Merge pull request #4 from apl-ocean-engineering/dev/split_laptop_sim

Split blue_on_laptop_nvidia to build_sim and blue_sim_nvidia

.vscode/settings.json

@@ -71,5 +71,6 @@
     "**/build": true,
     "**/install": true,
     "**/log": true
-  }
+  },
+  "cmake.configureOnOpen": false
 }

compose/blue_sim/apl_env.sh

@@ -0,0 +1,2 @@
+export BLUE_GITHUB_REPO=apl-ocean-engineering/blue
+export BLUE_ROS_DISTRO=rolling

compose/blue_sim/docker-compose.yaml

@@ -0,0 +1,34 @@
+services:
+  blue:
+    image: ghcr.io/${BLUE_GITHUB_REPO:?Github repo not set}:${BLUE_ROS_DISTRO:-rolling}-desktop
+    environment:
+      - DISPLAY=${DISPLAY}
+      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
+      - LIBGL_ALWAYS_SOFTWARE=1
+      - QT_X11_NO_MITSHM=1
+      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY} # Can be commented out if not used
+      - PULSE_SERVER=${PULSE_SERVER} # Can be commented out if not used
+    network_mode: host
+    tty: true
+    stdin_open: true
+    privileged: true
+    cap_add:
+      - SYS_PTRACE
+    security_opt:
+      - seccomp:unconfined
+      - apparmor:unconfined
+    volumes:
+      - /dev:/dev
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - ../../../bluerov_deployment:/home/ubuntu/ws_blue/src/bluerov_deployment
+      - ../../../auv_controllers:/home/ubuntu/ws_blue/src/auv_controllers
+      - ../../../mobile_to_maritime:/home/ubuntu/ws_blue/src/mobile_to_maritime
+      - ../../../blue:/home/ubuntu/ws_blue/src/blue
+    # Launch sim directly
+    entrypoint: [ "/bin/bash", "-i", "-c" ]
+    command: [ "ros2 launch blue_demos bluerov2_demo.launch.yaml use_sim:=true" ]
+
+  foxglove-bridge:
+    image: ghcr.io/apl-ocean-engineering/blue-foxglove-bridge-docker:${BLUE_ROS_DISTRO}
+    ports:
+      - 8765:8765

compose/blue_sim_nvidia/.env

@@ -0,0 +1,2 @@
+BLUE_ROS_DISTRO=rolling
+BLUE_GITHUB_REPO=robotic-decision-making-lab/blue

compose/blue_on_laptop_nvidia/docker-compose.yaml → compose/blue_sim_nvidia/docker-compose.yaml

@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/${BLUE_GITHUB_REPO:?Github repo not set}:${BLUE_ROS_DISTRO:?BLUE_ROS_DISTRO not set}-desktop
@@ -28,5 +27,6 @@ services:
     volumes:
       - /dev:/dev
       - /tmp/.X11-unix:/tmp/.X11-unix
-      - /mnt/wslg:/mnt/wslg
+      - ../../../bluerov_deployment:/home/ubuntu/ws_blue/src/bluerov_deployment
+      - ../../../blue:/home/ubuntu/ws_blue/src/blue
     command: tail -f /dev/null

docking_demo/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.8)
+project(docking_demo)
+
+find_package(ament_cmake REQUIRED)
+
+install(
+  DIRECTORY control_integration/launch
+            control_integration/config
+  DESTINATION share/docking_demo/control_integration
+)
+
+install(
+  DIRECTORY teleoperation/launch
+            teleoperation/config
+  DESTINATION share/docking_demo/teleoperation
+)
+
+ament_package()

docking_demo/LICENSE

@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

docking_demo/README.md

@@ -0,0 +1,3 @@
+# BlueROV Docking Demos
+
+This package implements examples that demonstrate how to use Blue.

docking_demo/control_integration/config/bluerov2_docking_controllers.yaml

@@ -0,0 +1,151 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100 # Hz
+
+    heading_pid_controller:
+      type: pid_controller/PidController
+
+    integral_sliding_mode_controller:
+      type: velocity_controllers/IntegralSlidingModeController
+
+    thruster_allocation_matrix_controller:
+      type: thruster_allocation_matrix_controller/ThrusterAllocationMatrixController
+
+    thruster1_controller:
+      type: thruster_controllers/PolynomialThrustCurveController
+
+    thruster2_controller:
+      type: thruster_controllers/PolynomialThrustCurveController
+
+    thruster3_controller:
+      type: thruster_controllers/PolynomialThrustCurveController
+
+    thruster4_controller:
+      type: thruster_controllers/PolynomialThrustCurveController
+
+    thruster5_controller:
+      type: thruster_controllers/PolynomialThrustCurveController
+
+    thruster6_controller:
+      type: thruster_controllers/PolynomialThrustCurveController
+
+heading_pid_controller:
+  ros__parameters:
+    dof_names:
+      - integral_sliding_mode_controller/rz
+    command_interface: velocity
+
+    use_external_measured_states: true
+
+    reference_and_state_dof_names: ["rz"]
+    reference_and_state_interfaces: ["heading"]
+
+    gains:
+      "integral_sliding_mode_controller/rz": {p: 5.0, i: 0.0, d: 0.0, i_clamp_max: 5.0, i_clamp_min: -5.0, angle_wraparound: true }
+
+
+integral_sliding_mode_controller:
+  ros__parameters:
+    use_external_measured_states: true
+    reference_controller: thruster_allocation_matrix_controller
+    gains:
+      rho: 15.0
+      lambda: 100.0
+      Kp: [5.0, 5.0, 5.0, 5.0, 5.0, 10.0]
+    tf:
+      base_frame: "base_link_fsd"
+      odom_frame: "map_ned"
+    hydrodynamics:
+      mass: 10.0
+      weight: 98.1
+      buoyancy: 100.06
+      moments_of_inertia: [0.16, 0.16, 0.16]
+      added_mass: [-5.50, -12.70, -14.60, -0.12, -0.12, -0.12]
+      center_of_buoyancy: [0.0, 0.0, 0.0]
+      center_of_gravity: [0.0, 0.0, 0.0]
+      linear_damping: [-4.03, -6.22, -5.18, -0.07, -0.07, -0.07]
+      quadratic_damping: [-18.18, -21.66, -36.99, -1.55, -1.55, -1.55]
+
+thruster_allocation_matrix_controller:
+  ros__parameters:
+    thrusters:
+      - thruster1_joint
+      - thruster2_joint
+      - thruster3_joint
+      - thruster4_joint
+      - thruster5_joint
+      - thruster6_joint
+    reference_controllers:
+      - thruster1_controller
+      - thruster2_controller
+      - thruster3_controller
+      - thruster4_controller
+      - thruster5_controller
+      - thruster6_controller
+    tam:
+      x:  [ -0.707,  -0.707,   0.707,  0.707,      0.0,     0.0]
+      y:  [ 0.707,   -0.707,   0.707, -0.707,      0.0,     0.0]
+      z:  [    0.0,     0.0,     0.0,    0.0,      1.0,     1.0]
+      rx: [    0.0,     0.0,     0.0,    0.0, -0.21805, 0.21805]
+      ry: [    0.0,     0.0,     0.0,    0.0,    -0.12,   -0.12]
+      rz: [0.1888,  -0.1888, -0.1888, 0.1888,      0.0,     0.0]
+
+thruster1_controller:
+  ros__parameters:
+    thruster: thruster1_joint
+    min_thrust: -40.0
+    max_thrust: 60.0
+    min_deadband: 1470
+    max_deadband: 1530
+    neutral_pwm: 1500
+    thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251]
+
+thruster2_controller:
+  ros__parameters:
+    thruster: thruster2_joint
+    min_thrust: -40.0
+    max_thrust: 60.0
+    min_deadband: 1470
+    max_deadband: 1530
+    neutral_pwm: 1500
+    thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251]
+
+thruster3_controller:
+  ros__parameters:
+    thruster: thruster3_joint
+    min_thrust: -40.0
+    max_thrust: 60.0
+    min_deadband: 1470
+    max_deadband: 1530
+    neutral_pwm: 1500
+    thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251]
+
+thruster4_controller:
+  ros__parameters:
+    thruster: thruster4_joint
+    min_thrust: -40.0
+    max_thrust: 60.0
+    min_deadband: 1470
+    max_deadband: 1530
+    neutral_pwm: 1500
+    thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251]
+
+thruster5_controller:
+  ros__parameters:
+    thruster: thruster5_joint
+    min_thrust: -40.0
+    max_thrust: 60.0
+    min_deadband: 1470
+    max_deadband: 1530
+    neutral_pwm: 1500
+    thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251]
+
+thruster6_controller:
+  ros__parameters:
+    thruster: thruster6_joint
+    min_thrust: -40.0
+    max_thrust: 60.0
+    min_deadband: 1470
+    max_deadband: 1530
+    neutral_pwm: 1500
+    thrust_curve_coefficients: [1498.0, 12.01, -0.04731, -0.002098, 0.00002251]