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osrf / subt

This repostory contains software for the virtual track of the DARPA SubT Challenge. Within this repository you will find Gazebo simulation assets, ROS interfaces, support scripts and plugins, and documentation needed to compete in the SubT Virtual Challenge.
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Nkoenig/localwindplugin #1016

Closed nkoenig closed 3 years ago

nkoenig commented 3 years ago

The fortress branch is based on Ignition Fortress. You will need to the melodic-fortress ros_ign branch, and set IGNITION_VERSION=fortress when running catkin_make. For example IGNITION_VERSION=fortress catkin_make_install.

This PR has copied the finals_qual world to a finals_qual_demo world, which will be used to demonstrate features added to SubT after the final event.

The first such demonstration is a local wind model. The LocalWindPlugin allows a world to set the wind magnitude on a per-tile basis. I've added local wind to a few cave tiles located near the staging area. Specifically, tiles 28, 29, 37, and 38.

It's easiest to see the effect by increasing the magnitude to a value of 8 or higher, then move a robot into a cave tile. The wind will push the robot.

peci1 commented 3 years ago

Wouldn't this implementation allow "exploitation" of the simulation by simplifying detection of tile edges? Until now, it's been difficult once the robots left direct comms with teambase (with direct comms, tile edges could be estimated by large drops in rssi).

What about "smoothing" the wind values by some gradual muxing function with neighbor tile wind speeds?

nkoenig commented 3 years ago

Wouldn't this implementation allow "exploitation" of the simulation by simplifying detection of tile edges? Until now, it's been difficult once the robots left direct comms with teambase (with direct comms, tile edges could be estimated by large drops in rssi).

What about "smoothing" the wind values by some gradual muxing function with neighbor tile wind speeds?

Interesting. I hadn't thought about that. I'll take another look. Thanks for the suggestion.