch/upload_sub.launch">
<arg name="model_file" value="$(arg model_name).urdf.xacro"/>
</include>

<include file="$(find aquadrone_description)/launch/spawn_sub.launch">
<arg name="model" value="aquadrone"/>
</include>

<include file="$(find thruster_control)/launch/sim_control.launch">
<arg name="model" value="$(arg model_name)"/>
</include>

<node name="state_est" pkg="state_estimation" type="ekf.py"/>

</launch>
0 ...rone_sim_demos/launch/empty_wobbly.launch → ...demos/launch/demo_sub_empty_wobbly.launch
100755 → 100644
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24 changes: 24 additions & 0 deletions aquadrone_sim_demos/launch/pac_depth_control_demo.launch
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<launch>
<arg name="model_name" default="v28"/>

<include file="$(find aquadrone_sim_worlds)/launch/empty_dropin_world.launch">
<arg name="paused" value="false"/>
</include>

<include file="$(find aquadrone_description)/launch/upload_sub.launch">
<arg name="model_file" value="$(arg model_name).urdf.xacro"/>
</include>

<include file="$(find aquadrone_description)/launch/spawn_sub.launch">
<arg name="model" value="aquadrone"/>
</include>

<include file="$(find thruster_control)/launch/sim_control.launch">
<arg name="model" value="$(arg model_name)"/>
</include>

<node name="state_est" pkg="state_estimation" type="ekf.py"/>

<node name="competition_logic" pkg="path_planning" type="pac_depth_control_demo.py" output="screen" required="true"/>

</launch>
56 changes: 56 additions & 0 deletions aquadrone_sim_worlds/launch/empty_dropin_world.launch
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<launch>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<arg name="set_timeout" default="false"/>
<arg name="timeout" default="0.0"/>
<arg name="debug" default="false"/>

<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find aquadrone_sim_worlds)/worlds/empty_underwater_dropin.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="$(arg debug)"/>
<arg name="verbose" value="true"/>
</include>

<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

<node name="publish_world_models"
pkg="uuv_assistants"
type="publish_world_models.py"
output="screen">
<rosparam subst_value="true">
meshes:
seafloor:
plane: [2000, 2000, 0.1]
pose:
position: [0, 0, -100]
north:
plane: [0.1, 2000, 100]
pose:
position: [1000, 0, -50]
south:
plane: [0.1, 2000, 100]
pose:
position: [-1000, 0, -50]
west:
plane: [2000, 0.1, 100]
pose:
position: [0, -1000, -50]
east:
plane: [2000, 0.1, 100]
pose:
position: [0, 1000, -50]
</rosparam>
</node>

<group if="$(arg set_timeout)">
<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
<arg name="timeout" value="$(arg timeout)"/>
</include>
</group>

</launch>
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