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EdisonAltamiranoEdisonAltamirano
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swarms command
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7 files changed

+347
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‎.vscode/settings.json‎

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"/home/edison/vision_ws/devel/lib/python2.7/dist-packages",
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"/opt/ros/kinetic/lib/python2.7/dist-packages",
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"/home/userx/anaconda3/lib/python3.5/site-packages"
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]
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],
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"python.analysis.extraPaths": [
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"/home/edison/vanttec_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/vanttec_uuv_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/student_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/turtle_ws1/devel/lib/python2.7/dist-packages",
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"/home/edison/turtlebot3_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/turtle_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/niryo_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/vanttec_usv_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/catkin_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/intel_ws/devel/lib/python2.7/dist-packages",
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"/home/edison/vision_ws/devel/lib/python2.7/dist-packages",
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"/opt/ros/kinetic/lib/python2.7/dist-packages",
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"/home/userx/anaconda3/lib/python3.5/site-packages"
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],
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"files.associations": {
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"*.dae": "3dformat",
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"*.ipp": "cpp",
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"condition_variable": "cpp",
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"thread": "cpp"
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}
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}

‎uv_worlds/models/lake/model.sdf‎

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</script>
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</material>
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</visual>
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<collision name="lake_bottom">
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<pose>0 0 0 0 0 0</pose>
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<geometry>

‎uv_worlds/worlds/swarms.world‎

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<?xml version="1.0"?>
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<sdf version="1.5">
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<world name="default">
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<physics name="default_physics" default="true" type="ode">
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<max_step_size>0.002</max_step_size>
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<real_time_factor>1</real_time_factor>
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<real_time_update_rate>500</real_time_update_rate>
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<ode>
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<solver>
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<type>quick</type>
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<iters>50</iters>
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<sor>0.5</sor>
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</solver>
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</ode>
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</physics>
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<scene>
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<ambient>0.01 0.01 0.01 1.0</ambient>
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<sky>
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<clouds>
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<speed>12</speed>
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</clouds>
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</sky>
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<shadows>1</shadows>
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</scene>
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<!-- Origin placed somewhere in the middle of the Bodensee (Germany) -->
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<spherical_coordinates>
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<latitude_deg>47.6278771</latitude_deg>
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<longitude_deg>9.334553</longitude_deg>
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</spherical_coordinates>
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<!-- Global light source -->
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<light type="directional" name="sun1">
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<pose>50 0 150 0 0 0</pose>
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<diffuse>1 1 1 1</diffuse>
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<specular>.1 .1 .1 1</specular>
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<direction>0.3 0.3 -1</direction>
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<cast_shadows>true</cast_shadows>
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</light>
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<!-- Global light source -->
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<include>
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<uri>model://sun</uri>
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</include>
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<!-- Virtual NED frame -->
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<include>
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<uri>model://ned_frame</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<!-- Bounding box with sea surface -->
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<include>
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<uri>model://lake</uri>
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<pose>0 0 0 0 0 0</pose>
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</include>
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<!--
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<model name="boat1">
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<pose> 0 0 0 0 0 0</pose>
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<include>
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<uri>model://boat1</uri>
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</include>
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</model>
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<model name="boat2">
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<pose> 0 -5 0 0 0 1.57</pose>
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<include>
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<uri>model://boat2</uri>
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</include>
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</model>
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<model name="boat3">
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<pose> 5 -5 0 0 0 3.14</pose>
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<include>
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<uri>model://boat3</uri>
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</include>
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</model>
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<model name="drone4">
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<pose> 5 0 0 0 0 4.71</pose>
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<include>
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<uri>model://drone4</uri>
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</include>
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</model>
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<model name="drone5">
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<pose> 6 0 0 0 0 0</pose>
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<include>
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<uri>model://drone5</uri>
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</include>
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</model>
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<model name="drone6">
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<pose> 6 2 0 0 0 0</pose>
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<include>
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<uri>model://drone6</uri>
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</include>
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</model>
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<model name="drone7">
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<pose> 8 0 0 0 0 0</pose>
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<include>
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<uri>model://drone7</uri>
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</include>
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</model>
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<model name="drone8">
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<pose> 8 2 0 0 0 0</pose>
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<include>
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<uri>model://drone8</uri>
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</include>
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</model>
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<model name="drone9">
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<pose> 12 0 0 0 0 0</pose>
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<include>
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<uri>model://drone9</uri>
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</include>
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</model>
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<model name="drone10">
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<pose> 12 2 0 0 0 0</pose>
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<include>
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<uri>model://drone10</uri>
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</include>
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</model>
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<model name="drone11">
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<pose> 14 0 0 0 0 0</pose>
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<include>
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<uri>model://drone11</uri>
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</include>
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</model>
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<model name="drone12">
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<pose> 14 2 0 0 0 0</pose>
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<include>
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<uri>model://drone12</uri>
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</include>
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</model> -->
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</world>
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</sdf>
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‎vanttec_usv‎

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Subproject commit 1b3c108f26bae0e14a7616973d1ab66b317d5551
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Subproject commit 6eaa55693974c5f2231992547a8d564a3ba20b1c

‎vtec_s3_description/launch/multi_boats.launch‎

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<launch>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find uv_worlds)/worlds/swarms.world"/>
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<!-- more default parameters can be changed here -->
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</include>
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<!-- Debug flag -->
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<arg name="debug" default="0"/>
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<arg name="mode" default="vtec_s3_default"/>
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<arg name="world_frame" default="world"/>
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<!-- Boat1 -->
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<!-- Vehicle's namespace -->
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<arg name="namespace" default="boat1"/>
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<!-- Vehicle's initial pose -->
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<arg name="x" default="0"/>
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<arg name="y" default="0"/>
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<arg name="z" default="0"/>
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<arg name="roll" default="0"/>
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<arg name="pitch" default="0"/>
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<arg name="yaw" default="0"/>
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<group ns="$(arg namespace)">
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find vtec_s3_description)/robots/$(arg mode).xacro' debug:=$(arg debug) namespace:=$(arg namespace)" />
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
27+
args="-urdf -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg roll) -P $(arg pitch) -Y $(arg yaw) -model $(arg namespace) -param /$(arg namespace)/robot_description"/>
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<!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
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<!-- Publish robot model for ROS -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
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<param name="robot_description" value="/$(arg namespace)/robot_description" />
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</node>
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</group>
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<!-- Boat2 -->
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<!-- Vehicle's namespace -->
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<arg name="namespace2" default="boat2"/>
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<!-- Vehicle's initial pose -->
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<arg name="x2" default="-2"/>
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<arg name="y2" default="2"/>
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<arg name="z2" default="0"/>
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<arg name="roll2" default="0"/>
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<arg name="pitch2" default="0"/>
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<arg name="yaw2" default="0"/>
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<group ns="$(arg namespace2)">
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find vtec_s3_description)/robots/$(arg mode).xacro' debug:=$(arg debug) namespace:=$(arg namespace2)" />
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
51+
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
52+
args="-urdf -x $(arg x2) -y $(arg y2) -z $(arg z2) -R $(arg roll2) -P $(arg pitch2) -Y $(arg yaw2) -model $(arg namespace2) -param /$(arg namespace2)/robot_description"/>
53+
54+
<!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
55+
56+
<!-- Publish robot model for ROS -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
58+
<param name="robot_description" value="/$(arg namespace2)/robot_description" />
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</node>
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</group>
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<!-- Boat3 -->
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<!-- Vehicle's namespace -->
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<arg name="namespace3" default="boat3"/>
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<!-- Vehicle's initial pose -->
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<arg name="x3" default="-2"/>
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<arg name="y3" default="-2"/>
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<arg name="z3" default="0"/>
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<arg name="roll3" default="0"/>
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<arg name="pitch3" default="0"/>
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<arg name="yaw3" default="0"/>
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<group ns="$(arg namespace3)">
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find vtec_s3_description)/robots/$(arg mode).xacro' debug:=$(arg debug) namespace:=$(arg namespace3)" />
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
77+
args="-urdf -x $(arg x3) -y $(arg y3) -z $(arg z3) -R $(arg roll3) -P $(arg pitch3) -Y $(arg yaw3) -model $(arg namespace3) -param /$(arg namespace3)/robot_description"/>
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79+
<!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
80+
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<!-- Publish robot model for ROS -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
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<param name="robot_description" value="/$(arg namespace3)/robot_description" />
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</node>
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</group>
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<!-- Boat4 -->
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<!-- Vehicle's namespace -->
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<arg name="namespace4" default="boat4"/>
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<!-- Vehicle's initial pose -->
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<arg name="x4" default="-4"/>
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<arg name="y4" default="2"/>
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<arg name="z4" default="0"/>
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<arg name="roll4" default="0"/>
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<arg name="pitch4" default="0"/>
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<arg name="yaw4" default="0"/>
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<group ns="$(arg namespace4)">
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find vtec_s3_description)/robots/$(arg mode).xacro' debug:=$(arg debug) namespace:=$(arg namespace4)" />
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -x $(arg x4) -y $(arg y4) -z $(arg z4) -R $(arg roll4) -P $(arg pitch4) -Y $(arg yaw4) -model $(arg namespace4) -param /$(arg namespace4)/robot_description"/>
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<!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
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<!-- Publish robot model for ROS -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
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<param name="robot_description" value="/$(arg namespace4)/robot_description" />
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</node>
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</group>
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<!-- Boat5 -->
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<!-- Vehicle's namespace -->
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<arg name="namespace5" default="boat5"/>
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<!-- Vehicle's initial pose -->
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<arg name="x5" default="-4"/>
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<arg name="y5" default="-2"/>
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<arg name="z5" default="0"/>
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<arg name="roll5" default="0"/>
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<arg name="pitch5" default="0"/>
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<arg name="yaw5" default="0"/>
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<group ns="$(arg namespace5)">
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find vtec_s3_description)/robots/$(arg mode).xacro' debug:=$(arg debug) namespace:=$(arg namespace5)" />
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
126+
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
127+
args="-urdf -x $(arg x5) -y $(arg y5) -z $(arg z5) -R $(arg roll5) -P $(arg pitch5) -Y $(arg yaw5) -model $(arg namespace5) -param /$(arg namespace5)/robot_description"/>
128+
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<!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
130+
131+
<!-- Publish robot model for ROS -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
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<param name="robot_description" value="/$(arg namespace5)/robot_description" />
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</node>
135+
</group>
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<!-- Boat6 -->
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<!-- Vehicle's namespace -->
138+
<arg name="namespace6" default="boat6"/>
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<!-- Vehicle's initial pose -->
140+
<arg name="x6" default="-6"/>
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<arg name="y6" default="2"/>
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<arg name="z6" default="0"/>
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<arg name="roll6" default="0"/>
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<arg name="pitch6" default="0"/>
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<arg name="yaw6" default="0"/>
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<group ns="$(arg namespace6)">
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<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find vtec_s3_description)/robots/$(arg mode).xacro' debug:=$(arg debug) namespace:=$(arg namespace6)" />
149+
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
152+
args="-urdf -x $(arg x6) -y $(arg y6) -z $(arg z6) -R $(arg roll6) -P $(arg pitch6) -Y $(arg yaw6) -model $(arg namespace6) -param /$(arg namespace6)/robot_description"/>
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<!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
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<!-- Publish robot model for ROS -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
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<param name="robot_description" value="/$(arg namespace6)/robot_description" />
159+
</node>
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</group>
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<!-- Boat7 -->
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<!-- Vehicle's namespace -->
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<arg name="namespace7" default="boat7"/>
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<!-- Vehicle's initial pose -->
165+
<arg name="x7" default="-6"/>
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<arg name="y7" default="-2"/>
167+
<arg name="z7" default="0"/>
168+
<arg name="roll7" default="0"/>
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<arg name="pitch7" default="0"/>
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<arg name="yaw7" default="0"/>
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<group ns="$(arg namespace7)">
172+
<param name="robot_description"
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command="$(find xacro)/xacro --inorder '$(find vtec_s3_description)/robots/$(arg mode).xacro' debug:=$(arg debug) namespace:=$(arg namespace7)" />
174+
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<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
176+
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
177+
args="-urdf -x $(arg x7) -y $(arg y7) -z $(arg z7) -R $(arg roll7) -P $(arg pitch7) -Y $(arg yaw7) -model $(arg namespace7) -param /$(arg namespace7)/robot_description"/>
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<!-- A joint state publisher plugin already is started with the model, no need to use the default joint state publisher -->
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<!-- Publish robot model for ROS -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
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<param name="robot_description" value="/$(arg namespace7)/robot_description" />
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</node>
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</group>
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</launch>

‎vtec_s3_description/launch/upload.launch‎

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<arg name="namespace" value="$(arg namespace)"/>
4444
</include> -->
4545
<!-- Enable camera gazebo plugin-->
46-
<include file="$(find realsense_gazebo_plugin)/launch/depth_proc.launch">
47-
</include>
46+
<!--<include file="$(find realsense_gazebo_plugin)/launch/depth_proc.launch">
47+
</include>-->
4848
<!-- check if you are simulating robot with gazebo -->
4949
<arg name="gazebo" default="false" />
5050
<group unless="$(arg gazebo)">

‎vtec_s3_description/urdf/sensors.xacro‎

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@@ -46,9 +46,9 @@
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</VLP-16>
4747

4848
<!-- Realsense R200 -->
49-
<xacro:realsense_camera namespace="${namespace}" parent_link="${namespace}/base_link" suffix="">
49+
<!--<xacro:realsense_camera namespace="${namespace}" parent_link="${namespace}/base_link" suffix="">
5050
<origin xyz="0.52 0 0.22" rpy="0 0 0"/>
51-
</xacro:realsense_camera>
51+
</xacro:realsense_camera>-->
5252

5353
<!-- Mount a camera -->
5454
<!-- <xacro:default_camera namespace="${namespace}" parent_link="${namespace}/base_link" suffix="">

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