merge from main; Allow choosing between barycentric and trilinear int…

…erpolations

Signed-off-by: Mabel Zhang <[email protected]>

README.md

@@ -39,7 +39,7 @@ docker/join.sh mbari_lrauv
 ## To build
 
 To run the code in this repository natively without Docker, make sure you have
-[Ignition Fortress](https://ignitionrobotics.org/docs/fortress) and
+[Ignition Garden](https://ignitionrobotics.org/docs/garden) and
 [colcon](https://colcon.readthedocs.io/en/released/), on Ubuntu Focal or higher.
 
 Install dependencies

docker/debug_integration/Dockerfile

@@ -19,7 +19,7 @@
 # Research Institute (MBARI) and the David and Lucile Packard Foundation
 #
 
-FROM mbari/lrauv-ignition-sim
+FROM mbari/lrauv-ignition-sim:garden
 
 USER root
 
@@ -41,11 +41,12 @@ RUN apt-get update \
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
 RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+    /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' && \
     /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -'
 
 # Install the latest Ignition binaries
 RUN apt-get -qq update && apt-get -q -y install \
-  ignition-fortress
+  ignition-garden
 
 # Install PCL
 RUN apt-get update \

docker/empty_world/Dockerfile

@@ -73,12 +73,13 @@ RUN apt-get -qq update && apt-get -q -y install \
 ENV IGN_WS /home/ign_ws
 RUN mkdir -p ${IGN_WS}/src \
  && cd ${IGN_WS}/src \
- && wget https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-fortress.yaml \
- && vcs import < collection-fortress.yaml
+ && wget https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-garden.yaml \
+ && vcs import < collection-garden.yaml
 
 # Install Ignition dependencies
 # This parses Ignition source tree to find package dependencies
 RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+ && /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' \
  && /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
  && apt-get update \
  && apt-get install -y \

docker/tests/Dockerfile

@@ -19,7 +19,7 @@
 # Research Institute (MBARI) and the David and Lucile Packard Foundation
 #
 
-FROM mbari/lrauv-ignition-sim
+FROM mbari/lrauv-ignition-sim:garden
 
 USER root
 
@@ -41,11 +41,12 @@ RUN apt-get update \
 
 # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image
 RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \
+    /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' && \
     /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -'
 
 # Install the latest Ignition binaries
 RUN apt-get -qq update && apt-get -q -y install \
-  ignition-fortress
+  ignition-garden
 
 # Install PCL
 RUN apt-get update \

lrauv_description/models/tethys_equipped/model.sdf

@@ -153,6 +153,7 @@
         <command_topic>tethys/command_topic</command_topic>
         <state_topic>tethys/state_topic</state_topic>
         <debug_printout>0</debug_printout>
+        <ocean_density>1000</ocean_density>
       </plugin>
       <plugin
         filename="HydrodynamicsPlugin"
@@ -180,7 +181,7 @@
       </plugin>
       <plugin
         filename="ignition-gazebo-buoyancy-engine-system"
-        name="ignition::gazebo::v6::systems::BuoyancyEnginePlugin">
+        name="ignition::gazebo::systems::BuoyancyEngine">
         <link_name>buoyancy_engine</link_name>
         <namespace>tethys</namespace>
         <fluid_density>1000</fluid_density>

lrauv_ignition_plugins/CMakeLists.txt

@@ -20,17 +20,20 @@ endif()
 # Find dependencies
 find_package(ignition-cmake2 REQUIRED)
 
-find_package(ignition-gazebo6 REQUIRED COMPONENTS gui)
-set(IGN_GAZEBO_VER ${ignition-gazebo6_VERSION_MAJOR})
+find_package(ignition-gazebo7 REQUIRED COMPONENTS gui)
+set(IGN_GAZEBO_VER ${ignition-gazebo7_VERSION_MAJOR})
 
-find_package(ignition-gui6 REQUIRED)
-set(IGN_GUI_VER ${ignition-gui6_VERSION_MAJOR})
+find_package(ignition-gui7 REQUIRED)
+set(IGN_GUI_VER ${ignition-gui7_VERSION_MAJOR})
 
-find_package(ignition-sensors6 REQUIRED)
-set(IGN_SENSORS_VER ${ignition-sensors6_VERSION_MAJOR})
+find_package(ignition-rendering7 REQUIRED)
+set(IGN_RENDERING_VER ${ignition-rendering7_VERSION_MAJOR})
 
-find_package(ignition-msgs8 REQUIRED)
-set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
+find_package(ignition-sensors7 REQUIRED)
+set(IGN_SENSORS_VER ${ignition-sensors7_VERSION_MAJOR})
+
+find_package(ignition-msgs9 REQUIRED)
+set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
 
 find_package(ignition-plugin1 REQUIRED COMPONENTS register)
 set(IGN_PLUGIN_VER ${ignition-plugin1_VERSION_MAJOR})
@@ -52,7 +55,7 @@ add_subdirectory(proto)
 # Plugins
 
 # add_lrauv_plugin (<plugin_name>
-#              [PROTO] msg1 msg2 ... [PCL] [GUI] [PRIVATE_LINK_LIBS] [INCLUDE_COMMS])
+#              [PROTO] msg1 msg2 ... [PCL] [GUI] [RENDERING] [PRIVATE_LINK_LIBS] [INCLUDE_COMMS])
 #
 # Configure and install plugins.
 #
@@ -65,11 +68,13 @@ add_subdirectory(proto)
 #
 # [GUI]: Optional. Include for GUI plugins.
 #
+# [RENDERING]: Optional. Include to link against Ignition Rendering.
+#
 # [PRIVATE_LINK_LIBS]: Specify a list of libraries to be privately linked.
 #
 # [INCLUDE_COMMS]: Optional. Include comms header files.
 function(add_lrauv_plugin PLUGIN)
-  set(options PCL GUI INCLUDE_COMMS)
+  set(options PCL GUI RENDERING INCLUDE_COMMS)
   set(oneValueArgs)
   set(multiValueArgs PROTO PRIVATE_LINK_LIBS)
 
@@ -138,6 +143,14 @@ function(add_lrauv_plugin PLUGIN)
       PUBLIC ${PCL_INCLUDE_DIRS})
   endif()
 
+  # Rendering
+  if (add_lrauv_plugin_RENDERING)
+    target_link_libraries(${PLUGIN}
+      PRIVATE
+        ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
+    )
+  endif()
+
   install(
     TARGETS ${PLUGIN}
     DESTINATION ${INSTALL_LIB})
@@ -152,14 +165,18 @@ add_lrauv_plugin(AcousticCommsPlugin
     lrauv_internal_comms
   PRIVATE_LINK_LIBS
     CommsSupport)
-
+add_lrauv_plugin(ControlPanelPlugin GUI
+  PROTO
+    lrauv_command
+    lrauv_state)
 add_lrauv_plugin(HydrodynamicsPlugin)
 add_lrauv_plugin(RangeBearingPlugin
   INCLUDE_COMMS
   PROTO
     lrauv_range_bearing_request
     lrauv_range_bearing_response
     lrauv_acoustic_message)
+add_lrauv_plugin(ReferenceAxis GUI RENDERING)
 add_lrauv_plugin(ScienceSensorsSystem
   PCL
   PRIVATE_LINK_LIBS

lrauv_ignition_plugins/data/interpolation_test.csv

@@ -0,0 +1,28 @@
+elapsed_time_second,latitude_degree,longitude_degree,depth_meter,sea_water_temperature_degC,sea_water_salinity_psu,mass_concentration_of_chlorophyll_in_sea_water_ugram_per_liter,eastward_sea_water_velocity_meter_per_sec,northward_sea_water_velocity_meter_per_sec
+0,-0.00009,-0.00003,0,0,0,100,-1,0
+0,-0.00006,-0.00003,0,0,0,100,-1,0
+0,-0.00003,-0.00003,0,0,0,100,-1,0
+0,0.00000,-0.00003,0,0,0,100,-1,0
+0,0.00003,-0.00003,0,0,0,100,-1,0
+0,-0.00009,-0.00003,1,0,0,300,-1,0
+0,-0.00006,-0.00003,1,0,0,300,-1,0
+0,-0.00003,-0.00003,1,0,0,300,-1,0
+0,0.00000,-0.00003,1,0,0,300,-1,0
+0,0.00003,-0.00003,1,0,0,300,-1,0
+0,-0.00009,0.00000,0,0,0,200,-1,0
+0,-0.00006,0.00000,0,0,0,200,-1,0
+0,-0.00003,0.00000,0,0,0,200,-1,0
+0,-0.00001,0.00000,0,0,0,200,-1,0
+0,0.00001,0.00000,0,0,0,300,-1,0
+0,0.00002,0.00000,0,0,0,200,-1,0
+0,0.00003,0.00000,0,0,0,200,-1,0
+0,-0.00009,0.00003,0,0,0,300,-1,0
+0,-0.00006,0.00003,0,0,0,300,-1,0
+0,-0.00003,0.00003,0,0,0,300,-1,0
+0,0.00000,0.00003,0,0,0,300,-1,0
+0,0.00003,0.00003,0,0,0,300,-1,0
+0,-0.00009,0.00003,1,0,0,100,-1,0
+0,-0.00006,0.00003,1,0,0,100,-1,0
+0,-0.00003,0.00003,1,0,0,100,-1,0
+0,0.00000,0.00003,1,0,0,100,-1,0
+0,0.00003,0.00003,1,0,0,100,-1,0

lrauv_ignition_plugins/proto/lrauv_command.proto

@@ -37,58 +37,60 @@ message LRAUVCommand
   /// \brief Optional header data
   ignition.msgs.Header header  = 1;
 
-  float propOmega_             = 2;  // Angular velocity that the controller
-                                     // believes the propeller is currently at.
-                                     // Unit: rad / s. Positive values rotate
-                                     // the propeller clockwise when looking
-                                     // from the back, and propel the vehicle
-                                     // forward.
-  float rudderAngle_           = 3;  // Angle that the controller believes the
-                                     // rudder is currently at. Unit: radians.
-                                     // Higher values have the vertical fins
-                                     // rotated more clockwise when looking
-                                     // from the top (i.e. to starboard)
-  float elevatorAngle_         = 4;  // Angle that the controller believes the
-                                     // elevator is currently at. Unit: radians.
-                                     // Higher values have the horizontal fins
-                                     // rotated more counter-clockwise when
-                                     // looking from starboard, which tilts the
-                                     // nose downward when moving forward.
-  float massPosition_          = 5;  // Position where the controller believes
-                                     // the mass shifter's joint is in. Unit:
-                                     // meters. Positive values have the battery
-                                     // forward, tilting the nose downward.
-  float buoyancyPosition_      = 6;  // Volume that the controller believes the
-                                     // VBS currently has. Unit: cubic meters.
-                                     // Volumes higher than the neutral volume
-                                     // push the vehicle upward.
-  bool dropWeightState_        = 7;  // Indicator "dropweight OK"
-                                     // 1 = in place, 0 = dropped
-
-  float propOmegaAction_       = 8;  // Target angular velocity for the
-                                     // propeller. Unit: rad / s. Positive
-                                     // values rotate the propeller clockwise
-                                     // when looking from the back, and propel
-                                     // the vehicle forward.
-  float rudderAngleAction_     = 9;  // Target angle for rudder joint. Unit:
-                                     // radians. Higher values rotate the
-                                     // vertical fins clockwise when looking
-                                     // from the top (i.e. to starboard)
-  float elevatorAngleAction_   = 10;  // Target angle for the elevator joint.
-                                      // Unit: radians. Higher values rotate
-                                      // vertical fins more counter-clockwise
-                                      // when looking from starboard, which tilts
-                                      // the nose downward when moving forward.
-  float massPositionAction_    = 11;  // Target position for the battery's joint.
-                                      // Unit: meters. Positive values move the
-                                      // battery forward, tilting the nose
-                                      // downward.
-  float buoyancyAction_        = 12;  // Target volume for the VBS (Variable
-                                      // Buoyancy System). Unit: cubic meters.
-                                      // Volumes higher than the neutral volume
-                                      // make the vehicle float.
+  /// \brief Angular velocity that the controller believes the propeller is currently at.
+  /// Unit: rad / s. Positive values rotate the propeller clockwise when looking from the
+  /// back, and propel the vehicle forward.
+  float propOmega_             = 2;
 
+  /// \brief Angle that the controller believes the rudder is currently at. Unit: radians.
+  /// Higher values have the vertical fins rotated more clockwise when looking from the
+  /// top (i.e. to starboard)
+  float rudderAngle_           = 3;
+
+  /// \brief Angle that the controller believes the elevator is currently at. Unit: radians.
+  /// Higher values have the horizontal fins rotated more counter-clockwise when looking
+  /// from starboard, which tilts the nose downward when moving forward.
+  float elevatorAngle_         = 4;
+
+  /// \brief Position where the controller believes the mass shifter's joint is in. Unit:
+  /// meters. Positive values have the battery forward, tilting the nose downward.
+  float massPosition_          = 5;
+
+  /// \brief Volume that the controller believes the VBS currently has. Unit: cubic meters.
+  /// Volumes higher than the neutral volume push the vehicle upward.
+  float buoyancyPosition_      = 6;
+
+  /// \brief Indicator "dropweight OK". 1 = in place, 0 = dropped
+  bool dropWeightState_        = 7;
+
+  /// \brief Target angular velocity for the propeller. Unit: rad / s. Positive
+  /// values rotate the propeller clockwise when looking from the back, and propel
+  /// the vehicle forward.
+  float propOmegaAction_       = 8;
+
+  /// \brief Target angle for rudder joint. Unit: radians. Higher values rotate the
+  /// vertical fins clockwise when looking from the top (i.e. to starboard)
+  float rudderAngleAction_     = 9;
+
+  /// \brief Target angle for the elevator joint. Unit: radians. Higher values rotate
+  /// vertical fins more counter-clockwise when looking from starboard, which tilts
+  /// the nose downward when moving forward.
+  float elevatorAngleAction_   = 10;
+
+  /// \brief Target position for the battery's joint. Unit: meters. Positive values move the
+  /// battery forward, tilting the nose downward.
+  float massPositionAction_    = 11;
+
+  /// \brief Target volume for the VBS (Variable Buoyancy System). Unit: cubic meters.
+  /// Volumes higher than the neutral volume make the vehicle float.
+  float buoyancyAction_        = 12;
+
+  /// \brief Not used
   float density_               = 13;
+
+  /// \brief Not used
   float dt_                    = 14;
+
+  /// \brief Not used
   double time_                 = 15;
 }

lrauv_ignition_plugins/proto/lrauv_init.proto

@@ -41,13 +41,23 @@ message LRAUVInit
   /// \brief Unique ID identifying vehicle
   ignition.msgs.StringMsg id_     = 2;
 
-  // Initial Position Vector
-  double initLat_                 = 3; //  arcdeg  // Initial latitude
-  double initLon_                 = 4; //  arcdeg  // Initial longitude
-  double initZ_                   = 5; //  m       // Initial depth
-  float initPitch_                = 6; //  rad     // Pitch wrto LV
-  float initRoll_                 = 7; //  rad     // Roll wrto LV
-  float initHeading_              = 8; //  rad     // Yaw wrto LV
+  /// \brief Initial latitude in degrees.
+  double initLat_                 = 3;
+
+  /// \brief Initial longitude in degrees.
+  double initLon_                 = 4;
+
+  /// \brief Initial depth in meters.
+  double initZ_                   = 5;
+
+  /// \TODO(chapulina)
+  float initPitch_                = 6;
+
+  /// \TODO(chapulina)
+  float initRoll_                 = 7;
+
+  /// \TODO(chapulina)
+  float initHeading_              = 8;
 
   // Add fields as needed
 }