Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fuel.ignition.org to fuel.gazebosim.org #282

Open
wants to merge 2 commits into
base: master
Choose a base branch
from
Open

fuel.ignition.org to fuel.gazebosim.org #282

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
bdd1145
fix fuel url
woensug-choi Dec 1, 2023
de1d519
Uncomment joystick
woensug-choi Jan 30, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
40 changes: 19 additions & 21 deletions examples/dave_demo_launch/launch/dave_integrated_demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -9,10 +9,8 @@
<arg name="velocity_control" default="true"/>
<arg name="joy_id" default="0"/>
<arg name="debug" default="false"/>
<arg name="controller_type" default="effort"/>
<!-- <arg name="controller_type" default="effort"/> -->

<arg unless="$(arg debug)" name="launch-prefix" value=" "/>
<arg if="$(arg debug)" name="launch-prefix" value="gdb -ex run --args"/>

<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
Expand All @@ -30,44 +28,44 @@
<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

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

<!-- rexrov robot with oberon7 arm -->
<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
<!-- <include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
<arg name="namespace" value="rexrov0"/>
<arg name="x" value="7.087382"/>
<arg name="y" value="-8.720616"/>
<arg name="z" value="-116.360490"/>
<arg name="roll" value="0.011443"/>
<arg name="pitch" value="0.060502"/>
<arg name="yaw" value="0.304482"/>
</include>
</include> -->

<!-- Velocity teleop (UUV stays in position when joystick is not used) -->
<include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
<!-- <include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
<arg name="uuv_name" value="$(arg namespace)" />
<arg name="model_name" value="rexrov" />
<arg name="joy_id" value="$(arg joy_id)"/>
</include>
</include> -->

<!-- joystick control for rexrov and oberon7, no velocity control-->
<include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
<!-- <include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
<arg name="uuv_name" value="rexrov0" />
<arg name="model_name" value="rexrov"/>
<arg name="joy_id" value="$(arg joy_id)"/>
</include>
</include> -->

<!-- joint control for oberon7 -->
<include file="$(find oberon7_control)/launch/joint_control.launch">
<!-- <include file="$(find oberon7_control)/launch/joint_control.launch">
<arg name="uuv_name" value="rexrov0"/>
</include>
</include> -->

<!-- Include a second rexrov with dual arms -->
<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7_moveit.launch">
<!-- <include file="$(find rexrov_description)/launch/upload_rexrov_oberon7_moveit.launch">
<arg name="namespace" value="rexrov"/>
<arg name="controller_type" value="$(arg controller_type)"/>
<arg name="x" value="-187.77"/>
Expand All @@ -76,15 +74,15 @@
<arg name="roll" value="-0.01"/>
<arg name="pitch" value="0.177"/>
<arg name="yaw" value="3.14"/>
</include>
</include> -->

<!-- Load general controllers -->
<include file="$(find oberon7_gazebo)/launch/controller_utils.launch"/>
<!-- <include file="$(find oberon7_gazebo)/launch/controller_utils.launch"/>

<rosparam file="$(find oberon7_gazebo)/controller/oberon7_controllers.yaml" command="load"/>
<rosparam file="$(find oberon7_gazebo)/controller/oberon7_controllers.yaml" command="load"/> -->

<!-- Load chosen controller types -->
<group if="$(eval controller_type == 'effort')">
<!-- <group if="$(eval controller_type == 'effort')">
<node name="controllers_spawner" pkg="controller_manager" type="spawner" args="hand_effort_r hand_effort_l arm_effort_l arm_effort_r" respawn="false" output="screen"/>
</group>

Expand All @@ -96,11 +94,11 @@
<arg name="uuv_name" value="rexrov" />
<arg name="model_name" value="rexrov" />
<arg name="joy_id" value="1"/>
</include>
</include> -->

<!-- Spawn socket platform for electrical lead station -->
<include file="$(find plug_and_socket_description)/launch/upload_socket_platform.launch"/>
<!-- <include file="$(find plug_and_socket_description)/launch/upload_socket_platform.launch"/>
<node name="spawn_socket" pkg="gazebo_ros" type="spawn_model"
args="-urdf -param socket_platform -model socket_platform -x -190.5 -y 115.15 -z -158.459771 -Y -1.57079632679 -unpause" respawn="false" output="screen" />
args="-urdf -param socket_platform -model socket_platform -x -190.5 -y 115.15 -z -158.459771 -Y -1.57079632679 -unpause" respawn="false" output="screen" /> -->

</launch>
4 changes: 2 additions & 2 deletions models/dave_object_models/models/Coke/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,14 +7,14 @@
<visual name="visual">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
<uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
</mesh>
</geometry>
</collision>
Expand Down
16 changes: 8 additions & 8 deletions models/dave_object_models/models/niskin/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,15 +16,15 @@
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="Niskin_visual">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
<submesh>
<name>Niskin</name>
<center>false</center>
Expand All @@ -36,16 +36,16 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Albedo.png</albedo_map>
<normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Normal.png</normal_map>
<metalness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Metalness.png</metalness_map>
<roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Roughness.png</roughness_map>
<albedo_map>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Albedo.png</albedo_map>
<normal_map>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Normal.png</normal_map>
<metalness_map>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Metalness.png</metalness_map>
<roughness_map>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/scripts/</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/scripts/</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/</uri>
<name>UrbanTile/Niskin_Diffuse</name>
</script>
</material>
Expand Down
16 changes: 8 additions & 8 deletions models/dave_object_models/models/sunken_ship_distorted/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
<!--uri>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
<uri>model://sunken_ship_distorted/meshes/sunkenship_distort.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
Expand All @@ -16,7 +16,7 @@
<visual name="SunkenShip_distorted_visual">
<geometry>
<mesh>
<!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
<!--uri>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
<uri>model://sunken_ship_distorted/meshes/sunkenship_distort.dae</uri>
<submesh>
<name>SunkenShip</name>
Expand All @@ -29,16 +29,16 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Albedo.png</albedo_map>
<normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Normal.png</normal_map>
<metalness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Metalness.png</metalness_map>
<roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Roughness.png</roughness_map>
<albedo_map>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Albedo.png</albedo_map>
<normal_map>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Normal.png</normal_map>
<metalness_map>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Metalness.png</metalness_map>
<roughness_map>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/scripts/</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/scripts/</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/</uri>
<name>UrbanTile/SunkenShip</name>
</script>
</material>
Expand Down
14 changes: 7 additions & 7 deletions models/dave_object_models/models/sunken_vase/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,15 +16,15 @@
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="Pot01_visual">
<geometry>
<mesh>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
<submesh>
<name>Pot01</name>
<center>false</center>
Expand All @@ -36,15 +36,15 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
<normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
<roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
<albedo_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
<normal_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
<roughness_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
<name>UrbanTile/Pot01_Diffuse</name>
</script>
</material>
Expand Down
14 changes: 7 additions & 7 deletions models/dave_object_models/models/sunken_vase_distorted/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
<!--uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
<uri>model://sunken_vase_distorted/meshes/Pot01_distort.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
Expand All @@ -25,7 +25,7 @@
<visual name="Pot01_distorted_visual">
<geometry>
<mesh>
<!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
<!--uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
<uri>model://sunken_vase_distorted/meshes/Pot01_distort.dae</uri>
<submesh>
<name>Pot01</name>
Expand All @@ -38,15 +38,15 @@
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
<normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
<roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
<albedo_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
<normal_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
<roughness_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
<uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
<name>UrbanTile/Pot01_Diffuse</name>
</script>
</material>
Expand Down
Loading
Loading