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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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New X4 Configuration Request #252

Closed osrf-migration closed 4 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Neil Johnson (Bitbucket: realdealneil1980).

We wanted to make a request for a new sensor configuration for the X4 drone. We have modified a few files in subt_ign and subt_ros as well as in the fuel models to allow us to test this different configuration. It has the following changes:

  1. Includes a VGA RGBD sensor (instead of QVGA)
  2. Includes a 2D lidar (10 meter range I believe)
  3. Includes a point laser that faces up (to detect the ceiling)
  4. Includes a point laser that faces down (to detect height above ground)

We have the vehicle working in ignition sim now. What is the process to submit this to the Tech Repo for possible inclusion in future circuits?

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osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 5 years ago

Original comment by Ian Chen (Bitbucket: Ian Chen).

Alfredo Bencomo (bencomo) let me know if you need to test this out.

I can help upload the models to fuel and be part of the official robot configurations if this gets approved.

osrf-migration commented 5 years ago

Original comment by Neil Johnson (Bitbucket: realdealneil1980).

Should I post files here? I need to edit the files slightly and then I can upload.

osrf-migration commented 5 years ago

Original comment by Sophisticated Engineering (Bitbucket: sopheng).

I like the idea to have sensors for the distance to the ground and to the ceiling. Using a point laser might have problems when there are small holes or gaps in the bottom or in the ceiling. (In the past there were problems with gaps where the tunnel sections are connected.)

Just an idea: Wouldn’t it be better to use a sensor that looks not only at a single point but at a small area e.g. using an ultrasonic sensor?

osrf-migration commented 5 years ago

Original comment by Zbyněk Winkler (Bitbucket: Zbyněk Winkler (robotika)).

We are just starting to use VL53L1X sensors in the real world so having that available also in the simulation would be great. However, I have no idea how to add a new sensor.

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

Is there any progress on this issue or better general “how to add new robot configuration with CloudSim”? We would like to add new configuration of ground vehicle X2 + lidar (30m) + RGBD camera. My colleague experiment with it but it seems that on start it access online (!) prices/points for the configuration? So far it does not work. For us it is “blocker” as for Urban we need better 3D info.

osrf-migration commented 5 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

Martin there is currently a plan to release documentation regarding the process of adding new robot configurations and models to SubT repository for Ignition. Work has already begun on the aforementioned documentation.

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

OK, thanks - I am looking forward

osrf-migration commented 5 years ago

Original comment by Sophisticated Engineering (Bitbucket: sopheng).

In the past, we had to add a pull request (for the dual camera configs) in a private repository which was a clone of the original repository. Will this be in principle the same with ignition, or will this change?

osrf-migration commented 5 years ago

Original comment by Zbyněk Winkler (Bitbucket: Zbyněk Winkler (robotika)).

That is over 1000 line patch to a code base I have never seen :worried:

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

Hello,
I’ve got instruction from my colleague how to add RGBD camera to robot X2 (replace configuration “X2 Config 1”):

The following changes have been made in both cloudsim_bridge and cloudsim_sim to add rgbd camera to X2_SENSOR_CONFIG_1:

Additionally, in cloudsim_sim the following file has been modified:
/home/developer/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/X2 Config 1/11/model.sdf

Is a month old “New X4 Configuration” already merged? Can there be some X2_SENSOR_CONFIG_7 created??

osrf-migration commented 5 years ago

Original comment by Angela Maio (Bitbucket: Angela Maio).

New sensor configurations can be submitted via pull request (instructions at https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/Model%20Submission%20Process)

osrf-migration commented 5 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 5 years ago

Original comment by Martin Dlouhy (Bitbucket: robotikacz).

Thanks for link - it seems to me that all pictures/charts are missing there??

osrf-migration commented 5 years ago

Original comment by Angela Maio (Bitbucket: Angela Maio).

Images should load now. Thanks Martin Dlouhy (robotikacz)

osrf-migration commented 5 years ago

Original comment by Derek Vasquez (Bitbucket: Derek Vasquez).

Yesterday I submitted a request for the new X4 configuration that Neil Johnson (realdealneil1980) and I have been working on. I ran into a few issues while following the instructions posted by @Angela Maio, specifically the instructions ‘Adding a Custom Configuration to Existing Vehicles’ in step 4, and the generation of a URDF. I’m curious to know if anyone else is having similar issues.

The instructions mentioned in step 4 refer to a specific branch of osrf/sdformat. In order to get the specific branch I followed the instructions for compiling from source found here with the following exception:

I replaced this line:

hg up sdf_2.0

With the clone command from the branch:

hg pull && hg update sdf_to_urdf_sdf8

The first step in these instructions tells you to remove sdformat. When I did this, a lot of associated ignition stuff was also going to be removed. I went ahead and did this because the machine I was using was not our primary subt development machine, but this is unfortunate. Would it work to build this branch from source without removing pre-existing sdformat?

To build, this specific branch of sdformat requires g++ 8, which I made sure was installed:

sudo apt-get install g++-8

My machine (Ubuntu 18.04) was still defaulting to g++ 6.5, so I had to export the environment variables to get sdformat to build:

export CXX=g++-8

# and for good measure, not sure if it's necessary because
# I wasn't getting any errors about gcc
export CC=gcc-8

sdformat was then able to build and I got the option to use the -u tag on ign sdf, which does not show up in other branches of sdformat. I passed in my model.sdf file and the output was printed to the terminal.

I followed the other instructions without any problem. I am still waiting on a response to the pull request to ensure everything is set up correctly.

Takeaway questions: Is this the best or intended way to go about generating the URDF file? If so, is removing sdformat before installing from source with the new branch absolutely necessary?

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osrf-migration commented 5 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

@azeey might can help with the urdf from sdf questions/issues.

Derek Vasquez (Derek Vasquez) I’m looking over the PR now and sent an initial reply. I should be able to dive deeper and confirm everything else is in line by Monday. The mostly accurate/slightly incorrect/temporary alternative to generating an urdf from sdf when reusing x1/x2/x3/x4 ONLY is to use the urdf from x1/x2/x3/x4_description package’s urdf in the subt repository.

osrf-migration commented 5 years ago

Original comment by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).

Derek Vasquez (Derek Vasquez) If you're building sdformat in catkin/colcon workspace, there is no need to uninstall the pre-existing sdformat. If you're building without a workspace, just make sure not to install it to a system directory. You can do this by setting a different path on CMAKE_INSTALL_PREFIX. i.e cmake .. -DCMAKE_INSTALL_PREFIX=<non-system path>. Otherwise, it would interfere with the sdformat that is installed as part of ignition-blueprint.

osrf-migration commented 5 years ago

Original comment by Angela Maio (Bitbucket: Angela Maio).

@azeey Can you update the wiki to make this more clear?

osrf-migration commented 4 years ago

Original comment by Neil Johnson (Bitbucket: realdealneil1980).

We are trying to complete this effort, but are a little confused. Right now, we dont' see an example spawner.rb file. Instead, the individual ign files (like tunnel_circuit_practice.ign, etc) spawn X1-X4 vehicles inside the ign file. We have had luck modifying those files to change the sensor configurations, and we would like to submit our changes as “X4_SENSOR_CONFIG_5” or whatever. Can we do that rather than jumping through all of the hoops in the model preparation guide? We would adjust the vehicle weight to account for the extra sensors we’re adding, but other than that, our vehicle is very similar to the existing X4 configurations.

Also, I see that there is a “submitted_models/x1_sensor_config_6” branch. Can we follow suit and submit this a an x4_sensor_config_5 pull request?

osrf-migration commented 4 years ago

Original comment by Neil Johnson (Bitbucket: realdealneil1980).

We are running into another issue: we are trying to build our new model off of the urban_circuit branch, but that branch has some errors in the “subt_ros/launch/vehicle_topics.launch” file: it refers everywhere to “ros_ign_bridge” instead of ros1_ign_bridge. This causes an error when spawning the vehicles (their topics do not show up). Should we be working off a different branch?

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Neil,

Run the commands below:

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sudo apt-get update && sudo apt-get install --only-upgrade libignition*
sudo apt-get install --reinstall ros-melodic-ros-ign  # (NOT ros1)
sudo reboot

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osrf-migration commented 4 years ago

Original comment by Angela Maio (Bitbucket: Angela Maio).

osrf-migration commented 4 years ago

Original comment by Addisu Z. Taddese (Bitbucket: azeey, GitHub: azeey).

Angela Maio (Angela Maio) I've updated the wiki.

osrf-migration commented 4 years ago

Original comment by Neil Johnson (Bitbucket: realdealneil1980).

Please ignore the last couple comments. I think I have been able to understand the sequence of things to do…we will checkout out the team_submission_example branch and make sure the localModel method of spawning works.

osrf-migration commented 4 years ago

Original comment by Neil Johnson (Bitbucket: realdealneil1980).

Ok, I have gotten our new model to build and run locally. However, I based it on the team_submission_example branch which uses ros1_ign (which is different than urban_circuit!). You should update team_submission_example branch to use the same ignition packages…

osrf-migration commented 4 years ago

Original comment by Sophisticated Engineering (Bitbucket: sopheng).

x4 config 5 is already used for the two 2D cameras config. So I would say that you should use config 6 or higher.

osrf-migration commented 4 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

I don’t believe submission_example is meant to be a staple forever, it’s just an initial example until submitted models started rolling in. I suspect everyone else’s community models to be the example moving forward.

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In this case, I believe it’s acceptable to submit as x4_sensor_config_6. x4_sensor_config_5 already exists (the stereo camera configuration as previously noted).

osrf-migration commented 4 years ago

Original comment by Neil Johnson (Bitbucket: realdealneil1980).

Arthur Schang (Arthur Schang) , I added you as a user on my fork/pull request. I am not sure where to find the lidar lite ignition model. Is that something you would like me to modify on the pull request? I’m hoping to get the x4_sensor_config_6 accepted soon.

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osrf-migration commented 4 years ago

Original comment by Neil Johnson (Bitbucket: realdealneil1980).

Arthur,

I pushed a change to the pull request branch that updates the upward and downward lasers to be modeled after the lidarlite v3 (from your x4_sensor_config_7 branch). I also modified the 2D lidar to be modeled after the RPLidar S1. I pushed those changes. Will you confirm that those changes take effect in the pull request? Let me know if I need to do anything else to get the pull request accepted.

osrf-migration commented 4 years ago

Original comment by Arthur Schang (Bitbucket: Arthur Schang).

I believe you have to click Update Pull Request but either way it looks like your changes have made it in (https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/pull-requests/353/model-submission-for-x4-sensor-config-6/commits). Thanks!

osrf-migration commented 4 years ago

Original comment by Angela Maio (Bitbucket: Angela Maio).

Documentation is up-to-date. Any follow-ups should be made in the PR's comments