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Reorganize plugins into different models #78

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Aug 5, 2022
Merged

Reorganize plugins into different models #78

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a4b48f8
reorganize plugins into different models
andermi Aug 5, 2022
d0b5677
move more plugins from world to ros model
andermi Aug 5, 2022
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2 changes: 1 addition & 1 deletion buoy_description/CMakeLists.txt
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Expand Up @@ -3,7 +3,7 @@ project(buoy_description)
find_package(ament_cmake REQUIRED)

# Model Generation
set(BUOY_MODEL_PATH "/models/mbari_wec")
set(BUOY_MODEL_PATH "/models/mbari_wec_base")
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}${BUOY_MODEL_PATH})
add_custom_command(
OUTPUT model_gen_cmd
Expand Down
5 changes: 3 additions & 2 deletions buoy_description/models/mbari_wec/model.config
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Expand Up @@ -2,7 +2,7 @@
<model>
<name>MBARI_WEC</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<sdf version="1.8">model.sdf</sdf>

<author>
<name>Michael Anderson</name>
Expand All @@ -18,6 +18,7 @@
</author>

<description>
MBARI-WEC (Wave Energy Converter) model for ocean sensing and harvesting wave energy.
MBARI-WEC (Wave Energy Converter) model for ocean sensing and harvesting wave energy
with quasi-static multi-physics plugins for Pneumatic Spring and Electro-Hydraulic Power Take-Off
</description>
</model>
66 changes: 66 additions & 0 deletions buoy_description/models/mbari_wec/model.sdf
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@@ -0,0 +1,66 @@
<?xml version="1.0" ?>
<sdf version="1.8">
<model name="MBARI_WEC">

<include merge="true">
<uri>package://buoy_description/models/mbari_wec_base</uri>
</include>

<plugin filename="ElectroHydraulicPTO" name="buoy_gazebo::ElectroHydraulicPTO">
<PrismaticJointName>HydraulicRam</PrismaticJointName>
<PistonArea>1.375</PistonArea>
<HydMotorDisp>0.30</HydMotorDisp>
<RotorInertia>1</RotorInertia>
</plugin>

<!-- Add Upper/Lower Polytropic Spring plugin -->
<plugin filename="PolytropicPneumaticSpring" name="buoy_gazebo::PolytropicPneumaticSpring">
<JointName>HydraulicRam</JointName>
<chamber>upper_polytropic</chamber>
<is_upper>true</is_upper>
<!-- measure of valve opening cross-section and duration (meter-seconds) -->
<valve_absement>49e-7</valve_absement>
<pump_absement>14e-8</pump_absement>
<pump_pressure>1.7e+6</pump_pressure>
<stroke>2.03</stroke>
<piston_area>0.0127</piston_area>
<dead_volume>0.0266</dead_volume>
<T0>283.15</T0>
<R_specific>0.2968</R_specific>
<c_p>1.04</c_p>
<hysteresis>true</hysteresis>
<n1>1.2371</n1>
<n2>1.2307</n2>
<x1>0.9790</x1>
<x2>1.1912</x2>
<P1>410291</P1>
<P2>410266</P2>
</plugin>

<!-- <debug_prescribed_velocity>true</debug_prescribed_velocity>-->
<plugin filename="PolytropicPneumaticSpring" name="buoy_gazebo::PolytropicPneumaticSpring">
<JointName>HydraulicRam</JointName>
<chamber>lower_polytropic</chamber>
<is_upper>false</is_upper>
<!-- measure of valve opening cross-section and duration (meter-seconds) -->
<valve_absement>49e-7</valve_absement>
<pump_absement>14e-8</pump_absement>
<pump_pressure>1.7e+6</pump_pressure>
<stroke>2.03</stroke>
<piston_area>0.0115</piston_area>
<dead_volume>0.0523</dead_volume>
<T0>283.15</T0>
<R_specific>0.2968</R_specific>
<c_p>1.04</c_p>
<hysteresis>true</hysteresis>
<n1>1.2327</n1>
<n2>1.2518</n2>
<x1>1.1958</x1>
<x2>1.3935</x2>
<P1>1212090</P1>
<P2>1212140</P2>
</plugin>
<!-- <debug_prescribed_velocity>true</debug_prescribed_velocity>-->

</model>
</sdf>
0 ...on/models/mbari_wec/meshes/buoy_float.stl → ...dels/mbari_wec_base/meshes/buoy_float.stl
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0 ...on/models/mbari_wec/meshes/heave_cone.stl → ...dels/mbari_wec_base/meshes/heave_cone.stl
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0 ...scription/models/mbari_wec/meshes/pto.stl → ...tion/models/mbari_wec_base/meshes/pto.stl
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0 ...models/mbari_wec/meshes/pto_collision.stl → ...s/mbari_wec_base/meshes/pto_collision.stl
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0 ...odels/mbari_wec/meshes/rod_and_piston.stl → .../mbari_wec_base/meshes/rod_and_piston.stl
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0 ...ption/models/mbari_wec/meshes/trefoil.stl → .../models/mbari_wec_base/meshes/trefoil.stl
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23 changes: 23 additions & 0 deletions buoy_description/models/mbari_wec_base/model.config
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@@ -0,0 +1,23 @@
<?xml version="1.0"?>
<model>
<name>MBARI_WEC</name>
<version>1.0</version>
<sdf version="1.8">model.sdf</sdf>

<author>
<name>Michael Anderson</name>
<email>[email protected]</email>
</author>
<author>
<name>Louise Poubel</name>
<email>[email protected]</email>
</author>
<author>
<name>Dharini Dutia</name>
<email>[email protected]</email>
</author>

<description>
Base MBARI-WEC (Wave Energy Converter) model for ocean sensing and harvesting wave energy.
</description>
</model>
15 changes: 8 additions & 7 deletions ...description/models/mbari_wec/model.sdf.em → ...iption/models/mbari_wec_base/model.sdf.em
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Expand Up @@ -76,7 +76,7 @@ pto_inner_radius = tether_radius + pto_gap
pto_scale = pto_inner_radius / pto_stl_inner_radius
}@
<sdf version="1.8">
<model name="MBARI_WEC">
<model name="MBARI_WEC_BASE">
<self_collide>true</self_collide>
<link name="Buoy">
<pose relative_to="__model__">0 0 0 0 0 0</pose>
Expand All @@ -95,7 +95,7 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<visual name="visual_Buoy">
<geometry>
<mesh>
<uri>package://buoy_description/models/mbari_wec/meshes/buoy_float.stl</uri>
<uri>package://buoy_description/models/mbari_wec_base/meshes/buoy_float.stl</uri>
</mesh>
</geometry>
<!--color-->
Expand Down Expand Up @@ -143,7 +143,7 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<visual name="visual_PTO">
<geometry>
<mesh>
<uri>package://buoy_description/models/mbari_wec/meshes/pto.stl</uri>
<uri>package://buoy_description/models/mbari_wec_base/meshes/pto.stl</uri>
</mesh>
</geometry>
<material>
Expand All @@ -155,7 +155,7 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<collision name="collision">
<geometry>
<mesh>
<uri>package://buoy_description/models/mbari_wec/meshes/pto_collision.stl</uri>
<uri>package://buoy_description/models/mbari_wec_base/meshes/pto_collision.stl</uri>
<scale>@(pto_scale) @(pto_scale) 1.0</scale>
</mesh>
</geometry>
Expand Down Expand Up @@ -192,7 +192,7 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<visual name="visual_Piston">
<geometry>
<mesh>
<uri>package://buoy_description/models/mbari_wec/meshes/rod_and_piston.stl</uri>
<uri>package://buoy_description/models/mbari_wec_base/meshes/rod_and_piston.stl</uri>
</mesh>
</geometry>
<!--color-->
Expand Down Expand Up @@ -359,7 +359,7 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<visual name="visual_HeaveCone">
<geometry>
<mesh>
<uri>package://buoy_description/models/mbari_wec/meshes/heave_cone.stl</uri>
<uri>package://buoy_description/models/mbari_wec_base/meshes/heave_cone.stl</uri>
</mesh>
</geometry>
<!--color-->
Expand Down Expand Up @@ -397,7 +397,7 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<visual name="visual_Trefoil">
<geometry>
<mesh>
<uri>package://buoy_description/models/mbari_wec/meshes/trefoil.stl</uri>
<uri>package://buoy_description/models/mbari_wec_base/meshes/trefoil.stl</uri>
</mesh>
</geometry>
<!--color-->
Expand Down Expand Up @@ -461,5 +461,6 @@ pto_scale = pto_inner_radius / pto_stl_inner_radius
<xyz>0.0 0.0 1.0</xyz>
</axis>
</joint>

</model>
</sdf>
24 changes: 24 additions & 0 deletions buoy_description/models/mbari_wec_ros/model.config
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@@ -0,0 +1,24 @@
<?xml version="1.0"?>
<model>
<name>MBARI_WEC</name>
<version>1.0</version>
<sdf version="1.8">model.sdf</sdf>

<author>
<name>Michael Anderson</name>
<email>[email protected]</email>
</author>
<author>
<name>Louise Poubel</name>
<email>[email protected]</email>
</author>
<author>
<name>Dharini Dutia</name>
<email>[email protected]</email>
</author>

<description>
ROS2-enabled MBARI-WEC (Wave Energy Converter) model for ocean sensing and harvesting wave energy
with quasi-static multi-physics plugins for Pneumatic Spring and Electro-Hydraulic Power Take-Off.
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</description>
</model>
40 changes: 40 additions & 0 deletions buoy_description/models/mbari_wec_ros/model.sdf
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@@ -0,0 +1,40 @@
<?xml version="1.0" ?>
<sdf version="1.8">
<model name="MBARI_WEC_ROS">

<include merge="true">
<uri>package://buoy_description/models/mbari_wec</uri>
</include>

<!-- Handle Unimplemented Services -->
<plugin filename="NoOpController" name="buoy_gazebo::NoOpController">
<namespace>/</namespace>
<node_name>noop_controller</node_name>
</plugin>

<plugin filename="SpringController" name="buoy_gazebo::SpringController">
<JointName>HydraulicRam</JointName>
<namespace>/</namespace>
<node_name>spring_controller</node_name>
<topic>spring_data</topic>
<publish_rate>10</publish_rate>
</plugin>

<plugin filename="PowerController" name="buoy_gazebo::PowerController">
<JointName>HydraulicRam</JointName>
<namespace>/</namespace>
<node_name>power_controller</node_name>
<topic>power_data</topic>
<publish_rate>10</publish_rate>
</plugin>

<plugin filename="XBowAHRS" name="buoy_gazebo::XBowAHRS">
<namespace>/</namespace>
<node_name>xbow_ahrs</node_name>
<xb_topic>ahrs_data</xb_topic>
<imu_topic>xb_imu</imu_topic>
<publish_rate>10</publish_rate>
</plugin>

</model>
</sdf>
4 changes: 2 additions & 2 deletions buoy_gazebo/rviz/mbari_wec.rviz
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Expand Up @@ -69,14 +69,14 @@ Visualization Manager:
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
Name: RobotModel
TF Prefix: MBARI_WEC
TF Prefix: MBARI_WEC_ROS
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: MBARI_WEC/odom
Fixed Frame: MBARI_WEC_ROS/odom
Frame Rate: 30
Name: root
Tools:
Expand Down
94 changes: 4 additions & 90 deletions buoy_gazebo/worlds/mbari_wec.sdf
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Expand Up @@ -42,99 +42,13 @@
</link>
</model>

<model name="MBARI_WEC">
<model name="MBARI_WEC_ROS">
<pose relative_to="world">0 0 -2 0 0 0</pose>

<include merge="true">
<uri>package://buoy_description/models/mbari_wec</uri>
<uri>package://buoy_description/models/mbari_wec_ros</uri>
</include>

<plugin filename="ElectroHydraulicPTO" name="buoy_gazebo::ElectroHydraulicPTO">
<PrismaticJointName>HydraulicRam</PrismaticJointName>
<PistonArea>1.375</PistonArea>
<HydMotorDisp>0.30</HydMotorDisp>
<RotorInertia>1</RotorInertia>
</plugin>

<!-- Handle Unimplemented Services -->
<plugin filename="NoOpController" name="buoy_gazebo::NoOpController">
<namespace>/</namespace>
<node_name>noop_controller</node_name>
</plugin>

<plugin filename="SpringController" name="buoy_gazebo::SpringController">
<JointName>HydraulicRam</JointName>
<namespace>/</namespace>
<node_name>spring_controller</node_name>
<topic>spring_data</topic>
<publish_rate>31</publish_rate>
</plugin>

<plugin filename="PowerController" name="buoy_gazebo::PowerController">
<JointName>HydraulicRam</JointName>
<namespace>/</namespace>
<node_name>power_controller</node_name>
<topic>power_data</topic>
<publish_rate>23</publish_rate>
</plugin>

<plugin filename="XBowAHRS" name="buoy_gazebo::XBowAHRS">
<namespace>/</namespace>
<node_name>xbow_ahrs</node_name>
<xb_topic>ahrs_data</xb_topic>
<imu_topic>xb_imu</imu_topic>
<publish_rate>17</publish_rate>
</plugin>

<!-- Add Upper/Lower Polytropic Spring plugin -->
<plugin filename="PolytropicPneumaticSpring" name="buoy_gazebo::PolytropicPneumaticSpring">
<JointName>HydraulicRam</JointName>
<chamber>upper_polytropic</chamber>
<is_upper>true</is_upper>
<!-- measure of valve opening cross-section and duration (meter-seconds) -->
<valve_absement>49e-7</valve_absement>
<pump_absement>14e-8</pump_absement>
<pump_pressure>1.7e+6</pump_pressure>
<stroke>2.03</stroke>
<piston_area>0.0127</piston_area>
<dead_volume>0.0266</dead_volume>
<T0>283.15</T0>
<R_specific>0.2968</R_specific>
<c_p>1.04</c_p>
<hysteresis>true</hysteresis>
<n1>1.2371</n1>
<n2>1.2307</n2>
<x1>0.9790</x1>
<x2>1.1912</x2>
<P1>410291</P1>
<P2>410266</P2>
</plugin>

<!-- <debug_prescribed_velocity>true</debug_prescribed_velocity>-->
<plugin filename="PolytropicPneumaticSpring" name="buoy_gazebo::PolytropicPneumaticSpring">
<JointName>HydraulicRam</JointName>
<chamber>lower_polytropic</chamber>
<is_upper>false</is_upper>
<!-- measure of valve opening cross-section and duration (meter-seconds) -->
<valve_absement>49e-7</valve_absement>
<pump_absement>14e-8</pump_absement>
<pump_pressure>1.7e+6</pump_pressure>
<stroke>2.03</stroke>
<piston_area>0.0115</piston_area>
<dead_volume>0.0523</dead_volume>
<T0>283.15</T0>
<R_specific>0.2968</R_specific>
<c_p>1.04</c_p>
<hysteresis>true</hysteresis>
<n1>1.2327</n1>
<n2>1.2518</n2>
<x1>1.1958</x1>
<x2>1.3935</x2>
<P1>1212090</P1>
<P2>1212140</P2>
</plugin>
<!-- <debug_prescribed_velocity>true</debug_prescribed_velocity>-->

<plugin
filename="ignition-gazebo-joint-state-publisher-system"
name="ignition::gazebo::systems::JointStatePublisher">
Expand All @@ -153,8 +67,8 @@
filename="ignition-gazebo-odometry-publisher-system"
name="ignition::gazebo::systems::OdometryPublisher">
<dimensions>3</dimensions>
<odom_frame>MBARI_WEC/odom</odom_frame>
<robot_base_frame>MBARI_WEC</robot_base_frame>
<odom_frame>MBARI_WEC_ROS/odom</odom_frame>
<robot_base_frame>MBARI_WEC_ROS</robot_base_frame>
</plugin>

</model>
Expand Down
2 changes: 1 addition & 1 deletion buoy_tests/tests/fixture_server.cpp
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Expand Up @@ -56,7 +56,7 @@ TEST(BuoyTests, RunServer)
{
auto world = ignition::gazebo::World(_worldEntity);

buoyEntity = world.ModelByName(_ecm, "MBARI_WEC");
buoyEntity = world.ModelByName(_ecm, "MBARI_WEC_ROS");
EXPECT_NE(ignition::gazebo::kNullEntity, buoyEntity);
}).
OnPostUpdate(
Expand Down
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