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create a demo env using dave and vrx
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@ryrobotics
ryrobotics committed Apr 27, 2022
1 parent f901d06 commit 4d1b5ab
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106 changes: 106 additions & 0 deletions examples/dave_demo_launch/launch/dave_demo_pcl.launch
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<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<arg name="world_name" default="$(find dave_worlds)/worlds/dave_ocean_waves_pcl.world"/>
<arg name="namespace" default="rexrov"/>
<arg name="set_timeout" default="false"/>
<arg name="timeout" default="0.0"/>
<arg name="velocity_control" default="true"/>
<arg name="joy_id" default="0"/>

<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="false"/>
</include>

<!-- use ned frame north east down -->
<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

<!-- world models -->
<node name="publish_world_models"
pkg="uuv_assistants"
type="publish_world_models.py"
output="screen">
<rosparam subst_value="true">
meshes:
heightmap:
mesh: package://uuv_gazebo_worlds/models/sand_heightmap/meshes/heightmap.dae
model: sand_heightmap
seafloor:
plane: [2000, 2000, 0.1]
pose:
position: [0, 0, -100]
north:
plane: [0.1, 2000, 100]
pose:
position: [1000, 0, -50]
south:
plane: [0.1, 2000, 100]
pose:
position: [-1000, 0, -50]
west:
plane: [2000, 0.1, 100]
pose:
position: [0, -1000, -50]
east:
plane: [2000, 0.1, 100]
pose:
position: [0, 1000, -50]
</rosparam>
</node>

<!-- timeout -->
<group if="$(arg set_timeout)">
<include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
<arg name="timeout" value="$(arg timeout)"/>
</include>
</group>

<!-- rexrov robot with oberon7 arm -->
<!-- <include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
<arg name="namespace" value="rexrov"/>
<arg name="x" value="4"/>
<arg name="y" value="4"/>
<arg name="z" value="-93"/>
<arg name="yaw" value="-1.8"/>
</include> -->

<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
<arg name="namespace" value="rexrov"/>
<arg name="x" value="4"/>
<arg name="y" value="4"/>
<arg name="z" value="-93"/>
<arg name="yaw" value="-1.8"/>
</include>

<!-- Velocity teleop (UUV stays in position when joystick is not used) -->
<include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
<arg name="uuv_name" value="$(arg namespace)" />
<arg name="model_name" value="rexrov" />
<arg name="joy_id" value="$(arg joy_id)"/>
</include>

<!-- joystick control for rexrov and oberon7, no velocity control-->
<include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
<arg name="model_name" value="rexrov"/>
<arg name="joy_id" value="$(arg joy_id)"/>
</include>

<!-- joint control for oberon7 -->
<!-- <include file="$(find oberon7_control)/launch/joint_control.launch">
<arg name="uuv_name" value="$(arg namespace)"/>
</include> -->

<!-- grabbable bar -->
<!-- <node name="spawn_grabbable_bar" pkg="gazebo_ros" type="spawn_model"
args="-file $(find dave_object_models)/models/grab_bar/model.sdf -sdf -model grab_bar -z -90">
</node> -->

</launch>
45 changes: 45 additions & 0 deletions examples/dave_demo_launch/launch/dave_uw_lidar_pure.launch
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<?xml version="1.0"?>
<launch>
<arg name="gui" default="true"/>
<arg name="paused" default="false"/>
<arg name="world_name" default="$(find dave_worlds)/worlds/dave_ocean_waves.world"/>

<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="$(arg gui)"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="verbose" value="false"/>
</include>

<!-- use ned frame north east down -->
<include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>

<!-- rexrov robot with oberon7 arm and underwater lidar -->
<include file="$(find rexrov_description)/launch/upload_rexrov_sl3.launch">
<arg name="namespace" value="rexrov"/>
<arg name="x" value="4"/>
<arg name="y" value="4"/>
<arg name="z" value="-93"/>
<arg name="yaw" value="-1.8"/>
</include>

<!-- Acceleration control -->
<include file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
<arg name="uuv_name" value="rexrov" />
<arg name="model_name" value="rexrov" />
</include>

<!-- <node name="spawn_grabbable_bar" pkg="gazebo_ros" type="spawn_model"
args="-file $(find dave_object_models)/models/grab_bar/model.sdf -sdf -model grab_bar">
</node> -->

<!-- joint control for manipulator -->
<!-- <include file="$(find oberon7_control)/launch/joint_control.launch">
<arg name="uuv_name" value="rexrov"/>
</include> -->

</launch>
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