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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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Gas Emitter Location in Urban Qual #296

Closed osrf-migration closed 4 years ago

osrf-migration commented 4 years ago

Original report (archived issue) by Richard Chase (Bitbucket: rachase).

Hi, I am having trouble locating the gas emitter in the urban qual world, 6 27 8.0 0 0 0

https://github.com/osrf/subt/blob/master/subt_ign/worlds/urban_qual.sdf

Is there a method to locate it since it is a plugin, and not an artifact? (Ive tried the artifact detector).

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 4 years ago

Original comment by Michael Carroll (Bitbucket: Michael Carroll).

I updated the artifact detector to also include gas emitters and vents with this pull request: https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/pull-requests/365

If it is helpful, I also have a small prototype visual plugin for rviz for seeing the current state of the gas sensor: https://github.com/mjcarroll/subt_rviz_plugins

It will turn red when gas is detected. (Note that the animation is from a test environment and doesn’t reflect where an emitter would actually be in the urban environment)

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osrf-migration commented 4 years ago

Original comment by Richard Chase (Bitbucket: rachase).

Ok I will look at it. What world are you running? From urban_qual.sdf it looks like the gas sensor plugin is commented out, which may be why I am not seeing the value change. Lines 31-52.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Use urban_circuit.ign instead.

osrf-migration commented 4 years ago

Original comment by Michael Carroll (Bitbucket: Michael Carroll).

Oh, you are correct, there is not an enabled emitter in the qualification world.

You can find emitters in the three urban_circuit_practice worlds, for example:

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osrf-migration commented 4 years ago

Original comment by Richard Chase (Bitbucket: rachase).

Pulled the latest, blew away build and install directories and recompiled. Resourced the terminal. Ran through all 3 urban circuit practice worlds using these instructions https://osrf-migration.github.io/subt-gh-pages/#!/osrf/subt/wiki/Artifacts_Validator_Tool, No gas emitters where shown. The list for urban_circuit_practice_03 was:

data: "backpack_4"
data: "phone_1"
data: "backpack_2"
data: "backpack_3"
data: "rescue_randy_4"
data: "rescue_randy_1"
data: "backpack_1"
data: "rescue_randy_2"
data: "phone_3"
data: "phone_2"
data: "rescue_randy_3"

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

Richard, the Artifacts_Validator_Tool is currently not tracing the the gas emitter or the vent, but if you check the urban_circuit_practice_0X.sdf file; then you will see them listed.

osrf-migration commented 4 years ago

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

to ‘visually’ see where they are, you can edit ~/.ignition/fuel/fuel.ignitionrobotics.org/openrobotics/models/Gas/1/model.sdf and uncomment debug_link. You should see a black box rendered over some of the service rooms

osrf-migration commented 4 years ago

Original comment by Richard Chase (Bitbucket: rachase).

Ok that worked. Was able to confirm it was working. Thanks. You can close the issue.

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).

osrf-migration commented 4 years ago

Original comment by Alfredo Bencomo (Bitbucket: bencomo).