MARBLE Husky Marsupial Changes (#1032)

acschang · bfotheri · Nate Koenig · web-flow · commit 1b7d5a4b5ab7 · 2021-11-19T08:43:33.000-08:00
* added visuals/collision for marsupial platform, added capability inside competition.ign

* added mention of marsupial capability

* reverted static update frequency change and fixed offset vector for updated config

* Readded omitted ke height.

* imu orientation

Signed-off-by: Nate Koenig &lt;nate@openrobotics.org&gt;

Co-authored-by: Brett Fotheringham &lt;fotheringhambrett@gmail.com&gt;
Co-authored-by: Nate Koenig &lt;nate@openrobotics.org&gt;
diff --git a/submitted_models/marble_husky_sensor_config_1/model.sdf b/submitted_models/marble_husky_sensor_config_1/model.sdf
@@ -130,11 +130,11 @@
           </box>
         </geometry>
       </collision>
-      <collision name="base_link_fixed_joint_lump__computer_block_9">
-       <pose frame="">0.050 0 0.185 0 -0 0</pose>
+      <collision name="base_link_fixed_joint_lump__landing_pad_9">
+        <pose>0.0 0 0.155 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.30 0.355 0.175</size>
+            <size>0.500 0.385 0.155</size>
           </box>
         </geometry>
       </collision>
@@ -256,11 +256,11 @@
           </box>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__computer_block_17">
-       <pose frame="">0.050 0 0.185 0 -0 0</pose>
+      <visual name="base_link_fixed_joint_lump__landing_pad_17">
+       <pose>0.0 0 0.155 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.30 0.355 0.175</size>
+            <size>0.500 0.385 0.155</size>
           </box>
         </geometry>
       </visual>
diff --git a/submitted_models/marble_husky_sensor_config_1/specifications.md b/submitted_models/marble_husky_sensor_config_1/specifications.md
@@ -6,6 +6,9 @@ This specifications.md file is a description and proof of virtual model validati
 ## Description
 This configuration is based on Clearpath Robotics Husky ground robot. The marble sensor suite is located at the front of the husky and includes stationary sensors and some sensors and a light on a pan/tilt mechanism.  
 
+## Marsupial Configuration
+This vehicle has a platform behind it with mechanical grippers (not modeled) that allow for deployment of UAVs. A QAV500 vehicle is the target marsupial vehicle but multiple vehicle platforms are possible and that is represented accordingly here in simulation.
+
 ## Usage Instructions
 The robot can be used in the same manner as the COSTAR Husky robot.  It accepts twist messages on the cmd_vel topic.  The gimbal can be controlled using the test_gimbal.sh script (in this folder).  There are also scripts to print the current angles from the pan and tilt axes of the gimbal (pan_echo.sh and tilt_echo.sh). 
 
diff --git a/submitted_models/marble_husky_sensor_config_3/model.sdf b/submitted_models/marble_husky_sensor_config_3/model.sdf
@@ -130,11 +130,11 @@
           </box>
         </geometry>
       </collision>
-      <collision name="base_link_fixed_joint_lump__computer_block_9">
-       <pose frame="">0.050 0 0.185 0 -0 0</pose>
+      <collision name="base_link_fixed_joint_lump__landing_pad_9">
+        <pose>0.0 0 0.155 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.30 0.355 0.175</size>
+            <size>0.500 0.385 0.155</size>
           </box>
         </geometry>
       </collision>
@@ -256,11 +256,11 @@
           </box>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__computer_block_17">
-       <pose frame="">0.050 0 0.185 0 -0 0</pose>
+      <visual name="base_link_fixed_joint_lump__landing_pad_17">
+       <pose>0.0 0 0.155 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.30 0.355 0.175</size>
+            <size>0.500 0.385 0.155</size>
           </box>
         </geometry>
       </visual>
diff --git a/submitted_models/marble_husky_sensor_config_4/model.sdf b/submitted_models/marble_husky_sensor_config_4/model.sdf
@@ -130,11 +130,11 @@
           </box>
         </geometry>
       </collision>
-      <collision name="base_link_fixed_joint_lump__computer_block_9">
-       <pose frame="">0.050 0 0.185 0 -0 0</pose>
+      <collision name="base_link_fixed_joint_lump__landing_pad_9">
+        <pose>0.0 0 0.155 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.30 0.355 0.175</size>
+            <size>0.500 0.385 0.155</size>
           </box>
         </geometry>
       </collision>
@@ -256,11 +256,11 @@
           </box>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__computer_block_17">
-       <pose frame="">0.050 0 0.185 0 -0 0</pose>
+      <visual name="base_link_fixed_joint_lump__landing_pad_17">
+       <pose>0.0 0 0.155 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.30 0.355 0.175</size>
+            <size>0.500 0.385 0.155</size>
           </box>
         </geometry>
       </visual>
diff --git a/submitted_models/marble_husky_sensor_config_5/model.sdf b/submitted_models/marble_husky_sensor_config_5/model.sdf
@@ -99,11 +99,11 @@
           </box>
         </geometry>
       </collision>
-      <collision name="base_link_fixed_joint_lump__computer_block_9">
-       <pose>0.050 0 0.185 0 -0 0</pose>
+      <collision name="base_link_fixed_joint_lump__landing_pad_9">
+        <pose>0.0 0 0.155 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.30 0.355 0.175</size>
+            <size>0.500 0.385 0.155</size>
           </box>
         </geometry>
       </collision>
@@ -170,11 +170,11 @@
           </box>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__computer_block_17">
-       <pose>0.050 0 0.185 0 -0 0</pose>
+      <visual name="base_link_fixed_joint_lump__landing_pad_17">
+       <pose>0.0 0 0.155 0 -0 0</pose>
         <geometry>
           <box>
-            <size>0.30 0.355 0.175</size>
+            <size>0.500 0.385 0.155</size>
           </box>
         </geometry>
       </visual>
@@ -432,7 +432,7 @@
           <always_on>1</always_on>
           <update_rate>200</update_rate>
           <imu>
-                    <enable_orientation>0</enable_orientation>
+                      <enable_orientation>0</enable_orientation>
                     <angular_velocity>
                         <x>
                             <noise type="gaussian">
diff --git a/submitted_models/marble_husky_sensor_config_5/specifications.md b/submitted_models/marble_husky_sensor_config_5/specifications.md
@@ -7,7 +7,10 @@ This specifications.md file is a description and proof of virtual model validati
 This configuration is based on Clearpath Robotics Husky ground robot. The marble sensor suite is located at the front of the husky and includes 2 3D LIDARs, 1 Planar LIDAR, 4 RGB Cameras, and 2 Picco Flexx TOF cameras  
 
 ## Usage Instructions
-The robot can be used in the same manner as the COSTAR Husky robot.  It accepts twist messages on the cmd_vel topic.  
+The robot can be used in the same manner as the COSTAR Husky robot.  It accepts twist messages on the cmd_vel topic. 
+
+## Marsupial Configuration
+This vehicle has a platform behind it with mechanical grippers (not modeled) that allow for deployment of UAVs. A QAV500 vehicle is the target marsupial vehicle but multiple vehicle platforms are possible and that is represented accordingly here in simulation.
 
 ## Usage Rights
 The same Rights are granted for the configuration as for the COSTAR Husky. No additional restrictions have to be taken into account for this configuration.
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
@@ -116,6 +116,7 @@
 
   MARSUPIAL_PARENT_LINK_NAMES = {
      "X1" => "base_link",
+     "MARBLE_HUSKY" => "base_link",
      "EXPLORER_X1" => "base_link",
      "EXPLORER_R2" => "Rear_Rocker_Link",
      "CSIRO_DATA61_OZBOT_ATR" => "base_link",
@@ -127,6 +128,7 @@
 
   MARSUPIAL_VALID_ROBOT_PAIRS = {
     "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
+    "MARBLE_HUSKY" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500", "CORO_CRYSTAL"],
     "CORO_ALLIE" => ["CERBERUS_RMF", "CORO_PAM", "CORO_CRYSTAL"],
     "CORO_JEANINE" => ["CERBERUS_RMF", "CORO_PAM", "CORO_CRYSTAL"],
     "CORO_KAREN" => ["CERBERUS_RMF", "CORO_PAM", "CORO_CRYSTAL"],
@@ -138,6 +140,7 @@
 
   MARSUPIAL_PARENT_ROBOT_POSITION_OFFSETS = {
     "X1" => Vector3d.new(0, 0, 0.717),
+    "MARBLE_HUSKY" => Vector3d.new(-0.06, 0, 0.43),
     "EXPLORER_X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874),
     "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528),
@@ -149,6 +152,7 @@
 
   MARSUPIAL_PARENT_ROBOT_ROTATION_OFFSETS = {
     "X1" => AngularVector3d.new(0, 0, 0),
+    "MARBLE_HUSKY" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416),
     "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416),
