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

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

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bdd1145
fix fuel url
woensug-choi Dec 1, 2023
de1d519
Uncomment joystick
woensug-choi Jan 30, 2024
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42 changes: 20 additions & 22 deletions examples/dave_demo_launch/launch/dave_integrated_demo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,10 @@
<arg name="set_timeout" default="false"/>
<arg name="timeout" default="0.0"/>
<arg name="velocity_control" default="true"/>
<arg name="joy_id" default="0"/>
<!-- <arg name="joy_id" default="0"/> -->
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<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
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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>
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16 changes: 8 additions & 8 deletions models/dave_object_models/models/niskin/model.sdf
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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
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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
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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
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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
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