add option to run gazebo headless with use_gui #116
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senceryazici
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Jan 3, 2025
talhabw
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* create package structure for auv_sim * Added descriptions, spawn.launch and start_gazebo.launch files * Delete urdf's in auv_sim_description * Change default namespace to taluy * Use auv_description instead of auv_sim_description * start control nodes at gazebo launch * restructure `auv_sim_description` - remove unnecessary folder * use taluy_sim.urdf.xacro as main simulation macro - we will use this to include gazebo plugins * create camera, imu and thruster gazebo plugins - plugin settings need to be edited * add gazebo plugin for bottom camera * add `topic_name` parameter to gazebo camera plugin - use `topic_name` to match the original camera topic names - also update plugin specs with logitech c920 specs * rename `thrusterID` to `thruster_id` it is urdf/xacro convention to use snake_case * move gazebo tags in `t200.urdf.xacro` to it's auv_sim macro * use the uuv_simulator plugin for imu - Replace the libgazebo_ros imu plugin with libuuv_gazebo_ros imu plugin. This is how it was in the legacy repo, so I thought this should be better. - Changed the joint type of the IMU link from `fixed` to `revolute` (with movement limits) to resolve an issue where libuuv_gazebo_ros plugins couldn't detect fixed links in Gazebo. - Noted that Gazebo doesn't recognize links with fixed joints as standalone links, which seems to cause this issue. * create bar30 gazebo plugin - use libuuv_gazebo_ros_subsea_pressure_plugin - Changed the joint type of the bar30 link from `fixed` to `revolute` (with movement limits) to resolve an issue where libuuv_gazebo_ros plugins couldn't detect fixed links in Gazebo. - Noted that Gazebo doesn't recognize links with fixed joints as standalone links, which seems to cause this issue. * create sonar gazebo plugin - implemented from legacy repo (ituauv-uuv-descriptions) * added base bridge nodes (not ready yet) * modify package.xml files * create base_link hydrodynamics plugin - the values in base_link_ned are robot spesific and belongs to turquoise, we need to change them with taluy's values * Add Singapore pool world and model * create package structure for auv_sim * Added descriptions, spawn.launch and start_gazebo.launch files * Delete urdf's in auv_sim_description * Use auv_description instead of auv_sim_description * start control nodes at gazebo launch * restructure `auv_sim_description` - remove unnecessary folder * use taluy_sim.urdf.xacro as main simulation macro - we will use this to include gazebo plugins * create camera, imu and thruster gazebo plugins - plugin settings need to be edited * add gazebo plugin for bottom camera * add `topic_name` parameter to gazebo camera plugin - use `topic_name` to match the original camera topic names - also update plugin specs with logitech c920 specs * rename `thrusterID` to `thruster_id` it is urdf/xacro convention to use snake_case * move gazebo tags in `t200.urdf.xacro` to it's auv_sim macro * use the uuv_simulator plugin for imu - Replace the libgazebo_ros imu plugin with libuuv_gazebo_ros imu plugin. This is how it was in the legacy repo, so I thought this should be better. - Changed the joint type of the IMU link from `fixed` to `revolute` (with movement limits) to resolve an issue where libuuv_gazebo_ros plugins couldn't detect fixed links in Gazebo. - Noted that Gazebo doesn't recognize links with fixed joints as standalone links, which seems to cause this issue. * create bar30 gazebo plugin - use libuuv_gazebo_ros_subsea_pressure_plugin - Changed the joint type of the bar30 link from `fixed` to `revolute` (with movement limits) to resolve an issue where libuuv_gazebo_ros plugins couldn't detect fixed links in Gazebo. - Noted that Gazebo doesn't recognize links with fixed joints as standalone links, which seems to cause this issue. * create sonar gazebo plugin - implemented from legacy repo (ituauv-uuv-descriptions) * added base bridge nodes (not ready yet) * modify package.xml files * create base_link hydrodynamics plugin - the values in base_link_ned are robot spesific and belongs to turquoise, we need to change them with taluy's values * update * reduce dummy masses * remove base link ned pub * update rviz * update * add sim deps * update * create auv_common_sim and taluy_sim * remove the `_sim` suffix, call plugins in base * move worlds and config to 'auv_sim_description' * update * fix typo * improve simulation_mock_node and fix thruster issue (#83) * add navigation launch file * add dvl velocity implementation to auv_sim (#86) * create dvl plugin and bridge * remove dvl plugin - velocity and altitude values we get from uuv_simulator plugin is not consistent with the ground truth * use odometry_gt in dvl bridge - rotate the velocity from the ground truth by 135 degrees to compensate for the rotation at `dvl_odometry_node` * add altimeter - use ray sensor and range plugin from gazebo to mock an altimeter - invalidate the dvl data and set dvl/isValid to false when altitude < 0.3 * add noise to dvl data - use the pre-calculated dvl covariances from `auv_localization` * set gt reference frame to odom * use reference instead of copy * create kMinDvlAltitude constant * use ros timer instead of `rate.sleep()` * use dvl frame for dvl_altimeter - rename altimeter to dvl_altimeter to make it easier to understand altimeter is used to mock the dvl in simulation * revert arg default * remove legacy variable - remove the duplicate dvl_rate variable and remove the usage of ros::Rate since now we use ROS timer to do its job * add uuv_simulator dvl plugin - use it both for the altitude and the velocity, works as intended * create another link for sim dvl * remove position and orientation params * remove unused parameters in dvl macro * enhancements to simulation launch files (#85) * add model.config files (#88) Co-authored-by: frk781 <mimarlarf@gmail.com> Squashed commit of the following: commit 2b6ced1 Author: frk781 <mimarlarf@gmail.com> Date: Sat Dec 7 19:11:35 2024 +0300 added model.config files * Add props to the pool world (#100) * Add texture models (gate and torpedo) * Change prop locations * fix IMU, Sonar and Bar30 in simulation (#96) * revert IMU joint type from `revolute` to `fixed` - add rotation to fix imu plugin values * fix sonar plugin topic name - removed namespace at the start of the topic name since it was causing issues - also change update rate and range according to sensor specifications * revert Bar30 joint type from `revolute` to `fixed` * add imu offset to simulation * fix drift ros param * rename topics - renamed it in the code and remapped it to same place. - this is just to make it more understandable --------- Co-authored-by: Ozan Hakan Tunca <t.ozanhakan@gmail.com> * run pre-commit * update package isolation * add update rate across files * add option to run gazebo headless with use_gui (#116) * create a seperate control config for simulation (#110) * create a seperate control config for simulation * remove remapping from sim bridge * use config_file param to load rosparams * add pid params for sim * add additional light * fix starting pos * remove unnecessary light, fix buoy pose --------- Co-authored-by: Ozan Hakan Tunca <t.ozanhakan@gmail.com> Co-authored-by: meydanoglu <eminmeydanoglu@gmail.com> Co-authored-by: Sencer Yazici <senceryazici@gmail.com> Co-authored-by: Ozan Hakan Tunca <155637446+ozanhakantunca@users.noreply.github.com>
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We don't always need to see the gui to test the robot in simulation. We may also use this functionality in the future to test the robot performance in Github Actions CI.