BlueBoat: assemble the chassis and props from the PR #83 Blender scene

blueboat_description/config/blueboat.yaml

@@ -4,12 +4,7 @@
 # composed Gazebo model AND the ros_gz bridge config. To try a config without
 # rebuilding, pass config_file:=<your.yaml> to the launches.
 #
-# The default BlueBoat needs nothing here: every slot of every part fills
-# itself with its default (the chassis fits its two outboards, the flag and
-# the Ping2 integration kit; the kit's bracket fits the Ping). The entries
-# below are how to change that. See bluerobotics_parts/urdf/assembly.xacro
-# for the full rules and the site (vehicles/blueboat/configuration) for the slots
-# and the catalog.
+# The BlueBoat is exactly what parts: lists, because slot_defaults is false: a slot with no entry stays empty, including the slots of fitted parts (the Ping2 kit's bracket brings no Ping unless the Ping is listed too). With slot_defaults true, or left out, every unlisted slot fills with its default instead: the chassis fits its two propellers, the flag and the Ping2 integration kit, and the kit's bracket fits the Ping. See bluerobotics_parts/urdf/assembly.xacro for the full rules and the site (vehicles/blueboat/configuration) for the slots and the catalog.
 #
 # Topic namespace: sensor topics default to /<topic_namespace>/<name>/...
 topic_namespace: blueboat
@@ -20,7 +15,10 @@ topic_namespace: blueboat
 # since graded buoyancy reads only boxes and spheres (docs: design/buoyancy).
 base: {type: blueboat_chassis, name: base_link}
 
-# parts: overrides and additions. A slot entry picks what goes in a slot
+# slot_defaults: false fits only the slots listed under parts; true fills every unlisted slot with its default part.
+slot_defaults: false
+
+# parts: what is fitted. A slot entry picks what goes in a slot
 # (slot: the slot name, of: the instance carrying it, default base_link;
 # type: an accepted part type, or none to leave it empty). An entry without
 # slot: is a free placement: type, name, xyz/rpy relative to parent (default
@@ -33,13 +31,17 @@ base: {type: blueboat_chassis, name: base_link}
 #   which is then used as given (and shared by every instance).
 #   bridge:    dict of NATIVE ros_gz_bridge keys merged into that part's
 #              generated bridge entries
-parts: []
-  # - {slot: ping_mount, type: none}                          # no Ping2 kit
-  # - {slot: motor_port, type: t200_prop_ccw}                 # the other propeller option
-  # - {slot: motor_stbd, type: t200_prop_cw}
-  # - {slot: mast, type: blueboat_antenna_mast}               # slots with no default
+parts:
+  - {slot: prop_port, type: m200_weedless_prop_ccw}
+  - {slot: prop_stbd, type: m200_weedless_prop_cw}
+  - {type: ping_singlebeam, name: ping, xyz: "0 -0.259 0", rpy: "0 0 0"}   # the Ping where the Ping2 kit puts it, without the bracket
+  # - {slot: flag, type: blueboat_flag}
+  # The Ping2 kit instead of the free placed Ping above (remove that entry first):
+  # - {slot: ping_mount, type: blueboat_ping_singlebeam_mount}   # Ping2 integration kit bracket
+  # - {slot: ping, of: ping_mount, type: ping_singlebeam}         # the Ping in it; topic: sonar renames its topics
+  # - {slot: mast, type: blueboat_antenna_mast}
   # - {slot: payload, type: blueboat_payload_bracket}
-  # - {slot: ping, of: ping_mount, type: ping_singlebeam, topic: sonar}   # rename the Ping topics
+  # T200 propellers instead of the M200s: type: t200_prop_ccw / t200_prop_cw on the two prop_ slots above
   # - {type: basestation_antenna,   name: radio,     xyz: "-0.35 0 0.5",    rpy: "0 0 0"}
   # - {type: omniscan_450_sidescan, name: sidescan,  xyz: "0.2 0.22 -0.03", rpy: "0 0 0"}
   # - {type: surveyor_multibeam,    name: multibeam, xyz: "0.35 0 -0.08",   rpy: "0 0 0"}

blueboat_description/test/test_description.py

@@ -30,13 +30,6 @@
 
 WATER_DENSITY = 1025.0
 HULL = yaml.safe_load(DEFAULT_CONFIG)['hull_displacement']
-# What the chassis slots fill with when the config is silent.
-DEFAULT_PARTS = {'base_link': 'blueboat_chassis',
-                 'motor_port': 'm200_weedless_prop_ccw',
-                 'motor_stbd': 'm200_weedless_prop_cw',
-                 'flag': 'blueboat_flag',
-                 'ping_mount': 'blueboat_ping_singlebeam_mount',
-                 'ping': 'ping_singlebeam'}
 # The Ping2 transducer face sits this far below the part origin (delivered mesh).
 PING_FACE_BELOW_ORIGIN = 0.044
 
@@ -58,7 +51,13 @@ def catalog():
 
 
 def make_config(parts=(), slots=(), hull=True):
-    """Vehicle config yaml: chassis base, overrides/additions, hull displacement."""
+    """
+    Vehicle config yaml: chassis base, overrides/additions, hull displacement.
+
+    The tests' own vehicle, independent of the shipped config: no
+    slot_defaults key, so every slot fills with its default (the M200 props,
+    the flag, the Ping2 kit and its Ping) unless an entry says otherwise.
+    """
     cfg = {'base': {'type': 'blueboat_chassis', 'name': 'base_link',
                     'collision': False},
            'parts': [dict(p) for p in parts]}
@@ -142,46 +141,46 @@ def position_in_base(root, link):
     return pos
 
 
-def test_default_config_yields_the_default_parts():
-    """With no parts configured, the slots fill with their defaults."""
-    root = generate_urdf(DEFAULT_CONFIG)
-    assert manifest(root) == DEFAULT_PARTS
+def test_props_spin_and_the_chassis_keeps_contact():
+    """Propellers turn on continuous joints; contact stays the chassis's own."""
+    cfg = yaml.safe_load(make_config())
+    cfg['base']['collision'] = True
+    root = generate_urdf(yaml.safe_dump(cfg, sort_keys=False))
     assert 'hull_displacement' not in link_names(root), 'displacement belongs to the Gazebo side'
     base = next(li for li in root.findall('link') if li.get('name') == 'base_link')
     assert base.findall('collision'), 'the chassis keeps its delivered contact geometry'
-    assert set(DEFAULT_PARTS) <= link_names(root)
     motors = {j.get('name'): j for j in root.findall('joint')
-              if j.get('name') in ('motor_port_joint', 'motor_stbd_joint')}
-    assert set(motors) == {'motor_port_joint', 'motor_stbd_joint'}
+              if j.get('name') in ('prop_port_joint', 'prop_stbd_joint')}
+    assert set(motors) == {'prop_port_joint', 'prop_stbd_joint'}
     for joint in motors.values():
         assert joint.get('type') == 'continuous'
         assert joint.find('axis') is not None
 
 
 def test_manifest_names_are_links():
     """Every manifest instance exists as a link (and vice versa for parts)."""
-    root = generate_urdf(DEFAULT_CONFIG)
+    root = generate_urdf(make_config())
     links = link_names(root)
     for name in manifest(root):
         assert name in links
 
 
 def test_slot_chains_through_the_parent_part():
     """Slot occupants hang off the slot frame of the instance carrying it."""
-    table = joints_by_child(generate_urdf(DEFAULT_CONFIG))
+    table = joints_by_child(generate_urdf(make_config()))
     assert table['ping'][0] == 'ping_mount_ping'
     assert table['ping_mount_ping'][0] == 'ping_mount'
     assert table['ping_mount'][0] == 'base_link_ping_mount'
     assert table['base_link_ping_mount'][0] == 'base_link'
-    assert table['motor_port'][0] == 'base_link_motor_port'
+    assert table['prop_port'][0] == 'base_link_prop_port'
     assert table['ping_beam'][0] == 'ping', 'the Ping declares its beam frame'
 
 
 def test_slot_override_picks_another_option():
     """A slot entry swaps the occupant for another accepted type."""
-    root = generate_urdf(make_config([{'slot': 'motor_port', 'type': 't200_prop_ccw'}]))
-    assert manifest(root)['motor_port'] == 't200_prop_ccw'
-    assert manifest(root)['motor_stbd'] == 'm200_weedless_prop_cw'
+    root = generate_urdf(make_config([{'slot': 'prop_port', 'type': 't200_prop_ccw'}]))
+    assert manifest(root)['prop_port'] == 't200_prop_ccw'
+    assert manifest(root)['prop_stbd'] == 'm200_weedless_prop_cw'
 
 
 def test_slot_none_leaves_it_empty():
@@ -221,7 +220,7 @@ def test_manifest_records_every_slot_visited():
     root = generate_urdf(make_config(
         slots=[{'of': 'ping_mount', 'name': 'side', 'xyz': '0 0.05 0'}]))
     visited = assembly.slots(root)
-    assert {('base_link', 'motor_port'), ('base_link', 'ping_mount'),
+    assert {('base_link', 'prop_port'), ('base_link', 'ping_mount'),
             ('ping_mount', 'ping'), ('ping_mount', 'side')} <= visited
 
 
@@ -257,7 +256,7 @@ def test_check_catches_what_the_expansion_cannot():
 
 def test_slot_rejects_parts_that_do_not_fit():
     """A type outside the slot's accepts list fails the expansion."""
-    expect_failure(make_config([{'slot': 'motor_port', 'type': 'blueboat_flag'}]),
+    expect_failure(make_config([{'slot': 'prop_port', 'type': 'blueboat_flag'}]),
                    'does not fit')
 
 
@@ -311,7 +310,7 @@ def test_catalog_completeness():
 
 def test_mesh_assets_resolve():
     """Every mesh the URDF references ships in bluerobotics_parts."""
-    root = generate_urdf(DEFAULT_CONFIG)
+    root = generate_urdf(make_config())
     meshes = list(root.iter('mesh'))
     assert meshes, 'the parts based model must reference the delivered meshes'
     prefix = 'package://bluerobotics_parts/'
@@ -334,20 +333,26 @@ def test_check_urdf_accepts_generated():
         f'--- stdout ---\n{out.stdout}\n--- stderr ---\n{out.stderr}')
 
 
-def test_echosounder_mounted_below_waterline():
+@pytest.mark.parametrize('config', ['kit', 'shipped'])
+def test_echosounder_mounted_below_waterline(config):
     """
-    The default Ping transducer is submerged at rest.
+    A fitted Ping transducer is submerged at rest.
 
     The gpu_lidar returns seabed ranges from anywhere, so a transducer in the
     air fails silently; lock its face below the static waterline computed from
-    mass and waterplane area.
+    mass and waterplane area. Checked on the Ping2 kit (the slot default) and
+    on whatever the shipped config fits, if it fits a Ping at all.
     """
-    root = generate_urdf(DEFAULT_CONFIG)
-    face_z = position_in_base(root, 'ping')[2] - PING_FACE_BELOW_ORIGIN
-    assert position_in_base(root, 'ping_beam')[2] == pytest.approx(face_z, abs=1e-6)
+    root = generate_urdf(make_config() if config == 'kit' else DEFAULT_CONFIG)
+    pings = [name for name, ptype in manifest(root).items() if ptype == 'ping_singlebeam']
+    if not pings:
+        pytest.skip(f'the {config} config fits no Ping')
     area = 2 * HULL['length'] * HULL['width']
     draft = total_mass(root) / (WATER_DENSITY * area)
     waterline_z = HULL['z'] - HULL['height'] / 2 + draft
-    assert face_z < waterline_z - 0.02, (
-        f'ping transducer face at z {face_z:.3f} is not below the static '
-        f'waterline {waterline_z:.3f}')
+    for ping in pings:
+        face_z = position_in_base(root, ping)[2] - PING_FACE_BELOW_ORIGIN
+        assert position_in_base(root, f'{ping}_beam')[2] == pytest.approx(face_z, abs=1e-6)
+        assert face_z < waterline_z - 0.02, (
+            f'{ping} transducer face at z {face_z:.3f} is not below the static '
+            f'waterline {waterline_z:.3f}')

blueboat_description/urdf/blueboat.urdf.xacro

@@ -23,6 +23,7 @@
   <!-- Chassis as the root; its slots (and theirs) fill with their defaults,
        the config overrides and adds. -->
   <xacro:assemble base="${cfg['base']}" parts="${cfg.get('parts') or []}"
-                  slots="${cfg.get('slots') or []}"/>
+                  slots="${cfg.get('slots') or []}"
+                  defaults="${cfg.get('slot_defaults', True)}"/>
 
 </robot>

blueboat_gazebo/model.sdf.xacro

@@ -324,7 +324,8 @@
     <!-- Thrusters and sensors: one per propeller / sensor part the
          assembly resolves to. No manifest: that lives in the merged URDF. -->
     <xacro:assemble base="${cfg['base']}" parts="${cfg.get('parts') or []}"
-                    slots="${cfg.get('slots') or []}" emit="gz_part" emit_slot="gz_no_slot"
+                    slots="${cfg.get('slots') or []}" defaults="${cfg.get('slot_defaults', True)}"
+                    emit="gz_part" emit_slot="gz_no_slot"
                     manifest="false"/>
 
     <!-- ===================== ArduPilot SITL =====================
@@ -390,8 +391,8 @@
           the servo band converted to a normalized command. The thruster owns
           the newtons, including the asymmetry between ahead and astern.
         -->
-        <xacro:ardupilot_control channel="0" motor="motor_stbd"/>
-        <xacro:ardupilot_control channel="2" motor="motor_port"/>
+        <xacro:ardupilot_control channel="0" motor="prop_stbd"/>
+        <xacro:ardupilot_control channel="2" motor="prop_port"/>
       </plugin>
 
     </xacro:if>

blueboat_gazebo/test/test_bridge_generator.py

@@ -27,7 +27,7 @@
 _spec.loader.exec_module(bridge_gen)
 
 ALWAYS = {'/clock', '/blueboat/joint_states'}
-PROPS = [('m200_weedless_prop_ccw', 'motor_port'), ('m200_weedless_prop_cw', 'motor_stbd')]
+PROPS = [('m200_weedless_prop_ccw', 'prop_port'), ('m200_weedless_prop_cw', 'prop_stbd')]
 
 
 def entries_for(cfg, instances):
@@ -44,12 +44,12 @@ def test_only_clock_and_joint_states_without_parts():
 def test_propellers_bridge_their_thrust_command():
     """Each propeller instance gets a ROS_TO_GZ thrust topic named after it."""
     entries = entries_for({}, PROPS)
-    assert set(entries) == ALWAYS | {'/blueboat/motor_port/cmd', '/blueboat/motor_stbd/cmd'}
-    port = entries['/blueboat/motor_port/cmd']
+    assert set(entries) == ALWAYS | {'/blueboat/prop_port/cmd', '/blueboat/prop_stbd/cmd'}
+    port = entries['/blueboat/prop_port/cmd']
     assert port['direction'] == 'ROS_TO_GZ'
     assert port['ros_type_name'] == 'std_msgs/msg/Float64'
     # Same name on the gz side: model.sdf.xacro gives the Thruster this <topic>.
-    assert port['gz_topic_name'] == '/blueboat/motor_port/cmd'
+    assert port['gz_topic_name'] == '/blueboat/prop_port/cmd'
     # A renamed or swapped propeller follows its instance name.
     entries = entries_for({}, [('t200_prop_ccw', 'left')])
     assert '/blueboat/left/cmd' in entries
@@ -83,7 +83,7 @@ def test_topic_override_precedence():
     entries = entries_for(cfg, [('ping_singlebeam', 'ping')] + PROPS)
     ping = entries['/sensors/ping/range']
     assert ping['gz_topic_name'] == '/boat_a/ping_raw/range'
-    assert '/boat_a/motor_port/cmd' in entries
+    assert '/boat_a/prop_port/cmd' in entries
     # A renamed occupant is matched by its name, not the slot.
     cfg = {'parts': [{'slot': 'ping', 'of': 'ping_mount', 'type': 'ping_singlebeam',
                       'name': 'sonar', 'topic': 'echo'}]}

blueboat_gazebo/test/test_configure_vehicle.py

@@ -38,6 +38,20 @@ def configure(config_path, out_dir):
     return Path(out_dir)
 
 
+def kit_config(parts=()):
+    """
+    Return the tests' own vehicle.
+
+    The shipped hull and namespace, every slot filling with its default, plus
+    parts. Independent of what the shipped config fits, so these tests follow
+    the tool's behavior rather than the current product.
+    """
+    cfg = yaml.safe_load(DEFAULT_CONFIG.read_text())
+    cfg['slot_defaults'] = True
+    cfg['parts'] = [dict(p) for p in parts]
+    return cfg
+
+
 def links(urdf_path):
     return {li.get('name') for li in ET.parse(urdf_path).getroot().findall('link')}
 
@@ -67,14 +81,15 @@ def test_default_config_reproduces_the_installed_artifacts(tmp_path):
                if v.find('geometry/mesh') is not None}
     ros_rpys = {v.find('origin').get('rpy') for v in ros_root.iter('visual')
                 if v.find('geometry/mesh') is not None}
-    assert ros_rpys == {'0 0 0'} and gz_rpys == {'1.5708 0 0'}
+    # legacy exports, and profile axes deliveries (axes="gltf" in part_visual)
+    assert ros_rpys <= {'0 0 0', '0 0 1.5708'}
+    assert gz_rpys <= {'1.5708 0 0', '1.5708 0 1.5708'}
 
 
 def test_custom_config_flows_to_every_artifact(tmp_path):
     """A different config changes URDF, model and bridge consistently."""
-    cfg = yaml.safe_load(DEFAULT_CONFIG.read_text())
-    cfg['parts'] = [{'slot': 'ping_mount', 'type': 'none'},
-                    {'slot': 'mast', 'type': 'blueboat_antenna_mast'}]
+    cfg = kit_config([{'slot': 'ping_mount', 'type': 'none'},
+                      {'slot': 'mast', 'type': 'blueboat_antenna_mast'}])
     config = tmp_path / 'custom.yaml'
     config.write_text(yaml.safe_dump(cfg, sort_keys=False))
     out = configure(config, tmp_path / 'v')
@@ -84,14 +99,13 @@ def test_custom_config_flows_to_every_artifact(tmp_path):
     bridge = yaml.safe_load((out / 'ros_gz_bridge.yaml').read_text())
     topics = {e['ros_topic_name'] for e in bridge}
     assert '/blueboat/ping/range' not in topics
-    assert '/blueboat/motor_port/cmd' in topics
+    assert '/blueboat/prop_port/cmd' in topics
 
 
 def test_drivetrain_follows_the_config(tmp_path):
     """A renamed or removed propeller moves or drops its Thruster and bridge topic."""
-    cfg = yaml.safe_load(DEFAULT_CONFIG.read_text())
-    cfg['parts'] = [{'slot': 'motor_port', 'type': 'none'},
-                    {'slot': 'motor_stbd', 'type': 't200_prop_cw', 'name': 'right'}]
+    cfg = kit_config([{'slot': 'prop_port', 'type': 'none'},
+                      {'slot': 'prop_stbd', 'type': 't200_prop_cw', 'name': 'right'}])
     config = tmp_path / 'custom.yaml'
     config.write_text(yaml.safe_dump(cfg, sort_keys=False))
     out = configure(config, tmp_path / 'v')
@@ -102,7 +116,7 @@ def test_drivetrain_follows_the_config(tmp_path):
     topics = {e['ros_topic_name'] for e in
               yaml.safe_load((out / 'ros_gz_bridge.yaml').read_text())}
     assert '/blueboat/right/cmd' in topics
-    assert not any(t.endswith('motor_port/cmd') for t in topics)
+    assert not any(t.endswith('prop_port/cmd') for t in topics)
 
 
 def test_base_name_flows_to_the_model(tmp_path):
@@ -125,8 +139,7 @@ def test_base_name_flows_to_the_model(tmp_path):
 
 def test_mismatched_config_fails_with_the_reason(tmp_path):
     """A slot entry that matches nothing fails the tool (and so the launch)."""
-    cfg = yaml.safe_load(DEFAULT_CONFIG.read_text())
-    cfg['parts'] = [{'slot': 'pingg', 'of': 'ping_mount', 'type': 'none'}]
+    cfg = kit_config([{'slot': 'pingg', 'of': 'ping_mount', 'type': 'none'}])
     config = tmp_path / 'custom.yaml'
     config.write_text(yaml.safe_dump(cfg, sort_keys=False))
     out = subprocess.run([str(TOOL), '--config', str(config), '--out-dir', str(tmp_path / 'v')],
@@ -171,7 +184,7 @@ def test_name_flows_to_every_artifact(tmp_path):
     # The bridge agrees, so gz and ROS sides stay in sync.
     bridge = yaml.safe_load((out_dir / 'ros_gz_bridge.yaml').read_text())
     gz_topics = {e['gz_topic_name'] for e in bridge}
-    assert any(t.startswith('/boat_b/motor_port/') for t in gz_topics), gz_topics
+    assert any(t.startswith('/boat_b/prop_port/') for t in gz_topics), gz_topics
     assert not any(t.startswith('/blueboat/') for t in gz_topics), gz_topics
 
 
@@ -204,9 +217,8 @@ def test_two_instances_from_one_config_share_no_topic(tmp_path):
     a command for one instance never reaches the other; only the fixed
     /clock remains shared.
     """
-    cfg = yaml.safe_load(DEFAULT_CONFIG.read_text())
-    cfg['parts'] = [{'slot': 'ping', 'of': 'ping_mount', 'type': 'ping_singlebeam',
-                     'topic': 'sonar'}]
+    cfg = kit_config([{'slot': 'ping', 'of': 'ping_mount', 'type': 'ping_singlebeam',
+                     'topic': 'sonar'}])
     config = tmp_path / 'custom.yaml'
     config.write_text(yaml.safe_dump(cfg, sort_keys=False))
     topics = {}

blueboat_gazebo/test/test_gz_launch.py

@@ -141,10 +141,10 @@ def test_model_loaded(sim):
 
 def test_interfaces_advertised(sim):
     """Motor commands, speed feedback and the world clock are advertised."""
-    needed = ('/blueboat/motor_port/cmd',
-              '/blueboat/motor_stbd/cmd',
-              '/blueboat/motor_port/cmd/ang_vel',
-              '/blueboat/motor_stbd/cmd/ang_vel',
+    needed = ('/blueboat/prop_port/cmd',
+              '/blueboat/prop_stbd/cmd',
+              '/blueboat/prop_port/cmd/ang_vel',
+              '/blueboat/prop_stbd/cmd/ang_vel',
               f'/world/{WORLD_NAME}/clock')
     poll_until(
         lambda: all(t in gz(sim, 'topic', '-l')[1] for t in needed), 30,