diff --git a/.docker/lyrical.amd64.dockerfile b/.docker/lyrical.amd64.dockerfile index f562ce80..4274c1cf 100644 --- a/.docker/lyrical.amd64.dockerfile +++ b/.docker/lyrical.amd64.dockerfile @@ -11,9 +11,9 @@ RUN apt-get update && \ rm -rf /var/lib/apt/lists/* # Install ROS 2 Lyrical, Gazebo Jetty, ArduSub, and MAVROS from this checkout. -COPY extras /tmp/dave-extras -RUN DAVE_EXTRAS_DIR=/tmp/dave-extras \ - bash /tmp/dave-extras/ros-lyrical-gz-jetty-install.sh +COPY extras /tmp/posim-extras +RUN POSIM_EXTRAS_DIR=/tmp/posim-extras \ + bash /tmp/posim-extras/ros-lyrical-gz-jetty-install.sh ENV LD_LIBRARY_PATH=/opt/waves/lib ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/waves/lib:/opt/ardusub_ws/ardupilot_gazebo/build ENV GZ_SIM_RESOURCE_PATH=/opt/asv_wave_sim/gz-waves-models/models:/opt/asv_wave_sim/gz-waves-models/world_models:/opt/ardusub_ws/ardupilot_gazebo/models:/opt/ardusub_ws/ardupilot_gazebo/worlds @@ -37,29 +37,29 @@ RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64 # Build the exact POSIM revision supplied as the Docker build context. Import the # companion repositories, but never replace the checked-out POSIM source. -ENV DAVE_WS=/opt/dave_ws -WORKDIR $DAVE_WS/src -COPY . dave +ENV POSIM_WS=/opt/posim_ws +WORKDIR $POSIM_WS/src +COPY . posim RUN vcs import --shallow --skip-existing \ - --input dave/extras/repos/posim.lyrical.repos + --input posim/extras/repos/posim.lyrical.repos RUN apt-get update && \ rosdep update --rosdistro "$ROS_DISTRO" && \ rosdep install --rosdistro "$ROS_DISTRO" -iy --from-paths . && \ rm -rf /var/lib/apt/lists/* -WORKDIR $DAVE_WS +WORKDIR $POSIM_WS RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \ colcon build --merge-install --executor sequential --symlink-install RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \ - echo "source $DAVE_WS/install/setup.bash" >> /root/.bashrc && \ + echo "source $POSIM_WS/install/setup.bash" >> /root/.bashrc && \ echo "export PS1='\[\e[1;36m\]\u@POSIM_docker\[\e[0m\]\[\e[1;34m\](\$(hostname | cut -c1-12))\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /root/.bashrc -RUN touch /root/.dave_entrypoint && \ - printf '\033[1;36mPOSIM - Platform for Ocean Simulation\033[0m\n' >> /root/.dave_entrypoint && \ - printf '\033[1;33mROS 2 Lyrical · Gazebo Jetty · ArduSub · MAVROS\033[0m\n\n' >> /root/.dave_entrypoint && \ - echo 'cat /root/.dave_entrypoint' >> /root/.bashrc +RUN touch /root/.posim_entrypoint && \ + printf '\033[1;36mPOSIM - Platform for Ocean Simulation\033[0m\n' >> /root/.posim_entrypoint && \ + printf '\033[1;33mROS 2 Lyrical · Gazebo Jetty · ArduSub · MAVROS\033[0m\n\n' >> /root/.posim_entrypoint && \ + echo 'cat /root/.posim_entrypoint' >> /root/.bashrc WORKDIR /root diff --git a/.docker/lyrical.arm64v8.dockerfile b/.docker/lyrical.arm64v8.dockerfile index bec571a4..a9cbb7a1 100644 --- a/.docker/lyrical.arm64v8.dockerfile +++ b/.docker/lyrical.arm64v8.dockerfile @@ -111,18 +111,18 @@ RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-inf ros-${ROS_DISTRO}-image-view \ python3-rosdep python3-vcstool python3-colcon-common-extensions -# --- DAVE workspace --- +# --- POSIM workspace --- # Build the exact checked-out revision supplied as the Docker build context. -ENV DAVE_UNDERLAY=/home/$USER/dave_ws -WORKDIR $DAVE_UNDERLAY/src -COPY . dave -RUN chown -R $USER:$USER $DAVE_UNDERLAY/src/dave +ENV POSIM_UNDERLAY=/home/$USER/posim_ws +WORKDIR $POSIM_UNDERLAY/src +COPY . posim +RUN chown -R $USER:$USER $POSIM_UNDERLAY/src/posim # Keep the companion repositories from the inherited DAVE workspace, while # preserving the exact POSIM checkout copied above. RUN vcs import --shallow --skip-existing \ - --input dave/extras/repos/posim.lyrical.repos && \ - chown -R $USER:$USER $DAVE_UNDERLAY + --input posim/extras/repos/posim.lyrical.repos && \ + chown -R $USER:$USER $POSIM_UNDERLAY RUN apt-get update && \ (rosdep init 2>/dev/null || true) && \ @@ -131,7 +131,7 @@ RUN apt-get update && \ rm -rf /var/lib/apt/lists/* USER $USER -WORKDIR $DAVE_UNDERLAY +WORKDIR $POSIM_UNDERLAY RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" && \ colcon build --merge-install --executor sequential --symlink-install @@ -180,7 +180,7 @@ RUN git clone --depth 1 https://github.com/ArduPilot/ardupilot_gazebo.git \ # Waves are built during the normal POSIM image build. The upstream checkout # and GPL notices stay separate from POSIM under /opt/asv_wave_sim. -RUN bash $DAVE_UNDERLAY/src/dave/extras/install-waves.sh +RUN bash $POSIM_UNDERLAY/src/posim/extras/install-waves.sh ENV LD_LIBRARY_PATH=/opt/waves/lib ENV GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/waves/lib:/home/$USER/ardupilot_gazebo/build ENV GZ_SIM_RESOURCE_PATH=/opt/asv_wave_sim/gz-waves-models/models:/opt/asv_wave_sim/gz-waves-models/world_models:/home/$USER/ardupilot_gazebo/models:/home/$USER/ardupilot_gazebo/worlds @@ -217,7 +217,7 @@ RUN curl -L "https://download.mozilla.org/?product=firefox-latest-ssl&os=linux64 USER root RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USER/.bashrc && \ - echo "source $DAVE_UNDERLAY/install/setup.bash" >> /home/$USER/.bashrc && \ + echo "source $POSIM_UNDERLAY/install/setup.bash" >> /home/$USER/.bashrc && \ echo "export PATH=/home/$USER/.local/bin:/usr/local/bin:\$PATH" >> /home/$USER/.bashrc && \ echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/home/$USER/ardupilot_gazebo/build:\${GZ_SIM_SYSTEM_PLUGIN_PATH:-}" >> /home/$USER/.bashrc && \ echo "export GZ_SIM_RESOURCE_PATH=/home/$USER/ardupilot_gazebo/models:/home/$USER/ardupilot_gazebo/worlds:\${GZ_SIM_RESOURCE_PATH:-}" >> /home/$USER/.bashrc && \ @@ -228,9 +228,9 @@ RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USER/.bashrc && \ echo "export PS1='\[\e[1;36m\]\u@POSIM_docker\[\e[0m\]:\[\e[1;34m\]\w\[\e[0m\]\$ '" >> /home/$USER/.bashrc # --- Run (no systemd inside this container) --- -COPY extras/docker-arm64-entrypoint.sh /usr/local/bin/dave-rdp-entrypoint -RUN chmod 0755 /usr/local/bin/dave-rdp-entrypoint -CMD ["/usr/local/bin/dave-rdp-entrypoint"] +COPY extras/docker-arm64-entrypoint.sh /usr/local/bin/posim-rdp-entrypoint +RUN chmod 0755 /usr/local/bin/posim-rdp-entrypoint +CMD ["/usr/local/bin/posim-rdp-entrypoint"] LABEL org.opencontainers.image.title="POSIM" \ org.opencontainers.image.description="Platform for Ocean Simulation" \ diff --git a/.github/ISSUE_TEMPLATE/good-first-issue.md b/.github/ISSUE_TEMPLATE/good-first-issue.md index fdd34583..d2fe0e6e 100644 --- a/.github/ISSUE_TEMPLATE/good-first-issue.md +++ b/.github/ISSUE_TEMPLATE/good-first-issue.md @@ -30,11 +30,11 @@ Nothing. This issue is meant to welcome you to Open Source :) We are happy to wa - [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/lyrical/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace.html) -- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ros2_ws/src/dave`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `dave` folder before cloning your own fork) +- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ros2_ws/src/posim`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `posim` folder before cloning your own fork) - [ ] **Checkout a new branch** using `git checkout -b ` -- [ ] 🤖 **Apply `pre-commit`** auto formatting, by running `pip3 install pre-commit` and running `pre-commit install` in the dave repo. +- [ ] 🤖 **Apply `pre-commit`** auto formatting, by running `pip3 install pre-commit` and running `pre-commit install` in the POSIM repo. - [ ] 💾 **Commit and Push** your changes diff --git a/.github/workflows/docker-amd64.yml b/.github/workflows/docker-amd64.yml index a11d5c9a..6fa2cabf 100644 --- a/.github/workflows/docker-amd64.yml +++ b/.github/workflows/docker-amd64.yml @@ -10,7 +10,7 @@ on: - ".docker/**" - ".dockerignore" - ".github/workflows/docker-amd64.yml" - - "dave_interfaces/**" + - "posim_interfaces/**" - "examples/**" - "extras/**" - "gazebo/**" diff --git a/.github/workflows/docker-arm64v8.yml b/.github/workflows/docker-arm64v8.yml index ce185882..b76377cf 100644 --- a/.github/workflows/docker-arm64v8.yml +++ b/.github/workflows/docker-arm64v8.yml @@ -10,7 +10,7 @@ on: - ".docker/**" - ".dockerignore" - ".github/workflows/docker-arm64v8.yml" - - "dave_interfaces/**" + - "posim_interfaces/**" - "examples/**" - "extras/**" - "gazebo/**" @@ -43,9 +43,17 @@ jobs: steps: - name: Configure non-interactive Docker credentials run: | + # Read the selected daemon before isolating credentials. A new + # DOCKER_CONFIG otherwise loses Docker Desktop's desktop-linux context + # and falls back to the absent /var/run/docker.sock on macOS. + docker_host="${DOCKER_HOST:-$(docker context inspect --format '{{.Endpoints.docker.Host}}')}" docker_config="$RUNNER_TEMP/docker-config" mkdir -p "$docker_config" + chmod 700 "$docker_config" printf '{}\n' > "$docker_config/config.json" + chmod 600 "$docker_config/config.json" + echo "DOCKER_HOST=$docker_host" >> "$GITHUB_ENV" + echo "DOCKER_CONTEXT=" >> "$GITHUB_ENV" echo "DOCKER_CONFIG=$docker_config" >> "$GITHUB_ENV" - name: Checkout repository diff --git a/README.md b/README.md index 46435d2c..fe5b4e66 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,7 @@ manipulation tasks for ROS 2 and Gazebo. POSIM continues the [DAVE](https://github.com/IOES-Lab/dave) codebase, originally developed as [Project DAVE](https://github.com/Field-Robotics-Lab/dave). This repository preserves the source history, existing copyright notices, and -Apache-2.0 license. See [origin and compatibility](docs/compatibility.md). +Apache-2.0 license. ## Current development version @@ -16,47 +16,41 @@ The initial POSIM import is based on DAVE `ros2` commit [`8a3f6ab`](https://github.com/IOES-Lab/dave/commit/8a3f6abc2ba14ced787aff8befa0201f6c80ca8c). POSIM 1.0 has not been released. -Existing ROS package names and launch commands remain available. For example, -the demonstration package is still called `dave_demos`. The initial import -contains the CUDA sonar implementation; the WGPU work in -[DAVE PR #44](https://github.com/IOES-Lab/dave/pull/44) is not included in `main`. -Without a CUDA toolkit, the CUDA-specific sonar targets are skipped during -configuration. A successful build on ARM64 therefore does not establish sonar -availability. +ROS packages, plugin namespaces and launch files use the `posim_` prefix. +Rebuild in a clean workspace when migrating from the earlier `dave_` names. +Existing third-party source attribution is retained. ## Get started -1. Follow the [Ubuntu installation guide](docs/installation.md), or build a - [Docker image from this checkout](docs/docker.md). +1. Run `extras/ros-lyrical-gz-jetty-install.sh`, or build `.docker/lyrical.amd64.dockerfile` / `.docker/lyrical.arm64v8.dockerfile` from this checkout. 2. Open a terminal with the installed ROS and workspace environments loaded. 3. Start a world: ```bash - ros2 launch dave_demos dave_world.launch.py world_name:=dave_ocean_waves + ros2 launch posim_demos posim_world.launch.py world_name:=posim_ocean_waves ``` For a server-only run, append `headless:=true`. On a desktop with rendering available, start REXROV with: ```bash -ros2 launch dave_demos dave_robot.launch.py \ - namespace:=rexrov world_name:=dave_ocean_waves z:=-5 paused:=false +ros2 launch posim_demos posim_robot.launch.py \ + namespace:=rexrov world_name:=posim_ocean_waves z:=-5 paused:=false ``` World and model references may download assets from Gazebo Fuel on first use. -More examples are in [the demo guide](examples/dave_demos/README.md). +More examples are in [the demo guide](examples/posim_demos/README.md). ## Library contents - `models/`: world, vehicle, sensor, and object descriptions and their resources. - `gazebo/`: model, sensor, world, ROS bridge, and multibeam sonar plugins. -- `examples/dave_demos/`: world, robot, sensor, and object launch entry points. -- `dave_interfaces/`: ROS messages and services used by the library. +- `examples/posim_demos/`: world, robot, sensor, and object launch entry points. +- `posim_interfaces/`: ROS messages and services used by the library. - `extras/`: dependency installation, repository manifests, and development tools. -The [legacy DAVE Wiki](https://dave-ros2.notion.site) remains available for -background material. Follow this repository's installation instructions for -POSIM; the legacy Wiki is not a POSIM release manual. +Documentation is maintained separately in Notion by IOES-Lab. +The repository contains executable examples and dependency build instructions. ## Contributing @@ -73,8 +67,6 @@ pre-commit install pre-commit run --all-files ``` -Maintainers should read [CI and image configuration](docs/maintainer-setup.md) -before enabling Docker builds or publication in this new repository. ## License diff --git a/docs/compatibility.md b/docs/compatibility.md deleted file mode 100644 index c0083816..00000000 --- a/docs/compatibility.md +++ /dev/null @@ -1,61 +0,0 @@ -# Origin and compatibility - -POSIM stands for **Platform for Ocean Simulation**. The project continues the -maritime simulation library developed as DAVE. This first import retains the -ancestry of `IOES-Lab/dave`, including its upstream history from -`Field-Robotics-Lab/dave`. - -## Import boundary - -- Source: -- Source branch: `ros2` -- Source revision: `8a3f6abc2ba14ced787aff8befa0201f6c80ca8c` -- POSIM destination: -- POSIM default branch: `main` - -The existing DAVE repository is retained. Its issues, pull requests, releases, -and Actions results do not become POSIM records automatically. Links to DAVE -changes in this documentation describe provenance, not POSIM release results. -Historical DAVE tags are not republished as POSIM releases. - -## Names retained for existing users - -| Interface | Initial POSIM behavior | -| --- | --- | -| ROS packages | The 13 existing package identifiers remain unchanged. | -| Launch files | `dave_world`, `dave_robot`, `dave_sensor`, and `dave_object` entry points are retained. | -| Resources | Package-share paths, model identifiers, world filenames, and Fuel URIs are retained. | -| ROS interfaces | Message/service definitions, configured topics, and frame names are retained. | -| Installation helper | `extras/ros-lyrical-gz-jetty-install.sh` and `DAVE_EXTRAS_DIR` remain supported. | -| Workspace directory | Source instructions use `posim_ws/src/dave`; the checkout key stays `dave`. | -| Docker workspace | `/opt/dave_ws` on AMD64 and `/home/docker/dave_ws` on ARM64 remain unchanged. | -| Repository manifests | `posim.lyrical.repos` is preferred; `dave.lyrical.repos` has the same repository entries. | - -`dave_*` names in launch commands, package dependencies, and installed resource -paths are intentional. Renaming these identifiers requires a separate migration -with compatibility tests; the project name change alone does not require it. - -## Current scope - -The initial POSIM import changes project documentation, repository URLs, Docker -branding, and CI configuration. It retains the simulator source, descriptors, -launch implementations, and package manifests from the source revision. - -The lint workflow also incorporates the lint configuration proposed in -[DAVE PR #74](https://github.com/IOES-Lab/dave/pull/74) at commit -`cfae083f4468c369fe002418d913cb5a5612a9bc`, adapted to `main`. This uses direct -format checks with read-only repository permissions and matching formatter -versions. Only its lint workflow is carried over. - -WGPU integration is still being reviewed in -[DAVE PR #44](https://github.com/IOES-Lab/dave/pull/44). It is not part of this -initial `main` branch. Its inclusion and validation must be recorded in a later -change before POSIM advertises WGPU support. - -## Versions - -This is development work toward the first POSIM release. No `v1.0.0` tag is -created by this import, and inherited package version fields are unchanged. -Before release, record the exact POSIM commit, dependency revisions, build -results, image digests, and runtime checks. Earlier DAVE or local-candidate -test results must retain their original source revision labels. diff --git a/docs/docker.md b/docs/docker.md deleted file mode 100644 index b3ca856f..00000000 --- a/docs/docker.md +++ /dev/null @@ -1,60 +0,0 @@ -# POSIM Docker development images - -Build images from the repository root so that Docker uses the exact checkout. -These are local development tags; they do not imply a published POSIM release. - -Both image recipes automatically build the pinned external Wave Sim dependency -with `extras/install-waves.sh`. No separate plugin installation or recursive -clone is required. Libraries install under `/opt/waves`; upstream source, -license notices and POSIM build adaptations remain under `/opt/asv_wave_sim`. -Plugin and resource paths are configured in the image. Existing worlds must -still explicitly select the external wave/hydrodynamics systems. See -[wave integration and distribution](../extras/surface/README.md). - -## AMD64 - -```bash -docker build --platform linux/amd64 \ - -f .docker/lyrical.amd64.dockerfile -t posim:dev-amd64 . -docker run --rm -it posim:dev-amd64 bash -``` - -The workspace remains at `/opt/dave_ws`. In an interactive Bash shell its setup -is loaded through `.bashrc`. For a non-interactive command, source -`/opt/ros/lyrical/setup.bash` and `/opt/dave_ws/install/setup.bash` explicitly. -GUI forwarding and GPU passthrough must be configured for the host before using -graphical or GPU-dependent scenarios. - -## ARM64 / Apple Silicon - -```bash -docker build --platform linux/arm64 \ - -f .docker/lyrical.arm64v8.dockerfile -t posim:dev-arm64-rdp . -docker run --rm -it --name posim-arm64 \ - -p 127.0.0.1:13389:3389 --shm-size=2g posim:dev-arm64-rdp -``` - -Connect an RDP client to `localhost:13389`. The inherited development image uses -the username and password `docker`; the command above exposes RDP only on the -local machine. The workspace remains at `/home/docker/dave_ws`. - -For a shell without the RDP services: - -```bash -docker run --rm -it --user docker --entrypoint bash posim:dev-arm64-rdp -``` - -Docker Desktop on Apple Silicon runs this Linux ARM64 image. It does not make -the Mac's Metal backend available to the CUDA sonar implementation. The initial -POSIM source does not include the WGPU work from DAVE PR #44. - -## Publication - -`ioeslab/posim` is the configured Docker Hub destination, pending maintainer -setup and successful publication. The workflows use architecture-specific tags: -`main-amd64` and `main-arm64-rdp` for branch builds, and version tags such as -`1.0.0-amd64` and `1.0.0-arm64-rdp` after a future `v1.0.0` tag. - -Do not assume these tags exist until the corresponding publication has -completed. This initial configuration does not create a combined multi-platform -manifest. See [maintainer setup](maintainer-setup.md). diff --git a/docs/installation.md b/docs/installation.md deleted file mode 100644 index b96a096a..00000000 --- a/docs/installation.md +++ /dev/null @@ -1,83 +0,0 @@ -# Install POSIM from source - -These instructions target **Ubuntu 26.04, ROS 2 Lyrical, and Gazebo Jetty**. -For macOS, use the [ARM64 Docker image build](docker.md); this page does not -describe a native macOS installation. - -## 1. Check out the source - -```bash -mkdir -p ~/posim_ws/src -git clone --branch main https://github.com/IOES-Lab/POSIM.git ~/posim_ws/src/dave -cd ~/posim_ws -git -C src/dave rev-parse HEAD -``` - -Keep the checkout directory named `dave`: the repository manifest uses this key -so that dependency import can skip the source you already checked out. - -## 2. Install the platform dependencies - -Review `src/dave/extras/ros-lyrical-gz-jetty-install.sh`, then run it on the target -Ubuntu machine: - -```bash -DAVE_EXTRAS_DIR="$PWD/src/dave/extras" \ - bash src/dave/extras/ros-lyrical-gz-jetty-install.sh -``` - -This helper performs an apt system upgrade, installs ROS/Gazebo and the -ArduSub/MAVROS dependencies, and adds environment setup to the user's shell -configuration. The explicit `DAVE_EXTRAS_DIR` selects the helper files from the -same checkout. It is a retained compatibility variable. - -## 3. Import companion repositories and build - -In a Bash terminal: - -```bash -cd ~/posim_ws -source /opt/ros/lyrical/setup.bash -vcs import src --shallow --skip-existing \ - --input src/dave/extras/repos/posim.lyrical.repos -rosdep update --rosdistro lyrical -rosdep install --rosdistro lyrical --from-paths src --ignore-src -r -y -colcon build --merge-install --executor sequential --symlink-install -source install/setup.bash -``` - -The manifest tracks the companion `dockwater` and `rocker` repositories on -their `main` branches. For a repeatable experiment, save the resolved revisions: - -```bash -vcs export src --exact > resolved.repos -``` - -CUDA sonar targets are conditional on a CUDA toolkit. Installing the rest of the -workspace without CUDA does not enable those sonar targets. WGPU is not part of -the initial POSIM import. - -## 4. Run a first scene - -```bash -ros2 launch dave_demos dave_world.launch.py world_name:=dave_ocean_waves -``` - -For a server-only world: - -```bash -ros2 launch dave_demos dave_world.launch.py \ - world_name:=dave_ocean_waves headless:=true -``` - -For a server-only REXROV run with interactive controls disabled: - -```bash -ros2 launch dave_demos dave_robot.launch.py \ - namespace:=rexrov world_name:=dave_ocean_waves z:=-5 paused:=false \ - gui:=false use_teleop:=false use_web_joystick:=false -``` - -Some sensors still require a rendering context during server-only execution. -First use may also need network access to Gazebo Fuel. See the -[demo guide](../examples/dave_demos/README.md) for other launch entries. diff --git a/docs/maintainer-setup.md b/docs/maintainer-setup.md deleted file mode 100644 index cda3f77c..00000000 --- a/docs/maintainer-setup.md +++ /dev/null @@ -1,48 +0,0 @@ -# CI and image configuration - -POSIM uses `main` as its default branch. DAVE repository secrets, runners, branch -rules, and completed CI runs are not copied by importing Git history. - -## Enable builds - -1. Grant the development account write access to `IOES-Lab/POSIM`. -2. Make the appropriate self-hosted runners available to this repository. The - workflows select `[self-hosted, x64]` and `[self-hosted, ARM64]`. Runners - registered only to the DAVE repository cannot receive POSIM jobs. -3. Check Docker access under the runner service account. -4. Set repository variable `POSIM_ENABLE_DOCKER_CI` to `true`. -5. Run both Docker workflows against the same POSIM commit. - -Until that variable is enabled, Docker jobs remain skipped. Lint runs on `main` -and pull requests. Docker jobs reject fork pull requests on self-hosted runners. -The image build uses the checked-out source as its Docker context. - -## Enable publication - -After builds work, create or authorize the `ioeslab/posim` Docker Hub repository -and configure these **repository secrets**: - -- `DOCKERHUB_USERNAME` -- `DOCKERHUB_TOKEN` with permission to push to `ioeslab/posim` - -Set repository variable `POSIM_PUBLISH_IMAGES` to `true` to enable login and -publication for non-PR builds. With that variable unset, the workflows build -without logging in or publishing. PR builds never publish images. - -The inherited DAVE PR-image publisher is omitted from the initial POSIM setup: -the imported Docker build workflows do not produce the image archives that it -requires. PR artifact publication needs a complete producer/consumer change and -separate validation before it can be enabled here. - -## Before a release - -- Record the exact source and resolved companion repository revisions. -- Confirm both architecture builds for that revision. -- Pull the published images on their target architectures and execute Quickstart - tests from their installed workspaces. -- Record the image digests and runtime results. -- State CUDA-dependent limitations and whether WGPU is actually included. -- Review package versioning, release notes, and the release tag together. - -The initial repository import is not a POSIM 1.0 release or a new runtime test -result. The first release announcement is prepared after these checks. diff --git a/examples/community/bluerov2_reconciled_path_control_ros2.md b/examples/community/bluerov2_reconciled_path_control_ros2.md index 50402baa..070a9d58 100644 --- a/examples/community/bluerov2_reconciled_path_control_ros2.md +++ b/examples/community/bluerov2_reconciled_path_control_ros2.md @@ -24,10 +24,10 @@ The package provides: The controller is designed to run with the DAVE BlueROV2 simulator in direct-control mode: ```bash -ros2 launch dave_demos dave_robot.launch.py \ +ros2 launch posim_demos posim_robot.launch.py \ z:=-0.5 \ namespace:=bluerov2 \ - world_name:=dave_ocean_waves \ + world_name:=posim_ocean_waves \ paused:=false \ use_ardusub:=false \ use_teleop:=false diff --git a/examples/dave_demos/CMakeLists.txt b/examples/posim_demos/CMakeLists.txt similarity index 69% rename from examples/dave_demos/CMakeLists.txt rename to examples/posim_demos/CMakeLists.txt index 7ff1361a..831c9270 100644 --- a/examples/dave_demos/CMakeLists.txt +++ b/examples/posim_demos/CMakeLists.txt @@ -1,11 +1,11 @@ cmake_minimum_required(VERSION 3.8) -project(dave_demos) +project(posim_demos) find_package(ament_cmake REQUIRED) install( DIRECTORY launch - DESTINATION share/dave_demos + DESTINATION share/posim_demos ) ament_package() diff --git a/examples/dave_demos/README.md b/examples/posim_demos/README.md similarity index 66% rename from examples/dave_demos/README.md rename to examples/posim_demos/README.md index 507bcd25..6b2e0beb 100644 --- a/examples/dave_demos/README.md +++ b/examples/posim_demos/README.md @@ -8,7 +8,7 @@ source /opt/ros/lyrical/setup.bash source ~/posim_ws/install/setup.bash ``` -The package remains named `dave_demos` for compatibility. Its four entry points +The package remains named `posim_demos` for compatibility. Its four entry points compose installed world, robot, sensor, and object descriptions. Existing resource hooks are installed by the packages; no manual CMake or hook edits are needed for the examples below. @@ -16,16 +16,16 @@ needed for the examples below. ## World ```bash -ros2 launch dave_demos dave_world.launch.py world_name:=dave_ocean_waves +ros2 launch posim_demos posim_world.launch.py world_name:=posim_ocean_waves ``` Append `headless:=true` for server-only execution. World names correspond to -files in `models/dave_worlds/worlds`, without the `.world` suffix. +files in `models/posim_worlds/worlds`, without the `.world` suffix. ## Object ```bash -ros2 launch dave_demos dave_object.launch.py \ +ros2 launch posim_demos posim_object.launch.py \ namespace:=mossy_cinder_block paused:=false ``` @@ -35,13 +35,13 @@ Remote assets may be downloaded on first use and cached by Gazebo. ## Sensor ```bash -ros2 launch dave_demos dave_sensor.launch.py \ +ros2 launch posim_demos posim_sensor.launch.py \ namespace:=nortek_dvl500_300 world_name:=dvl_world paused:=false z:=-30 ``` Use `gui:=false headless:=true` for a server-only run. Rendering sensors may still need a working render context when the graphical client is disabled. -The [CUDA sonar](../../gazebo/dave_gz_multibeam_sonar/README.md) has additional +The [CUDA sonar](../../gazebo/posim_gz_multibeam_sonar/README.md) has additional hardware and toolkit requirements. ## Robot @@ -49,15 +49,15 @@ hardware and toolkit requirements. REXROV: ```bash -ros2 launch dave_demos dave_robot.launch.py \ - namespace:=rexrov world_name:=dave_ocean_waves z:=-5 paused:=false +ros2 launch posim_demos posim_robot.launch.py \ + namespace:=rexrov world_name:=posim_ocean_waves z:=-5 paused:=false ``` BlueROV2, with the ArduSub/MAVROS dependencies from the installation guide: ```bash -ros2 launch dave_demos dave_robot.launch.py \ - namespace:=bluerov2 world_name:=dave_ocean_waves z:=-0.5 paused:=false +ros2 launch posim_demos posim_robot.launch.py \ + namespace:=bluerov2 world_name:=posim_ocean_waves z:=-0.5 paused:=false ``` Use `namespace:=bluerov2_heavy` for the heavy configuration. The @@ -66,8 +66,8 @@ Use `namespace:=bluerov2_heavy` for the heavy configuration. The Slocum glider: ```bash -ros2 launch dave_demos dave_robot.launch.py \ - namespace:=glider_slocum world_name:=dave_ocean_waves x:=4 z:=-1.5 paused:=false +ros2 launch posim_demos posim_robot.launch.py \ + namespace:=glider_slocum world_name:=posim_ocean_waves x:=4 z:=-1.5 paused:=false ``` For non-interactive robot runs, append: @@ -80,5 +80,5 @@ BlueROV runs can additionally use `open_qgc:=false open_virtual_joystick:=false` to prevent those applications from opening. To inspect the available arguments: ```bash -ros2 launch dave_demos dave_robot.launch.py --show-args +ros2 launch posim_demos posim_robot.launch.py --show-args ``` diff --git a/examples/dave_demos/launch/dave_object.launch.py b/examples/posim_demos/launch/posim_object.launch.py similarity index 97% rename from examples/dave_demos/launch/dave_object.launch.py rename to examples/posim_demos/launch/posim_object.launch.py index f85023fa..0dfd3638 100755 --- a/examples/dave_demos/launch/dave_object.launch.py +++ b/examples/posim_demos/launch/posim_object.launch.py @@ -26,7 +26,7 @@ def launch_setup(context, *args, **kwargs): world_name = LaunchConfiguration("world_name").perform(context) world_filename = f"{world_name}.world" world_filepath = PathJoinSubstitution( - [FindPackageShare("dave_worlds"), "worlds", world_filename] + [FindPackageShare("posim_worlds"), "worlds", world_filename] ) gz_args = [world_filepath] else: @@ -65,7 +65,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("dave_object_models"), + FindPackageShare("posim_object_models"), "launch", "upload_object.launch.py", ] diff --git a/examples/dave_demos/launch/dave_robot.launch.py b/examples/posim_demos/launch/posim_robot.launch.py similarity index 96% rename from examples/dave_demos/launch/dave_robot.launch.py rename to examples/posim_demos/launch/posim_robot.launch.py index ab05d3e6..d3218247 100644 --- a/examples/dave_demos/launch/dave_robot.launch.py +++ b/examples/posim_demos/launch/posim_robot.launch.py @@ -41,7 +41,7 @@ def launch_setup(context, *args, **kwargs): if selected_world_name != "empty.sdf": world_filename = f"{selected_world_name}.world" world_filepath = PathJoinSubstitution( - [FindPackageShare("dave_worlds"), "worlds", world_filename] + [FindPackageShare("posim_worlds"), "worlds", world_filename] ) world_element = ET.parse(world_filepath.perform(context)).getroot().find("world") if world_element is None or not world_element.get("name"): @@ -52,7 +52,7 @@ def launch_setup(context, *args, **kwargs): world_entity_name = "empty" gz_args = [world_name] - zoom_camera_value = "true" if selected_world_name == "dave_ocean_waves" else "false" + zoom_camera_value = "true" if selected_world_name == "posim_ocean_waves" else "false" run_server_only = ( headless.perform(context).lower() == "true" or gui.perform(context).lower() == "false" @@ -89,7 +89,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "launch", "upload_robot.launch.py", ] @@ -237,7 +237,7 @@ def generate_launch_description(): ), DeclareLaunchArgument( "virtual_joystick_url", - default_value=("https://ioes-lab.github.io/dave/extras/virtual_joystick.html"), + default_value=("https://ioes-lab.github.io/posim/extras/virtual_joystick.html"), description="URL for the virtual joystick page", ), DeclareLaunchArgument( diff --git a/examples/dave_demos/launch/dave_sensor.launch.py b/examples/posim_demos/launch/posim_sensor.launch.py similarity index 97% rename from examples/dave_demos/launch/dave_sensor.launch.py rename to examples/posim_demos/launch/posim_sensor.launch.py index 98104a4c..c24c99e3 100644 --- a/examples/dave_demos/launch/dave_sensor.launch.py +++ b/examples/posim_demos/launch/posim_sensor.launch.py @@ -26,7 +26,7 @@ def launch_setup(context, *args, **kwargs): world_name = LaunchConfiguration("world_name").perform(context) world_filename = f"{world_name}.world" world_filepath = PathJoinSubstitution( - [FindPackageShare("dave_worlds"), "worlds", world_filename] + [FindPackageShare("posim_worlds"), "worlds", world_filename] ) gz_args = [world_filepath] else: @@ -64,7 +64,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("dave_sensor_models"), + FindPackageShare("posim_sensor_models"), "launch", "upload_sensor.launch.py", ] diff --git a/examples/dave_demos/launch/dave_world.launch.py b/examples/posim_demos/launch/posim_world.launch.py similarity index 90% rename from examples/dave_demos/launch/dave_world.launch.py rename to examples/posim_demos/launch/posim_world.launch.py index 8b2c8a46..f63a0661 100644 --- a/examples/dave_demos/launch/dave_world.launch.py +++ b/examples/posim_demos/launch/posim_world.launch.py @@ -8,7 +8,7 @@ def launch_setup(context, *args, **kwargs): - pkg_dave_worlds = get_package_share_directory("dave_worlds") + pkg_posim_worlds = get_package_share_directory("posim_worlds") pkg_ros_gz_sim = get_package_share_directory("ros_gz_sim") world_name = LaunchConfiguration("world_name").perform(context) @@ -16,7 +16,7 @@ def launch_setup(context, *args, **kwargs): headless_flag = LaunchConfiguration("headless").perform(context) world_file_name = f"{world_name}.world" - world_path = os.path.join(pkg_dave_worlds, "worlds", world_file_name) + world_path = os.path.join(pkg_posim_worlds, "worlds", world_file_name) # Gazebo simulation launch gz_args = f"-r {world_path}" @@ -38,7 +38,7 @@ def generate_launch_description(): [ DeclareLaunchArgument( "world_name", - default_value="dave_bimanual_example", + default_value="posim_bimanual_example", description="Name of the world file", ), DeclareLaunchArgument( diff --git a/examples/dave_demos/package.xml b/examples/posim_demos/package.xml similarity index 95% rename from examples/dave_demos/package.xml rename to examples/posim_demos/package.xml index d4f93e44..76e781be 100644 --- a/examples/dave_demos/package.xml +++ b/examples/posim_demos/package.xml @@ -1,6 +1,6 @@ - dave_demos + posim_demos 0.1.0 A package for demo launch files. Rakesh Vivekanandan diff --git a/extras/repos/dave.lyrical.repos b/extras/repos/dave.lyrical.repos deleted file mode 100644 index 6e599634..00000000 --- a/extras/repos/dave.lyrical.repos +++ /dev/null @@ -1,17 +0,0 @@ ---- -# Compatibility filename; repository entries match posim.lyrical.repos. -repositories: - dockwater: - type: git - url: https://github.com/IOES-Lab/dockwater.git - version: main - - rocker: - type: git - url: https://github.com/IOES-Lab/rocker.git - version: main - - dave: - type: git - url: https://github.com/IOES-Lab/POSIM.git - version: main diff --git a/extras/repos/posim.lyrical.repos b/extras/repos/posim.lyrical.repos index b10abf99..46b802b3 100644 --- a/extras/repos/posim.lyrical.repos +++ b/extras/repos/posim.lyrical.repos @@ -1,5 +1,5 @@ --- -# POSIM repositories. Keep the dave checkout key for existing workspace paths. +# POSIM workspace repositories. repositories: dockwater: type: git @@ -11,7 +11,7 @@ repositories: url: https://github.com/IOES-Lab/rocker.git version: main - dave: + posim: type: git url: https://github.com/IOES-Lab/POSIM.git version: main diff --git a/extras/ros-lyrical-gz-jetty-install.sh b/extras/ros-lyrical-gz-jetty-install.sh index 5a3ccc71..b199364d 100755 --- a/extras/ros-lyrical-gz-jetty-install.sh +++ b/extras/ros-lyrical-gz-jetty-install.sh @@ -4,7 +4,7 @@ set -euo pipefail # A local checkout supplies the companion installers from the same revision. LOCAL_EXTRAS_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]:-.}")" && pwd)" -DAVE_EXTRAS_DIR="${DAVE_EXTRAS_DIR:-$LOCAL_EXTRAS_DIR}" +POSIM_EXTRAS_DIR="${POSIM_EXTRAS_DIR:-$LOCAL_EXTRAS_DIR}" DIST="${ROS_DISTRO:-lyrical}" echo @@ -100,8 +100,8 @@ sudo apt update && sudo apt install -y \ # Install ArduSub. The helper sources the Lyrical environment so the # ardupilot_gazebo build resolves Jetty's vendored CMake packages. sudo mkdir -p /opt/ardusub_ws && cd /opt/ardusub_ws || exit -if [[ -n "${DAVE_EXTRAS_DIR:-}" && -f "${DAVE_EXTRAS_DIR}/ardusub-ubuntu-install.sh" ]]; then - sudo cp "${DAVE_EXTRAS_DIR}/ardusub-ubuntu-install.sh" ./ardusub-ubuntu-install.sh +if [[ -n "${POSIM_EXTRAS_DIR:-}" && -f "${POSIM_EXTRAS_DIR}/ardusub-ubuntu-install.sh" ]]; then + sudo cp "${POSIM_EXTRAS_DIR}/ardusub-ubuntu-install.sh" ./ardusub-ubuntu-install.sh else sudo wget https://raw.githubusercontent.com/IOES-Lab/POSIM/main/extras/ardusub-ubuntu-install.sh fi @@ -114,8 +114,8 @@ sudo wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts sudo chmod +x install_geographiclib_datasets.sh && sudo bash ./install_geographiclib_datasets.sh # Fetch and build the pinned external waves during the same POSIM install. -if [[ -n "${DAVE_EXTRAS_DIR:-}" && -f "${DAVE_EXTRAS_DIR}/install-waves.sh" ]]; then - sudo bash "${DAVE_EXTRAS_DIR}/install-waves.sh" +if [[ -n "${POSIM_EXTRAS_DIR:-}" && -f "${POSIM_EXTRAS_DIR}/install-waves.sh" ]]; then + sudo bash "${POSIM_EXTRAS_DIR}/install-waves.sh" else # The one-liner installer may run without a local POSIM checkout. WAVE_HELPERS="$(mktemp -d)" @@ -128,7 +128,7 @@ else rm -rf "$WAVE_HELPERS" fi -# Environment variables setup (write to ~/.dave/env and source from shell rc) +# Environment variables setup (write to ~/.posim/env and source from shell rc) TARGET_USER="${SUDO_USER:-${USER:-}}" if [[ -z "$TARGET_USER" ]]; then TARGET_USER="$(id -un)" diff --git a/extras/surface/README.md b/extras/surface/README.md index d82cec69..e487c6e9 100644 --- a/extras/surface/README.md +++ b/extras/surface/README.md @@ -4,11 +4,11 @@ This redesign follows [POSIM PR #7](https://github.com/IOES-Lab/POSIM/pull/7). W ## Build and run -This optional Dockerfile currently targets the ARM64 base layout (`docker` user, `/home/docker/ardupilot`, `/home/docker/dave_ws`). Build the ARM64 image as described in `docs/docker.md`; Wave Sim is included by default, with no separate wave installation command. The optional surface overlay adds ArduRover and the WAM-V launch, reusing the wave installation when its recipe matches. From the repository root: +This optional Dockerfile currently targets the ARM64 base layout (`docker` user, `/home/docker/ardupilot`, `/home/docker/posim_ws`). Build the ARM64 image as described in `docs/docker.md`; Wave Sim is included by default, with no separate wave installation command. The optional surface overlay adds ArduRover and the WAM-V launch, reusing the wave installation when its recipe matches. From the repository root: ```sh docker build -f extras/surface/Dockerfile --build-arg POSIM_BASE_IMAGE=posim:dev-arm64-rdp -t posim:surface . -docker run --rm -it --entrypoint bash posim:surface -lc 'source /opt/ros/lyrical/setup.bash; source /home/docker/dave_ws/install/setup.bash; ros2 launch /opt/posim-surface/wamv.launch.py headless:=true' +docker run --rm -it --entrypoint bash posim:surface -lc 'source /opt/ros/lyrical/setup.bash; source /home/docker/posim_ws/install/setup.bash; ros2 launch /opt/posim-surface/wamv.launch.py headless:=true' ``` The same image contains **ArduSub and ArduRover** as separate binaries. Select one controller per vehicle/session; running both on the same ports is not supported by this single-vehicle example. Rover's `FRAME_CLASS=2` selects a boat. Independent left/right servo outputs 1/3 drive the aft propellers, with fixed engine steering joints. The demo starts on the surface. Native GUI use requires the usual display/GPU configuration. diff --git a/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/OceanCurrentPlugin.hh b/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/OceanCurrentPlugin.hh deleted file mode 100644 index d430ce32..00000000 --- a/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/OceanCurrentPlugin.hh +++ /dev/null @@ -1,114 +0,0 @@ -#ifndef DAVE_ROS_GZ_PLUGINS__OCEAN_CURRENT_PLUGIN_HH_ -#define DAVE_ROS_GZ_PLUGINS__OCEAN_CURRENT_PLUGIN_HH_ - -// Gazebo Simulation Related Headers -#include - -// ROS 2 Headers -#include -#include - -// Standard Library Headers -#include -#include -#include - -// Plugin-specific Headers -#include "dave_gz_world_plugins/OceanCurrentWorldPlugin.hh" - -// Dave Interfaces: Message Types -#include "dave_interfaces/msg/stratified_current_database.hpp" -#include "dave_interfaces/msg/stratified_current_velocity.hpp" - -// Dave Interfaces: Service Types -#include "dave_interfaces/srv/get_current_model.hpp" -#include "dave_interfaces/srv/get_origin_spherical_coord.hpp" -#include "dave_interfaces/srv/set_current_direction.hpp" -#include "dave_interfaces/srv/set_current_model.hpp" -#include "dave_interfaces/srv/set_current_velocity.hpp" -#include "dave_interfaces/srv/set_origin_spherical_coord.hpp" -#include "dave_interfaces/srv/set_stratified_current_direction.hpp" -#include "dave_interfaces/srv/set_stratified_current_velocity.hpp" - -// #include "dave_interfaces/srv/Stratified_Current_Database.hpp" -// #include "dave_interfaces/srv/Stratified_Current_Velocity.hpp" - -namespace dave_ros_gz_plugins -{ -class OceanCurrentPlugin : public gz::sim::System, - public gz::sim::ISystemConfigure, - public gz::sim::ISystemPostUpdate -{ -public: - OceanCurrentPlugin(); - ~OceanCurrentPlugin() override; - - // ---------------------------------------------- - - void Configure( - const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, - gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventMgr); - - // ---------------------------------------------- - - void PostUpdate(const gz::sim::UpdateInfo & _info, const gz::sim::EntityComponentManager & _ecm); - - // ---------------------------------------------- - - bool UpdateHorzAngle( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool UpdateStratHorzAngle( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool UpdateVertAngle( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool UpdateStratVertAngle( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool UpdateCurrentVelocity( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool UpdateStratCurrentVelocity( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool GetCurrentVelocityModel( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool GetCurrentHorzAngleModel( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool GetCurrentVertAngleModel( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool UpdateCurrentVelocityModel( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool UpdateCurrentHorzAngleModel( - const std::shared_ptr _req, - std::shared_ptr _res); - - bool UpdateCurrentVertAngleModel( - const std::shared_ptr _req, - std::shared_ptr _res); - -private: - // std::shared_ptr rosNode; - - struct PrivateData; - std::unique_ptr dataPtr; -}; -} // namespace dave_ros_gz_plugins - -#endif // DAVE_ROS_GZ_PLUGINS__OCEAN_CURRENT_PLUGIN_HH_ diff --git a/gazebo/dave_gz_model_plugins/CMakeLists.txt b/gazebo/posim_gz_model_plugins/CMakeLists.txt similarity index 83% rename from gazebo/dave_gz_model_plugins/CMakeLists.txt rename to gazebo/posim_gz_model_plugins/CMakeLists.txt index e4be1cf3..b67497f1 100644 --- a/gazebo/dave_gz_model_plugins/CMakeLists.txt +++ b/gazebo/posim_gz_model_plugins/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(dave_gz_model_plugins) +project(posim_gz_model_plugins) # Find required packages find_package(ament_cmake REQUIRED) @@ -12,10 +12,10 @@ find_package(std_msgs REQUIRED) find_package(gz-common 7 REQUIRED COMPONENTS profiler) find_package(gz-sim 10 REQUIRED) find_package(geometry_msgs REQUIRED) -find_package(dave_interfaces REQUIRED) +find_package(posim_interfaces REQUIRED) find_package(Protobuf REQUIRED) find_package(gz-msgs 12 REQUIRED) -find_package(dave_gz_world_plugins REQUIRED) +find_package(posim_gz_world_plugins REQUIRED) # Set version variables set(GZ_PLUGIN_VER "") @@ -38,10 +38,10 @@ target_link_libraries(OceanCurrentModelPlugin rclcpp::rclcpp ${std_msgs_TARGETS} ${geometry_msgs_TARGETS} - ${dave_interfaces_TARGETS} - dave_gz_world_plugins::gauss_markov_process - dave_gz_world_plugins::tidal_oscillation - dave_gz_world_plugins::dave_gz_world_plugins-msgs + ${posim_interfaces_TARGETS} + posim_gz_world_plugins::gauss_markov_process + posim_gz_world_plugins::tidal_oscillation + posim_gz_world_plugins::posim_gz_world_plugins-msgs ) # Install targets diff --git a/gazebo/dave_gz_model_plugins/hooks/dave_gz_model_plugins.dsv.in b/gazebo/posim_gz_model_plugins/hooks/posim_gz_model_plugins.dsv.in similarity index 100% rename from gazebo/dave_gz_model_plugins/hooks/dave_gz_model_plugins.dsv.in rename to gazebo/posim_gz_model_plugins/hooks/posim_gz_model_plugins.dsv.in diff --git a/gazebo/dave_gz_model_plugins/include/dave_gz_model_plugins/OceanCurrentModelPlugin.hh b/gazebo/posim_gz_model_plugins/include/posim_gz_model_plugins/OceanCurrentModelPlugin.hh similarity index 75% rename from gazebo/dave_gz_model_plugins/include/dave_gz_model_plugins/OceanCurrentModelPlugin.hh rename to gazebo/posim_gz_model_plugins/include/posim_gz_model_plugins/OceanCurrentModelPlugin.hh index 650eb237..a97b228b 100644 --- a/gazebo/dave_gz_model_plugins/include/dave_gz_model_plugins/OceanCurrentModelPlugin.hh +++ b/gazebo/posim_gz_model_plugins/include/posim_gz_model_plugins/OceanCurrentModelPlugin.hh @@ -1,10 +1,10 @@ -#ifndef DAVE_GZ_MODEL_PLUGINS__OCEANCURRENTMODELPLUGIN_HH_ -#define DAVE_GZ_MODEL_PLUGINS__OCEANCURRENTMODELPLUGIN_HH_ +#ifndef POSIM_GZ_MODEL_PLUGINS__OCEANCURRENTMODELPLUGIN_HH_ +#define POSIM_GZ_MODEL_PLUGINS__OCEANCURRENTMODELPLUGIN_HH_ -#include "dave_gz_world_plugins/gauss_markov_process.hh" -#include "dave_gz_world_plugins/tidal_oscillation.hh" -#include "dave_interfaces/msg/stratified_current_database.hpp" -#include "dave_interfaces/msg/stratified_current_velocity.hpp" +#include "posim_gz_world_plugins/gauss_markov_process.hh" +#include "posim_gz_world_plugins/tidal_oscillation.hh" +#include "posim_interfaces/msg/stratified_current_database.hpp" +#include "posim_interfaces/msg/stratified_current_velocity.hpp" // OceanCurrentModelPlugin @@ -23,7 +23,7 @@ #include #include -namespace dave_gz_model_plugins +namespace posim_gz_model_plugins { class OceanCurrentModelPlugin : public gz::sim::System, public gz::sim::ISystemConfigure, @@ -43,7 +43,7 @@ public: void LoadCurrentVelocityParams(sdf::ElementPtr _sdf, gz::sim::EntityComponentManager & _ecm); void UpdateDatabase( - const std::shared_ptr & _msg); + const std::shared_ptr & _msg); gz::sim::Entity GetModelEntity( const std::string & modelName, gz::sim::EntityComponentManager & ecm); @@ -69,6 +69,6 @@ private: struct PrivateData; std::unique_ptr dataPtr; }; -} // namespace dave_gz_model_plugins +} // namespace posim_gz_model_plugins -#endif // DAVE_GZ_MODEL_PLUGINS__OCEANCURRENTMODELPLUGIN_HH_ +#endif // POSIM_GZ_MODEL_PLUGINS__OCEANCURRENTMODELPLUGIN_HH_ diff --git a/gazebo/dave_gz_model_plugins/package.xml b/gazebo/posim_gz_model_plugins/package.xml similarity index 83% rename from gazebo/dave_gz_model_plugins/package.xml rename to gazebo/posim_gz_model_plugins/package.xml index 69953195..e828b487 100644 --- a/gazebo/dave_gz_model_plugins/package.xml +++ b/gazebo/posim_gz_model_plugins/package.xml @@ -1,6 +1,6 @@ - dave_gz_model_plugins + posim_gz_model_plugins 0.0.0 Dave Model Plugins Gaurav Kumar @@ -8,9 +8,9 @@ Ye-Seol Kwon Apache 2.0 ament_cmake - dave_gz_world_plugins - dave_ros_gz_plugins - dave_interfaces + posim_gz_world_plugins + posim_ros_gz_plugins + posim_interfaces rclcpp protobuf std_msgs diff --git a/gazebo/dave_gz_model_plugins/src/OceanCurrentModelPlugin.cc b/gazebo/posim_gz_model_plugins/src/OceanCurrentModelPlugin.cc similarity index 94% rename from gazebo/dave_gz_model_plugins/src/OceanCurrentModelPlugin.cc rename to gazebo/posim_gz_model_plugins/src/OceanCurrentModelPlugin.cc index 05a34732..d6f9e5e6 100644 --- a/gazebo/dave_gz_model_plugins/src/OceanCurrentModelPlugin.cc +++ b/gazebo/posim_gz_model_plugins/src/OceanCurrentModelPlugin.cc @@ -1,6 +1,6 @@ -#include "dave_gz_model_plugins/OceanCurrentModelPlugin.hh" -#include "dave_gz_world_plugins/gauss_markov_process.hh" -#include "dave_gz_world_plugins/tidal_oscillation.hh" +#include "posim_gz_model_plugins/OceanCurrentModelPlugin.hh" +#include "posim_gz_world_plugins/gauss_markov_process.hh" +#include "posim_gz_world_plugins/tidal_oscillation.hh" // Gazebo includes #include @@ -20,7 +20,7 @@ #include // Custom message interfaces -#include "dave_interfaces/msg/stratified_current_database.hpp" +#include "posim_interfaces/msg/stratified_current_database.hpp" // Standard library includes #include @@ -31,12 +31,12 @@ #include GZ_ADD_PLUGIN( - dave_gz_model_plugins::OceanCurrentModelPlugin, gz::sim::System, - dave_gz_model_plugins::OceanCurrentModelPlugin::ISystemConfigure, - dave_gz_model_plugins::OceanCurrentModelPlugin::ISystemUpdate, - dave_gz_model_plugins::OceanCurrentModelPlugin::ISystemPostUpdate) + posim_gz_model_plugins::OceanCurrentModelPlugin, gz::sim::System, + posim_gz_model_plugins::OceanCurrentModelPlugin::ISystemConfigure, + posim_gz_model_plugins::OceanCurrentModelPlugin::ISystemUpdate, + posim_gz_model_plugins::OceanCurrentModelPlugin::ISystemPostUpdate) -namespace dave_gz_model_plugins +namespace posim_gz_model_plugins { struct OceanCurrentModelPlugin::PrivateData { @@ -53,7 +53,7 @@ struct OceanCurrentModelPlugin::PrivateData gz::transport::Node::Publisher gz_current_vel_pub; std::shared_ptr ros_node_; rclcpp::Publisher::SharedPtr flowVelocityPub; - rclcpp::Subscription::SharedPtr databaseSub; + rclcpp::Subscription::SharedPtr databaseSub; // Topics std::string currentVelocityTopic; @@ -73,9 +73,9 @@ struct OceanCurrentModelPlugin::PrivateData std::vector database; // Gauss-Markov Process Models - dave_gz_world_plugins::GaussMarkovProcess currentVelNorthModel; - dave_gz_world_plugins::GaussMarkovProcess currentVelEastModel; - dave_gz_world_plugins::GaussMarkovProcess currentVelDownModel; + posim_gz_world_plugins::GaussMarkovProcess currentVelNorthModel; + posim_gz_world_plugins::GaussMarkovProcess currentVelEastModel; + posim_gz_world_plugins::GaussMarkovProcess currentVelDownModel; // Noise Amplitudes and Frequencies double noiseAmp_North; @@ -86,7 +86,7 @@ struct OceanCurrentModelPlugin::PrivateData double noiseFreq_Down; // Tidal Oscillation Model - dave_gz_world_plugins::TidalOscillation tide; + posim_gz_world_plugins::TidalOscillation tide; // Tidal Oscillation Settings and Flags bool tideFlag; @@ -130,7 +130,7 @@ void OceanCurrentModelPlugin::Configure( // Initialize the Gazebo transport node this->dataPtr->gz_node = std::make_shared(); - gzdbg << "dave_gz_model_plugins::OceanCurrentModelPlugin::Configure on entity: " << _entity + gzdbg << "posim_gz_model_plugins::OceanCurrentModelPlugin::Configure on entity: " << _entity << std::endl; // Clone the SDF element to allow calling non-const methods @@ -194,7 +194,7 @@ void OceanCurrentModelPlugin::Configure( // Subscribe to the stratified ocean current database this->dataPtr->databaseSub = - this->ros_node_->create_subscription( + this->ros_node_->create_subscription( this->dataPtr->transientCurrentVelocityTopic, 10, std::bind(&OceanCurrentModelPlugin::UpdateDatabase, this, std::placeholders::_1)); @@ -385,7 +385,7 @@ void OceanCurrentModelPlugin::LoadCurrentVelocityParams( } void OceanCurrentModelPlugin::UpdateDatabase( - const std::shared_ptr & _msg) + const std::shared_ptr & _msg) { this->dataPtr->lock_.lock(); @@ -643,7 +643,7 @@ void OceanCurrentModelPlugin::PostUpdate( if (_info.iterations % 1000 == 0) { - gzmsg << "dave_gz_model_plugins::OceanCurrentModelPlugin::PostUpdate" << std::endl; + gzmsg << "posim_gz_model_plugins::OceanCurrentModelPlugin::PostUpdate" << std::endl; } } } @@ -673,4 +673,4 @@ void OceanCurrentModelPlugin::PublishCurrentVelocity(const gz::sim::UpdateInfo & this->dataPtr->gz_current_vel_pub.Publish(currentVel); } -} // namespace dave_gz_model_plugins +} // namespace posim_gz_model_plugins diff --git a/gazebo/dave_gz_multibeam_sonar/README.md b/gazebo/posim_gz_multibeam_sonar/README.md similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/README.md rename to gazebo/posim_gz_multibeam_sonar/README.md diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/AcousticBeam.hh b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/AcousticBeam.hh similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/AcousticBeam.hh rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/AcousticBeam.hh diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/AxisAlignedPatch2.hh b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/AxisAlignedPatch2.hh similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/AxisAlignedPatch2.hh rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/AxisAlignedPatch2.hh diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/CMakeLists.txt diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.cc b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.cc similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.cc rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.cc diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.hh b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.hh similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.hh rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/MultibeamSonarSensor.hh diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/hooks/multibeam_sonar.dsv.in b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/hooks/multibeam_sonar.dsv.in similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/hooks/multibeam_sonar.dsv.in rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/hooks/multibeam_sonar.dsv.in diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/package.xml b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/package.xml similarity index 89% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/package.xml rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/package.xml index 423f4002..5ebfc72c 100644 --- a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/package.xml +++ b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/package.xml @@ -2,7 +2,7 @@ multibeam_sonar 0.0.1 - DAVE multibeam sonar sensor + POSIM multibeam sonar sensor Woen-Sug Choi Helena Moyen Gaurav kumar @@ -16,7 +16,7 @@ image_transport marine_acoustic_msgs pcl_conversions - dave_interfaces + posim_interfaces protobuf ament_lint_auto diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cu b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cu similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cu rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cu diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cuh b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cuh similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cuh rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar/sonar_calculation_cuda.cuh diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt similarity index 92% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt index 0c1b3234..1bf592ad 100644 --- a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt +++ b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(dave_multibeam_sonar_demo) +project(posim_multibeam_sonar_demo) find_package(ament_cmake REQUIRED) find_package(CUDAToolkit QUIET) diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/hooks/dave_multibeam_sonar_demo.dsv.in b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/hooks/posim_multibeam_sonar_demo.dsv.in similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/hooks/dave_multibeam_sonar_demo.dsv.in rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/hooks/posim_multibeam_sonar_demo.dsv.in diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py similarity index 82% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py index 56d88cc2..2554c936 100644 --- a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py +++ b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/launch/multibeam_sonar_demo.launch.py @@ -27,14 +27,14 @@ def generate_launch_description(): - pkg_dave_demos = get_package_share_directory("dave_demos") + pkg_posim_demos = get_package_share_directory("posim_demos") multibeam_sonar_sim = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_dave_demos, "launch", "dave_sensor.launch.py") + os.path.join(pkg_posim_demos, "launch", "posim_sensor.launch.py") ), launch_arguments={ "namespace": "blueview_p900", - "world_name": "dave_multibeam_sonar", + "world_name": "posim_multibeam_sonar", "paused": "false", "x": "5.8", "z": "2", @@ -43,13 +43,13 @@ def generate_launch_description(): ) # RViz - pkg_dave_multibeam_sonar_demo = get_package_share_directory("dave_multibeam_sonar_demo") + pkg_posim_multibeam_sonar_demo = get_package_share_directory("posim_multibeam_sonar_demo") rviz = Node( package="rviz2", executable="rviz2", arguments=[ "-d", - os.path.join(pkg_dave_multibeam_sonar_demo, "rviz", "multibeam_sonar.rviz"), + os.path.join(pkg_posim_multibeam_sonar_demo, "rviz", "multibeam_sonar.rviz"), ], condition=IfCondition(LaunchConfiguration("rviz")), ) diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/package.xml b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/package.xml similarity index 93% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/package.xml rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/package.xml index 3026399a..f9ec437d 100644 --- a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/package.xml +++ b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/package.xml @@ -1,6 +1,6 @@ - dave_multibeam_sonar_demo + posim_multibeam_sonar_demo 0.1.0 A package for multibeam sonar demo files Woen-Sug Choi diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/rviz/multibeam_sonar.rviz b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/rviz/multibeam_sonar.rviz similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/rviz/multibeam_sonar.rviz rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/rviz/multibeam_sonar.rviz diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/scripts/plotdata.py b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/scripts/plotdata.py similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_demo/scripts/plotdata.py rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_demo/scripts/plotdata.py diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/CMakeLists.txt diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.cc b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.cc similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.cc rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.cc diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.hh b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.hh similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.hh rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/MultibeamSonarSystem.hh diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/hooks/multibeam_sonar_system.dsv.in b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/hooks/multibeam_sonar_system.dsv.in similarity index 100% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/hooks/multibeam_sonar_system.dsv.in rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/hooks/multibeam_sonar_system.dsv.in diff --git a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/package.xml b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/package.xml similarity index 92% rename from gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/package.xml rename to gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/package.xml index 89fe6121..36ba878a 100644 --- a/gazebo/dave_gz_multibeam_sonar/multibeam_sonar_system/package.xml +++ b/gazebo/posim_gz_multibeam_sonar/multibeam_sonar_system/package.xml @@ -2,7 +2,7 @@ multibeam_sonar_system 0.0.1 - DAVE multibeam sonar sensor system + POSIM multibeam sonar sensor system Woen-Sug Choi Helena Moyen Gaurav kumar diff --git a/gazebo/dave_gz_sensor_plugins/CMakeLists.txt b/gazebo/posim_gz_sensor_plugins/CMakeLists.txt similarity index 95% rename from gazebo/dave_gz_sensor_plugins/CMakeLists.txt rename to gazebo/posim_gz_sensor_plugins/CMakeLists.txt index 06ee9345..1f83f32e 100644 --- a/gazebo/dave_gz_sensor_plugins/CMakeLists.txt +++ b/gazebo/posim_gz_sensor_plugins/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(dave_gz_sensor_plugins) +project(posim_gz_sensor_plugins) # Find required packages find_package(ament_cmake REQUIRED) @@ -11,7 +11,7 @@ find_package(std_msgs REQUIRED) find_package(gz-common 7 REQUIRED COMPONENTS profiler) find_package(gz-sim 10 REQUIRED) find_package(geometry_msgs REQUIRED) -find_package(dave_interfaces REQUIRED) +find_package(posim_interfaces REQUIRED) find_package(sensor_msgs REQUIRED) find_package(Protobuf REQUIRED) find_package(gz-msgs 12 REQUIRED) @@ -56,7 +56,7 @@ target_link_libraries(UnderwaterCamera # Specify dependencies for FullSystem using ament_target_dependencies target_link_libraries(UsblTransceiver - ${dave_interfaces_TARGETS} + ${posim_interfaces_TARGETS} ${sensor_msgs_TARGETS} rclcpp::rclcpp ${geometry_msgs_TARGETS} @@ -64,7 +64,7 @@ target_link_libraries(UsblTransceiver ) target_link_libraries(UsblTransponder - ${dave_interfaces_TARGETS} + ${posim_interfaces_TARGETS} rclcpp::rclcpp ${std_msgs_TARGETS} ) diff --git a/gazebo/dave_gz_sensor_plugins/hooks/dave_gz_sensor_plugins.dsv.in b/gazebo/posim_gz_sensor_plugins/hooks/posim_gz_sensor_plugins.dsv.in similarity index 100% rename from gazebo/dave_gz_sensor_plugins/hooks/dave_gz_sensor_plugins.dsv.in rename to gazebo/posim_gz_sensor_plugins/hooks/posim_gz_sensor_plugins.dsv.in diff --git a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UnderwaterCamera.hh b/gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UnderwaterCamera.hh similarity index 88% rename from gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UnderwaterCamera.hh rename to gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UnderwaterCamera.hh index 91725041..553a53ed 100644 --- a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UnderwaterCamera.hh +++ b/gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UnderwaterCamera.hh @@ -15,8 +15,8 @@ * */ -#ifndef DAVE_GZ_SENSOR_PLUGINS__UNDERWATERCAMERA_HH_ -#define DAVE_GZ_SENSOR_PLUGINS__UNDERWATERCAMERA_HH_ +#ifndef POSIM_GZ_SENSOR_PLUGINS__UNDERWATERCAMERA_HH_ +#define POSIM_GZ_SENSOR_PLUGINS__UNDERWATERCAMERA_HH_ #include #include @@ -28,7 +28,7 @@ #include #include -namespace dave_gz_sensor_plugins +namespace posim_gz_sensor_plugins { class UnderwaterCamera : public gz::sim::System, @@ -63,6 +63,6 @@ private: struct PrivateData; std::unique_ptr dataPtr; }; -} // namespace dave_gz_sensor_plugins +} // namespace posim_gz_sensor_plugins -#endif // DAVE_GZ_SENSOR_PLUGINS__UNDERWATERCAMERA_HH_ +#endif // POSIM_GZ_SENSOR_PLUGINS__UNDERWATERCAMERA_HH_ diff --git a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UsblTransceiver.hh b/gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UsblTransceiver.hh similarity index 82% rename from gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UsblTransceiver.hh rename to gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UsblTransceiver.hh index 24dac936..16421e7e 100644 --- a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UsblTransceiver.hh +++ b/gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UsblTransceiver.hh @@ -15,8 +15,8 @@ * */ -#ifndef DAVE_GZ_SENSOR_PLUGINS__USBLTRANSCEIVER_HH_ -#define DAVE_GZ_SENSOR_PLUGINS__USBLTRANSCEIVER_HH_ +#ifndef POSIM_GZ_SENSOR_PLUGINS__USBLTRANSCEIVER_HH_ +#define POSIM_GZ_SENSOR_PLUGINS__USBLTRANSCEIVER_HH_ #include #include @@ -27,11 +27,11 @@ #include #include #include -#include "dave_interfaces/msg/location.hpp" -#include "dave_interfaces/msg/usbl_command.hpp" -#include "dave_interfaces/msg/usbl_response.hpp" +#include "posim_interfaces/msg/location.hpp" +#include "posim_interfaces/msg/usbl_command.hpp" +#include "posim_interfaces/msg/usbl_response.hpp" -namespace dave_gz_sensor_plugins +namespace posim_gz_sensor_plugins { class UsblTransceiver : public gz::sim::System, @@ -53,7 +53,7 @@ public: const std::string & transponder, const gz::msgs::Vector3d & transponder_position); void temperatureRosCallback(const std_msgs::msg::Float64::SharedPtr msg); void interrogationModeRosCallback(const std_msgs::msg::String::SharedPtr msg); - void commandingResponseCallback(const dave_interfaces::msg::UsblResponse msg); + void commandingResponseCallback(const posim_interfaces::msg::UsblResponse msg); void channelSwitchCallback(const std_msgs::msg::String::SharedPtr msg); void commandingResponseTestCallback(const std_msgs::msg::String::SharedPtr msg); void sendCommand(int command_id, std::string & transponder_id); @@ -68,6 +68,6 @@ private: struct PrivateData; std::unique_ptr dataPtr; }; -} // namespace dave_gz_sensor_plugins +} // namespace posim_gz_sensor_plugins -#endif // DAVE_GZ_SENSOR_PLUGINS__USBLTRANSCEIVER_HH_ +#endif // POSIM_GZ_SENSOR_PLUGINS__USBLTRANSCEIVER_HH_ diff --git a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UsblTransponder.hh b/gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UsblTransponder.hh similarity index 81% rename from gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UsblTransponder.hh rename to gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UsblTransponder.hh index 6cf6cdd1..bbaf807d 100644 --- a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/UsblTransponder.hh +++ b/gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/UsblTransponder.hh @@ -15,8 +15,8 @@ * */ -#ifndef DAVE_GZ_SENSOR_PLUGINS__USBLTRANSPONDER_HH_ -#define DAVE_GZ_SENSOR_PLUGINS__USBLTRANSPONDER_HH_ +#ifndef POSIM_GZ_SENSOR_PLUGINS__USBLTRANSPONDER_HH_ +#define POSIM_GZ_SENSOR_PLUGINS__USBLTRANSPONDER_HH_ #include #include @@ -26,10 +26,10 @@ #include #include #include -#include "dave_interfaces/msg/usbl_command.hpp" -#include "dave_interfaces/msg/usbl_response.hpp" +#include "posim_interfaces/msg/usbl_command.hpp" +#include "posim_interfaces/msg/usbl_response.hpp" -namespace dave_gz_sensor_plugins +namespace posim_gz_sensor_plugins { class UsblTransponder : public gz::sim::System, @@ -51,7 +51,7 @@ public: void iisRosCallback(const std_msgs::msg::String::SharedPtr msg); void temperatureRosCallback(const std_msgs::msg::Float64::SharedPtr msg); void cisRosCallback(const std_msgs::msg::String::SharedPtr msg); - void commandRosCallback(const dave_interfaces::msg::UsblCommand msg); + void commandRosCallback(const posim_interfaces::msg::UsblCommand msg); void sendPing(); void interrogationModeCallback(const std_msgs::msg::String::SharedPtr msg); @@ -61,6 +61,6 @@ private: struct PrivateData; std::unique_ptr dataPtr; }; -} // namespace dave_gz_sensor_plugins +} // namespace posim_gz_sensor_plugins -#endif // DAVE_GZ_SENSOR_PLUGINS__USBLTRANSPONDER_HH_ +#endif // POSIM_GZ_SENSOR_PLUGINS__USBLTRANSPONDER_HH_ diff --git a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/sea_pressure_sensor.hh b/gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/sea_pressure_sensor.hh similarity index 88% rename from gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/sea_pressure_sensor.hh rename to gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/sea_pressure_sensor.hh index d729f360..f1b07042 100644 --- a/gazebo/dave_gz_sensor_plugins/include/dave_gz_sensor_plugins/sea_pressure_sensor.hh +++ b/gazebo/posim_gz_sensor_plugins/include/posim_gz_sensor_plugins/sea_pressure_sensor.hh @@ -1,5 +1,5 @@ -#ifndef dave_gz_sensor_plugins__SUBSEA_PRESSURE_SENSOR_HH_ -#define dave_gz_sensor_plugins__SUBSEA_PRESSURE_SENSOR_HH_ +#ifndef posim_gz_sensor_plugins__SUBSEA_PRESSURE_SENSOR_HH_ +#define posim_gz_sensor_plugins__SUBSEA_PRESSURE_SENSOR_HH_ #include #include @@ -8,7 +8,7 @@ #include #include -namespace dave_gz_sensor_plugins +namespace posim_gz_sensor_plugins { class SubseaPressureSensorPlugin : public gz::sim::System, public gz::sim::ISystemConfigure, @@ -43,6 +43,6 @@ private: struct PrivateData; std::unique_ptr dataPtr; }; -} // namespace dave_gz_sensor_plugins +} // namespace posim_gz_sensor_plugins #endif // __UUV_SUBSEA_PRESSURE_ROS_PLUGIN_HH__ \ No newline at end of file diff --git a/gazebo/dave_gz_sensor_plugins/package.xml b/gazebo/posim_gz_sensor_plugins/package.xml similarity index 83% rename from gazebo/dave_gz_sensor_plugins/package.xml rename to gazebo/posim_gz_sensor_plugins/package.xml index 2b621e59..fe29ef56 100644 --- a/gazebo/dave_gz_sensor_plugins/package.xml +++ b/gazebo/posim_gz_sensor_plugins/package.xml @@ -1,8 +1,8 @@ - dave_gz_sensor_plugins + posim_gz_sensor_plugins 0.0.0 - DAVE sensor plugins + POSIM sensor plugins Gaurav kumar Helena Moyen Rakesh Vivekanandan @@ -12,10 +12,10 @@ geometry_msgs ament_cmake ament_lint_auto - dave_interfaces + posim_interfaces protobuf protobuf - dave_interfaces + posim_interfaces rclcpp sensor_msgs diff --git a/gazebo/dave_gz_sensor_plugins/src/UnderwaterCamera.cc b/gazebo/posim_gz_sensor_plugins/src/UnderwaterCamera.cc similarity index 95% rename from gazebo/dave_gz_sensor_plugins/src/UnderwaterCamera.cc rename to gazebo/posim_gz_sensor_plugins/src/UnderwaterCamera.cc index 57d5a01e..2b09bb80 100644 --- a/gazebo/dave_gz_sensor_plugins/src/UnderwaterCamera.cc +++ b/gazebo/posim_gz_sensor_plugins/src/UnderwaterCamera.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "dave_gz_sensor_plugins/UnderwaterCamera.hh" +#include "posim_gz_sensor_plugins/UnderwaterCamera.hh" #include #include #include @@ -32,11 +32,11 @@ #include "gz/sim/components/World.hh" GZ_ADD_PLUGIN( - dave_gz_sensor_plugins::UnderwaterCamera, gz::sim::System, - dave_gz_sensor_plugins::UnderwaterCamera::ISystemConfigure, - dave_gz_sensor_plugins::UnderwaterCamera::ISystemPostUpdate) + posim_gz_sensor_plugins::UnderwaterCamera, gz::sim::System, + posim_gz_sensor_plugins::UnderwaterCamera::ISystemConfigure, + posim_gz_sensor_plugins::UnderwaterCamera::ISystemPostUpdate) -namespace dave_gz_sensor_plugins +namespace posim_gz_sensor_plugins { struct UnderwaterCamera::PrivateData @@ -101,7 +101,7 @@ void UnderwaterCamera::Configure( const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventManager) { - gzdbg << "dave_gz_sensor_plugins::UnderwaterCamera::Configure on entity: " << _entity + gzdbg << "posim_gz_sensor_plugins::UnderwaterCamera::Configure on entity: " << _entity << std::endl; auto rgbdCamera = _ecm.Component(_entity); @@ -346,7 +346,7 @@ void UnderwaterCamera::CameraCallback(const gz::msgs::Image & msg) } else { - gzmsg << "dave_gz_sensor_plugins::UnderwaterCamera::CameraCallback" << std::endl; + gzmsg << "posim_gz_sensor_plugins::UnderwaterCamera::CameraCallback" << std::endl; if (this->dataPtr->firstImage) { @@ -391,7 +391,7 @@ void UnderwaterCamera::DepthImageCallback(const gz::msgs::Image & msg) { std::lock_guard lock(this->dataPtr->mutex_); - gzmsg << "dave_gz_sensor_plugins::UnderwaterCamera::DepthImageCallback" << std::endl; + gzmsg << "posim_gz_sensor_plugins::UnderwaterCamera::DepthImageCallback" << std::endl; this->dataPtr->lastDepth = msg; } @@ -446,9 +446,9 @@ void UnderwaterCamera::PostUpdate( if (_info.iterations % 1000 == 0) { - gzmsg << "dave_gz_sensor_plugins::UnderwaterCamera::PostUpdate" << std::endl; + gzmsg << "posim_gz_sensor_plugins::UnderwaterCamera::PostUpdate" << std::endl; } } } -} // namespace dave_gz_sensor_plugins +} // namespace posim_gz_sensor_plugins diff --git a/gazebo/dave_gz_sensor_plugins/src/UsblTransceiver.cc b/gazebo/posim_gz_sensor_plugins/src/UsblTransceiver.cc similarity index 93% rename from gazebo/dave_gz_sensor_plugins/src/UsblTransceiver.cc rename to gazebo/posim_gz_sensor_plugins/src/UsblTransceiver.cc index 4ed1b637..bdb323d5 100644 --- a/gazebo/dave_gz_sensor_plugins/src/UsblTransceiver.cc +++ b/gazebo/posim_gz_sensor_plugins/src/UsblTransceiver.cc @@ -37,18 +37,18 @@ #include -#include "dave_gz_sensor_plugins/UsblTransceiver.hh" +#include "posim_gz_sensor_plugins/UsblTransceiver.hh" // available interrogation modes std::vector im = {"common", "individual"}; using std::placeholders::_1; GZ_ADD_PLUGIN( - dave_gz_sensor_plugins::UsblTransceiver, gz::sim::System, - dave_gz_sensor_plugins::UsblTransceiver::ISystemConfigure, - dave_gz_sensor_plugins::UsblTransceiver::ISystemPostUpdate) + posim_gz_sensor_plugins::UsblTransceiver, gz::sim::System, + posim_gz_sensor_plugins::UsblTransceiver::ISystemConfigure, + posim_gz_sensor_plugins::UsblTransceiver::ISystemPostUpdate) -namespace dave_gz_sensor_plugins +namespace posim_gz_sensor_plugins { struct UsblTransceiver::PrivateData @@ -69,16 +69,16 @@ struct UsblTransceiver::PrivateData std::string m_interrogationMode; gz::sim::Entity linkEntity; gz::transport::Node m_gzNode; - rclcpp::Publisher::SharedPtr m_publishTransponderRelPos; + rclcpp::Publisher::SharedPtr m_publishTransponderRelPos; rclcpp::Publisher::SharedPtr m_cisPinger; rclcpp::Publisher::SharedPtr m_interrogationModePub; std::unordered_map::SharedPtr> m_iisPinger; - std::unordered_map::SharedPtr> + std::unordered_map::SharedPtr> m_commandPubs; - rclcpp::Publisher::SharedPtr m_publishTransponderRelPosCartesian; + rclcpp::Publisher::SharedPtr m_publishTransponderRelPosCartesian; rclcpp::Subscription::SharedPtr m_temperatureSub; rclcpp::Subscription::SharedPtr m_interrogationModeSub; - rclcpp::Subscription::SharedPtr m_commandResponseSub; + rclcpp::Subscription::SharedPtr m_commandResponseSub; rclcpp::Subscription::SharedPtr m_channelSwitchSub; rclcpp::Subscription::SharedPtr m_commandResponseTestSub; std::unordered_map> @@ -105,7 +105,8 @@ void UsblTransceiver::Configure( const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventManager) { - gzdbg << "dave_gz_sensor_plugins::UsblTransceiver::Configure on entity: " << _entity << std::endl; + gzdbg << "posim_gz_sensor_plugins::UsblTransceiver::Configure on entity: " << _entity + << std::endl; if (!rclcpp::ok()) { @@ -316,7 +317,7 @@ void UsblTransceiver::Configure( std::string cis_pinger_topic = "/" + this->dataPtr->ns + "/common_interrogation_ping"; this->dataPtr->m_publishTransponderRelPos = - this->ros_node_->create_publisher( + this->ros_node_->create_publisher( transponder_location_topic, 1); this->dataPtr->m_cisPinger = @@ -336,14 +337,14 @@ void UsblTransceiver::Configure( this->dataPtr->m_iisPinger[transponder] = this->ros_node_->create_publisher(ping_topic, 1); this->dataPtr->m_commandPubs[transponder] = - this->ros_node_->create_publisher(command_topic, 1); + this->ros_node_->create_publisher(command_topic, 1); } std::string transponder_location_cartesian_topic = "/" + this->dataPtr->ns + "/" + this->dataPtr->m_transceiverDevice + "_" + this->dataPtr->m_transceiverID + "/transponder_location_cartesian"; this->dataPtr->m_publishTransponderRelPosCartesian = - this->ros_node_->create_publisher( + this->ros_node_->create_publisher( transponder_location_cartesian_topic, 1); // ROS2 Subscribers @@ -359,7 +360,7 @@ void UsblTransceiver::Configure( std::bind(&UsblTransceiver::interrogationModeRosCallback, this, _1)); this->dataPtr->m_commandResponseSub = - this->ros_node_->create_subscription( + this->ros_node_->create_subscription( "/" + this->dataPtr->ns + "/" + this->dataPtr->m_transceiverDevice + "_" + this->dataPtr->m_transceiverID + "/command_response", 1, std::bind(&UsblTransceiver::commandingResponseCallback, this, _1)); @@ -384,7 +385,7 @@ void UsblTransceiver::commandingResponseTestCallback(const std_msgs::msg::String void UsblTransceiver::sendCommand(int command_id, std::string & transponder_id) { - dave_interfaces::msg::UsblCommand command; + posim_interfaces::msg::UsblCommand command; command.command_id = command_id; command.transponder_id = std::stoi(transponder_id); @@ -456,7 +457,7 @@ void UsblTransceiver::channelSwitchCallback(const std_msgs::msg::String::SharedP << std::endl; } -void UsblTransceiver::commandingResponseCallback(const dave_interfaces::msg::UsblResponse msg) +void UsblTransceiver::commandingResponseCallback(const posim_interfaces::msg::UsblResponse msg) { gzmsg << "Response_id: " << msg.response_id << ", transponder id: " << msg.transceiver_id << ", data: " << msg.data << std::endl; @@ -555,13 +556,13 @@ void UsblTransceiver::receiveGazeboCallback( void UsblTransceiver::publishPosition( int & transponder_id, double & bearing, double & range, double & elevation) { - dave_interfaces::msg::Location location; + posim_interfaces::msg::Location location; location.x = bearing; location.y = range; location.z = elevation; - dave_interfaces::msg::Location location_cartesian; + posim_interfaces::msg::Location location_cartesian; location_cartesian.x = range * cos(elevation * M_PI / 180) * cos(bearing * M_PI / 180); location_cartesian.y = range * cos(elevation * M_PI / 180) * sin(bearing * M_PI / 180); location_cartesian.z = range * sin(elevation * M_PI / 180); @@ -628,4 +629,4 @@ void UsblTransceiver::PostUpdate( } } -} // namespace dave_gz_sensor_plugins +} // namespace posim_gz_sensor_plugins diff --git a/gazebo/dave_gz_sensor_plugins/src/UsblTransponder.cc b/gazebo/posim_gz_sensor_plugins/src/UsblTransponder.cc similarity index 93% rename from gazebo/dave_gz_sensor_plugins/src/UsblTransponder.cc rename to gazebo/posim_gz_sensor_plugins/src/UsblTransponder.cc index 62899fa8..8fc544ca 100644 --- a/gazebo/dave_gz_sensor_plugins/src/UsblTransponder.cc +++ b/gazebo/posim_gz_sensor_plugins/src/UsblTransponder.cc @@ -35,16 +35,16 @@ #include #include -#include "dave_gz_sensor_plugins/UsblTransponder.hh" +#include "posim_gz_sensor_plugins/UsblTransponder.hh" using std::placeholders::_1; GZ_ADD_PLUGIN( - dave_gz_sensor_plugins::UsblTransponder, gz::sim::System, - dave_gz_sensor_plugins::UsblTransponder::ISystemConfigure, - dave_gz_sensor_plugins::UsblTransponder::ISystemPostUpdate) + posim_gz_sensor_plugins::UsblTransponder, gz::sim::System, + posim_gz_sensor_plugins::UsblTransponder::ISystemConfigure, + posim_gz_sensor_plugins::UsblTransponder::ISystemPostUpdate) -namespace dave_gz_sensor_plugins +namespace posim_gz_sensor_plugins { struct UsblTransponder::PrivateData @@ -66,12 +66,12 @@ struct UsblTransponder::PrivateData gz::transport::Node m_gzNode; gz::transport::Node::Publisher m_globalPosPub; gz::sim::Entity linkEntity; - rclcpp::Publisher::SharedPtr m_commandResponsePub; + rclcpp::Publisher::SharedPtr m_commandResponsePub; rclcpp::Subscription::SharedPtr m_iisSub; rclcpp::Subscription::SharedPtr m_cisSub; rclcpp::Subscription::SharedPtr m_interrogationModeSub; rclcpp::Subscription::SharedPtr m_temperatureSub; - rclcpp::Subscription::SharedPtr m_commandSub; + rclcpp::Subscription::SharedPtr m_commandSub; double m_soundSpeed; double m_temperature; }; @@ -87,7 +87,8 @@ void UsblTransponder::Configure( const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventManager) { - gzdbg << "dave_gz_sensor_plugins::UsblTransponder::Configure on entity: " << _entity << std::endl; + gzdbg << "posim_gz_sensor_plugins::UsblTransponder::Configure on entity: " << _entity + << std::endl; if (!rclcpp::ok()) { @@ -228,7 +229,7 @@ void UsblTransponder::Configure( this->dataPtr->m_transceiverID + "/command_response"); this->dataPtr->m_commandResponsePub = - this->ros_node_->create_publisher(commandResponseTopic, 1); + this->ros_node_->create_publisher(commandResponseTopic, 1); this->dataPtr->m_iisSub = this->ros_node_->create_subscription( "/" + this->dataPtr->ns + "/" + this->dataPtr->m_transponderDevice + "_" + @@ -245,7 +246,7 @@ void UsblTransponder::Configure( 1, std::bind(&UsblTransponder::temperatureRosCallback, this, _1)); this->dataPtr->m_commandSub = - this->ros_node_->create_subscription( + this->ros_node_->create_subscription( "/" + this->dataPtr->ns + "/" + this->dataPtr->m_transponderDevice + "_" + this->dataPtr->m_transponderID + "/command_request", 1, std::bind(&UsblTransponder::commandRosCallback, this, _1)); @@ -379,9 +380,9 @@ void UsblTransponder::temperatureRosCallback(const std_msgs::msg::Float64::Share << this->dataPtr->m_soundSpeed << " m/s\n"; } -void UsblTransponder::commandRosCallback(const dave_interfaces::msg::UsblCommand msg) +void UsblTransponder::commandRosCallback(const posim_interfaces::msg::UsblCommand msg) { - dave_interfaces::msg::UsblResponse response_msg; + posim_interfaces::msg::UsblResponse response_msg; response_msg.data = "Hi from transponder_" + this->dataPtr->m_transponderID; response_msg.response_id = 1; @@ -396,4 +397,4 @@ void UsblTransponder::PostUpdate( rclcpp::spin_some(this->ros_node_); } -} // namespace dave_gz_sensor_plugins +} // namespace posim_gz_sensor_plugins diff --git a/gazebo/dave_gz_sensor_plugins/src/sea_pressure_sensor.cc b/gazebo/posim_gz_sensor_plugins/src/sea_pressure_sensor.cc similarity index 92% rename from gazebo/dave_gz_sensor_plugins/src/sea_pressure_sensor.cc rename to gazebo/posim_gz_sensor_plugins/src/sea_pressure_sensor.cc index 68a1227a..a0e132bc 100644 --- a/gazebo/dave_gz_sensor_plugins/src/sea_pressure_sensor.cc +++ b/gazebo/posim_gz_sensor_plugins/src/sea_pressure_sensor.cc @@ -1,4 +1,4 @@ -#include "dave_gz_sensor_plugins/sea_pressure_sensor.hh" +#include "posim_gz_sensor_plugins/sea_pressure_sensor.hh" #include #include #include @@ -22,12 +22,12 @@ #include GZ_ADD_PLUGIN( - dave_gz_sensor_plugins::SubseaPressureSensorPlugin, gz::sim::System, - dave_gz_sensor_plugins::SubseaPressureSensorPlugin::ISystemConfigure, - dave_gz_sensor_plugins::SubseaPressureSensorPlugin::ISystemPreUpdate, - dave_gz_sensor_plugins::SubseaPressureSensorPlugin::ISystemPostUpdate) + posim_gz_sensor_plugins::SubseaPressureSensorPlugin, gz::sim::System, + posim_gz_sensor_plugins::SubseaPressureSensorPlugin::ISystemConfigure, + posim_gz_sensor_plugins::SubseaPressureSensorPlugin::ISystemPreUpdate, + posim_gz_sensor_plugins::SubseaPressureSensorPlugin::ISystemPostUpdate) -namespace dave_gz_sensor_plugins +namespace posim_gz_sensor_plugins { struct SubseaPressureSensorPlugin::PrivateData { @@ -70,7 +70,7 @@ void SubseaPressureSensorPlugin::Configure( rclcpp::init(0, nullptr); } - gzdbg << "dave_gz_sensor_plugins::SubseaPressureSensorPlugin::Configure on entity: " << _entity + gzdbg << "posim_gz_sensor_plugins::SubseaPressureSensorPlugin::Configure on entity: " << _entity << std::endl; // Initialize the ROS 2 node @@ -198,7 +198,7 @@ void SubseaPressureSensorPlugin::PreUpdate( { // Get model pose gz::math::Pose3d sea_pressure_sensor_pos = GetModelPose(this->dataPtr->modelEntity, _ecm); - // DAVE worlds use ENU with the water surface at z=0. + // POSIM worlds use ENU with the water surface at z=0. const double depth = std::max(0.0, -sea_pressure_sensor_pos.Z()); this->dataPtr->pressure = this->dataPtr->standardPressure + depth * this->dataPtr->kPaPerM; @@ -274,9 +274,9 @@ void SubseaPressureSensorPlugin::PostUpdate( if (_info.iterations % 1000 == 0) { - gzmsg << "dave_ros_gz_plugins::SubseaPressureSensorPlugin::PostUpdate" << std::endl; + gzmsg << "posim_ros_gz_plugins::SubseaPressureSensorPlugin::PostUpdate" << std::endl; } } } -} // namespace dave_gz_sensor_plugins +} // namespace posim_gz_sensor_plugins diff --git a/gazebo/dave_gz_world_plugins/CMakeLists.txt b/gazebo/posim_gz_world_plugins/CMakeLists.txt similarity index 89% rename from gazebo/dave_gz_world_plugins/CMakeLists.txt rename to gazebo/posim_gz_world_plugins/CMakeLists.txt index 117cec47..b2f2628d 100644 --- a/gazebo/dave_gz_world_plugins/CMakeLists.txt +++ b/gazebo/posim_gz_world_plugins/CMakeLists.txt @@ -1,7 +1,7 @@ cmake_minimum_required(VERSION 3.8) #Define the project name -project(dave_gz_world_plugins) +project(posim_gz_world_plugins) # Suppress the parameter passing ABI warning add_compile_options(-Wno-psabi) @@ -19,7 +19,7 @@ find_package(std_msgs REQUIRED) find_package(gz-common 7 REQUIRED COMPONENTS profiler) find_package(gz-sim 10 REQUIRED) find_package(geometry_msgs REQUIRED) -find_package(dave_interfaces REQUIRED) +find_package(posim_interfaces REQUIRED) find_package(sensor_msgs REQUIRED) find_package(Protobuf REQUIRED) find_package(gz-msgs 12 REQUIRED) @@ -38,12 +38,12 @@ set(GZ_MSGS_VER "") # Define a variable 'MSGS_PROTOS' listing the .proto files # cmake-lint: disable=C0301 set(MSGS_PROTOS - ${CMAKE_CURRENT_SOURCE_DIR}/proto/dave_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.proto + ${CMAKE_CURRENT_SOURCE_DIR}/proto/posim_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.proto ) gz_msgs_generate_messages( TARGET msgs - PROTO_PACKAGE "dave_gz_world_plugins_msgs.msgs" + PROTO_PACKAGE "posim_gz_world_plugins_msgs.msgs" MSGS_PATH ${CMAKE_CURRENT_SOURCE_DIR}/proto MSGS_PROTOS ${MSGS_PROTOS} DEPENDENCIES gz-msgs${GZ_MSGS_VER}::gz-msgs${GZ_MSGS_VER} @@ -65,7 +65,7 @@ target_include_directories(OceanCurrentWorldPlugin $ PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src - include ${dave_interfaces_INCLUDE_DIRS} + include ${posim_interfaces_INCLUDE_DIRS} ) target_include_directories(gauss_markov_process PUBLIC @@ -86,7 +86,7 @@ target_link_libraries(OceanCurrentWorldPlugin gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} gauss_markov_process tidal_oscillation - dave_gz_world_plugins-msgs + posim_gz_world_plugins-msgs ) target_link_libraries(gauss_markov_process gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER} @@ -99,7 +99,7 @@ target_link_libraries(OceanCurrentWorldPlugin rclcpp::rclcpp ${std_msgs_TARGETS} ${geometry_msgs_TARGETS} - ${dave_interfaces_TARGETS} + ${posim_interfaces_TARGETS} ament_index_cpp::ament_index_cpp gz-msgs::gz-msgs ) @@ -108,14 +108,14 @@ target_link_libraries(gauss_markov_process rclcpp::rclcpp ${std_msgs_TARGETS} ${geometry_msgs_TARGETS} - ${dave_interfaces_TARGETS} + ${posim_interfaces_TARGETS} ) target_link_libraries(tidal_oscillation rclcpp::rclcpp ${std_msgs_TARGETS} ${geometry_msgs_TARGETS} - ${dave_interfaces_TARGETS} + ${posim_interfaces_TARGETS} ) # Install targets @@ -124,7 +124,7 @@ install( OceanCurrentWorldPlugin gauss_markov_process tidal_oscillation - dave_gz_world_plugins-msgs + posim_gz_world_plugins-msgs EXPORT export_${PROJECT_NAME} LIBRARY DESTINATION lib ARCHIVE DESTINATION lib @@ -148,7 +148,7 @@ ament_export_dependencies( geometry_msgs sensor_msgs std_msgs - dave_interfaces + posim_interfaces rclcpp ) diff --git a/gazebo/dave_gz_world_plugins/hooks/dave_gz_world_plugins.dsv.in b/gazebo/posim_gz_world_plugins/hooks/posim_gz_world_plugins.dsv.in similarity index 100% rename from gazebo/dave_gz_world_plugins/hooks/dave_gz_world_plugins.dsv.in rename to gazebo/posim_gz_world_plugins/hooks/posim_gz_world_plugins.dsv.in diff --git a/gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/OceanCurrentWorldPlugin.hh b/gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/OceanCurrentWorldPlugin.hh similarity index 80% rename from gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/OceanCurrentWorldPlugin.hh rename to gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/OceanCurrentWorldPlugin.hh index 1d110683..cc13586a 100644 --- a/gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/OceanCurrentWorldPlugin.hh +++ b/gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/OceanCurrentWorldPlugin.hh @@ -1,10 +1,10 @@ -#ifndef DAVE_GZ_WORLD_PLUGINS__OCEAN_CURRENT_WORLD_PLUGIN_HH_ -#define DAVE_GZ_WORLD_PLUGINS__OCEAN_CURRENT_WORLD_PLUGIN_HH_ +#ifndef POSIM_GZ_WORLD_PLUGINS__OCEAN_CURRENT_WORLD_PLUGIN_HH_ +#define POSIM_GZ_WORLD_PLUGINS__OCEAN_CURRENT_WORLD_PLUGIN_HH_ -#include -#include +#include +#include #include -#include "dave_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.pb.h" +#include "posim_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.pb.h" // #include #include @@ -20,7 +20,7 @@ #include #include -namespace dave_gz_world_plugins +namespace posim_gz_world_plugins { class OceanCurrentWorldPlugin : public gz::sim::System, public gz::sim::ISystemConfigure, @@ -62,13 +62,13 @@ public: struct SharedData { // Gauss-Markov process instances for current models - dave_gz_world_plugins::GaussMarkovProcess currentHorzAngleModel; // Horizontal angle - dave_gz_world_plugins::GaussMarkovProcess currentVelModel; // Velocity - dave_gz_world_plugins::GaussMarkovProcess currentVertAngleModel; // Vertical angle + posim_gz_world_plugins::GaussMarkovProcess currentHorzAngleModel; // Horizontal angle + posim_gz_world_plugins::GaussMarkovProcess currentVelModel; // Velocity + posim_gz_world_plugins::GaussMarkovProcess currentVertAngleModel; // Vertical angle // Stratified current database and models std::vector stratifiedDatabase; // Database values for stratified currents - std::vector> + std::vector> stratifiedCurrentModels; // Stratified current models // Tidal harmonic flag @@ -115,6 +115,6 @@ private: std::unique_ptr dataPtr; }; -} // namespace dave_gz_world_plugins +} // namespace posim_gz_world_plugins -#endif // DAVE_GZ_WORLD_PLUGINS__OCEAN_CURRENT_WORLD_PLUGIN_HH_ +#endif // POSIM_GZ_WORLD_PLUGINS__OCEAN_CURRENT_WORLD_PLUGIN_HH_ diff --git a/gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/gauss_markov_process.hh b/gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/gauss_markov_process.hh similarity index 88% rename from gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/gauss_markov_process.hh rename to gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/gauss_markov_process.hh index fbc1736e..f38c313f 100644 --- a/gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/gauss_markov_process.hh +++ b/gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/gauss_markov_process.hh @@ -1,5 +1,5 @@ -#ifndef DAVE_GZ_WORLD_PLUGINS__GAUSS_MARKOV_PROCESS_HH_ -#define DAVE_GZ_WORLD_PLUGINS__GAUSS_MARKOV_PROCESS_HH_ +#ifndef POSIM_GZ_WORLD_PLUGINS__GAUSS_MARKOV_PROCESS_HH_ +#define POSIM_GZ_WORLD_PLUGINS__GAUSS_MARKOV_PROCESS_HH_ #include #include @@ -9,7 +9,7 @@ #include #include -namespace dave_gz_world_plugins +namespace posim_gz_world_plugins { /// \brief Implementation of a Gauss-Markov process to model the current /// velocity and direction according to [1] @@ -81,6 +81,6 @@ public: public: void Print(); }; -} // namespace dave_gz_world_plugins +} // namespace posim_gz_world_plugins -#endif // DAVE_GZ_WORLD_PLUGINS__GAUSS_MARKOV_PROCESS_HH_ +#endif // POSIM_GZ_WORLD_PLUGINS__GAUSS_MARKOV_PROCESS_HH_ diff --git a/gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/tidal_oscillation.hh b/gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/tidal_oscillation.hh similarity index 87% rename from gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/tidal_oscillation.hh rename to gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/tidal_oscillation.hh index f486bfbe..02d48e6f 100644 --- a/gazebo/dave_gz_world_plugins/include/dave_gz_world_plugins/tidal_oscillation.hh +++ b/gazebo/posim_gz_world_plugins/include/posim_gz_world_plugins/tidal_oscillation.hh @@ -1,5 +1,5 @@ -#ifndef DAVE_GZ_WORLD_PLUGINS__TIDAL_OSCILLATION_HH_ -#define DAVE_GZ_WORLD_PLUGINS__TIDAL_OSCILLATION_HH_ +#ifndef POSIM_GZ_WORLD_PLUGINS__TIDAL_OSCILLATION_HH_ +#define POSIM_GZ_WORLD_PLUGINS__TIDAL_OSCILLATION_HH_ #include #include @@ -11,7 +11,7 @@ // #include -namespace dave_gz_world_plugins +namespace posim_gz_world_plugins { /// \brief Interpolation of NOAA data for Tidal Oscillation feature class TidalOscillation @@ -99,6 +99,6 @@ public: public: bool currentType; }; -} // namespace dave_gz_world_plugins +} // namespace posim_gz_world_plugins -#endif // DAVE_GZ_WORLD_PLUGINS__TIDAL_OSCILLATION_HH_S +#endif // POSIM_GZ_WORLD_PLUGINS__TIDAL_OSCILLATION_HH_S diff --git a/gazebo/dave_gz_world_plugins/package.xml b/gazebo/posim_gz_world_plugins/package.xml similarity index 89% rename from gazebo/dave_gz_world_plugins/package.xml rename to gazebo/posim_gz_world_plugins/package.xml index f8f55ed0..f8f4ffe1 100644 --- a/gazebo/dave_gz_world_plugins/package.xml +++ b/gazebo/posim_gz_world_plugins/package.xml @@ -1,8 +1,8 @@ - dave_gz_world_plugins + posim_gz_world_plugins 0.0.0 - The dave_gz_world_plugins + The posim_gz_world_plugins Gaurav Kumar Woen-Sug Choi Ye-Seol Kwon @@ -16,7 +16,7 @@ rosidl_default_runtime rclcpp std_msgs - dave_interfaces + posim_interfaces sensor_msgs geometry_msgs ament_lint_auto diff --git a/gazebo/dave_gz_world_plugins/proto/dave_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.proto b/gazebo/posim_gz_world_plugins/proto/posim_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.proto similarity index 82% rename from gazebo/dave_gz_world_plugins/proto/dave_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.proto rename to gazebo/posim_gz_world_plugins/proto/posim_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.proto index 2e19eb56..e96f7521 100644 --- a/gazebo/dave_gz_world_plugins/proto/dave_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.proto +++ b/gazebo/posim_gz_world_plugins/proto/posim_gz_world_plugins_msgs/msgs/StratifiedCurrentVelocity.proto @@ -1,5 +1,5 @@ syntax = "proto3"; -package dave_gz_world_plugins_msgs.msgs; +package posim_gz_world_plugins_msgs.msgs; import "gz/msgs/vector3d.proto"; // import "any.proto"; diff --git a/gazebo/dave_gz_world_plugins/src/OceanCurrentWorldPlugin.cc b/gazebo/posim_gz_world_plugins/src/OceanCurrentWorldPlugin.cc similarity index 95% rename from gazebo/dave_gz_world_plugins/src/OceanCurrentWorldPlugin.cc rename to gazebo/posim_gz_world_plugins/src/OceanCurrentWorldPlugin.cc index e1084472..692a9b56 100644 --- a/gazebo/dave_gz_world_plugins/src/OceanCurrentWorldPlugin.cc +++ b/gazebo/posim_gz_world_plugins/src/OceanCurrentWorldPlugin.cc @@ -1,8 +1,8 @@ // Include the necessary headers for Ocean Current Plugin -#include "dave_gz_world_plugins/OceanCurrentWorldPlugin.hh" +#include "posim_gz_world_plugins/OceanCurrentWorldPlugin.hh" // Include messages for Stratified Current Velocity -#include +#include // Include Gazebo and Ignition libraries #include @@ -35,16 +35,16 @@ #include // Custom plugin headers -#include "dave_gz_world_plugins/gauss_markov_process.hh" // For Gauss-Markov process -#include "dave_gz_world_plugins/tidal_oscillation.hh" // For tidal oscillation modeling +#include "posim_gz_world_plugins/gauss_markov_process.hh" // For Gauss-Markov process +#include "posim_gz_world_plugins/tidal_oscillation.hh" // For tidal oscillation modeling GZ_ADD_PLUGIN( - dave_gz_world_plugins::OceanCurrentWorldPlugin, gz::sim::System, - dave_gz_world_plugins::OceanCurrentWorldPlugin::ISystemConfigure, - dave_gz_world_plugins::OceanCurrentWorldPlugin::ISystemUpdate, - dave_gz_world_plugins::OceanCurrentWorldPlugin::ISystemPostUpdate) + posim_gz_world_plugins::OceanCurrentWorldPlugin, gz::sim::System, + posim_gz_world_plugins::OceanCurrentWorldPlugin::ISystemConfigure, + posim_gz_world_plugins::OceanCurrentWorldPlugin::ISystemUpdate, + posim_gz_world_plugins::OceanCurrentWorldPlugin::ISystemPostUpdate) -namespace dave_gz_world_plugins +namespace posim_gz_world_plugins { struct OceanCurrentWorldPlugin::PrivateData { @@ -76,7 +76,7 @@ struct OceanCurrentWorldPlugin::PrivateData // Tidal Oscillation Variables bool tideFlag; - dave_gz_world_plugins::TidalOscillation tide; + posim_gz_world_plugins::TidalOscillation tide; // Timing std::chrono::steady_clock::duration lastUpdate{0}; @@ -177,7 +177,7 @@ void OceanCurrentWorldPlugin::LoadTidalOscillationDatabase() } else { - this->dataPtr->tidalFilePath = ament_index_cpp::get_package_share_directory("dave_worlds") + + this->dataPtr->tidalFilePath = ament_index_cpp::get_package_share_directory("posim_worlds") + "/worlds/ACT1951_1_Annual_2021.csv"; } } @@ -424,13 +424,13 @@ void OceanCurrentWorldPlugin::LoadStratifiedCurrentDatabase() // Read the depth dependent ocean current file path from the SDF file if (transientCurrentParams->HasElement("databasefileName")) { - this->dataPtr->databaseFilePath = ament_index_cpp::get_package_share_directory("dave_worlds") + + this->dataPtr->databaseFilePath = ament_index_cpp::get_package_share_directory("posim_worlds") + "/worlds/" + transientCurrentParams->Get("databasefileName"); } else { - this->dataPtr->databaseFilePath = ament_index_cpp::get_package_share_directory("dave_worlds") + + this->dataPtr->databaseFilePath = ament_index_cpp::get_package_share_directory("posim_worlds") + "/worlds/transientOceanCurrentDatabase.csv"; } @@ -488,7 +488,7 @@ void OceanCurrentWorldPlugin::LoadStratifiedCurrentDatabase() // Means are the database-specified magnitudes & angles, and // the other values come from the constant current models - dave_gz_world_plugins::GaussMarkovProcess magnitudeModel; + posim_gz_world_plugins::GaussMarkovProcess magnitudeModel; magnitudeModel.mean = hypot(row[1], row[0]); magnitudeModel.var = magnitudeModel.mean; magnitudeModel.max = this->sharedDataPtr->currentVelModel.max; @@ -497,7 +497,7 @@ void OceanCurrentWorldPlugin::LoadStratifiedCurrentDatabase() magnitudeModel.noiseAmp = this->sharedDataPtr->currentVelModel.noiseAmp; magnitudeModel.lastUpdate = std::chrono::duration(this->dataPtr->lastUpdate).count(); - dave_gz_world_plugins::GaussMarkovProcess hAngleModel; + posim_gz_world_plugins::GaussMarkovProcess hAngleModel; hAngleModel.mean = atan2(row[1], row[0]); hAngleModel.var = hAngleModel.mean; hAngleModel.max = M_PI; @@ -506,7 +506,7 @@ void OceanCurrentWorldPlugin::LoadStratifiedCurrentDatabase() hAngleModel.noiseAmp = this->sharedDataPtr->currentHorzAngleModel.noiseAmp; hAngleModel.lastUpdate = std::chrono::duration(this->dataPtr->lastUpdate).count(); - dave_gz_world_plugins::GaussMarkovProcess vAngleModel; + posim_gz_world_plugins::GaussMarkovProcess vAngleModel; vAngleModel.mean = 0.0; vAngleModel.var = vAngleModel.mean; vAngleModel.max = M_PI / 2.0; @@ -515,7 +515,7 @@ void OceanCurrentWorldPlugin::LoadStratifiedCurrentDatabase() vAngleModel.noiseAmp = this->sharedDataPtr->currentVertAngleModel.noiseAmp; vAngleModel.lastUpdate = std::chrono::duration(this->dataPtr->lastUpdate).count(); - std::vector depthModels; + std::vector depthModels; depthModels.push_back(magnitudeModel); depthModels.push_back(hAngleModel); depthModels.push_back(vAngleModel); @@ -524,7 +524,7 @@ void OceanCurrentWorldPlugin::LoadStratifiedCurrentDatabase() csvFile.close(); this->dataPtr->gz_node_scvel_world_pub = - this->dataPtr->gz_node.Advertise( + this->dataPtr->gz_node.Advertise( this->dataPtr->ns + "/" + this->sharedDataPtr->stratifiedCurrentVelocityTopic); gzmsg << "Stratified current velocity topic name: " @@ -819,7 +819,7 @@ void OceanCurrentWorldPlugin::PublishCurrentVelocity() ///////////////////////////////////////////////// void OceanCurrentWorldPlugin::PublishStratifiedCurrentVelocity() { - dave_gz_world_plugins_msgs::msgs::StratifiedCurrentVelocity stratcurrentVel; // check + posim_gz_world_plugins_msgs::msgs::StratifiedCurrentVelocity stratcurrentVel; // check for (std::vector::iterator it = this->sharedDataPtr->currentStratifiedVelocity.begin(); it != this->sharedDataPtr->currentStratifiedVelocity.end(); ++it) @@ -849,4 +849,4 @@ void OceanCurrentWorldPlugin::PostUpdate( } // ---------------------------------------------- -} // namespace dave_gz_world_plugins \ No newline at end of file +} // namespace posim_gz_world_plugins \ No newline at end of file diff --git a/gazebo/dave_gz_world_plugins/src/gauss_markov_process.cc b/gazebo/posim_gz_world_plugins/src/gauss_markov_process.cc similarity index 93% rename from gazebo/dave_gz_world_plugins/src/gauss_markov_process.cc rename to gazebo/posim_gz_world_plugins/src/gauss_markov_process.cc index e23d9e64..e98b92cc 100644 --- a/gazebo/dave_gz_world_plugins/src/gauss_markov_process.cc +++ b/gazebo/posim_gz_world_plugins/src/gauss_markov_process.cc @@ -1,6 +1,6 @@ -#include +#include -namespace dave_gz_world_plugins +namespace posim_gz_world_plugins { ///////////////////////////////////////////////// GaussMarkovProcess::GaussMarkovProcess() @@ -88,4 +88,4 @@ void GaussMarkovProcess::Print() << "\tMu = " << this->mu << std::endl << "\tNoise Amp. = " << this->noiseAmp << std::endl; } -} // namespace dave_gz_world_plugins +} // namespace posim_gz_world_plugins diff --git a/gazebo/dave_gz_world_plugins/src/tidal_oscillation.cc b/gazebo/posim_gz_world_plugins/src/tidal_oscillation.cc similarity index 97% rename from gazebo/dave_gz_world_plugins/src/tidal_oscillation.cc rename to gazebo/posim_gz_world_plugins/src/tidal_oscillation.cc index d3f94ad3..76430777 100644 --- a/gazebo/dave_gz_world_plugins/src/tidal_oscillation.cc +++ b/gazebo/posim_gz_world_plugins/src/tidal_oscillation.cc @@ -1,4 +1,4 @@ -#include +#include #include @@ -33,7 +33,7 @@ double calcdatenum(int year, int mon, int day, int hour, int imin, int sec, int } } // namespace std -namespace dave_gz_world_plugins +namespace posim_gz_world_plugins { ///////////////////////////////////////////////// TidalOscillation::TidalOscillation() {} @@ -162,4 +162,4 @@ std::pair TidalOscillation::Update(double _time, double _current return currents; // in m/s } -} // namespace dave_gz_world_plugins +} // namespace posim_gz_world_plugins diff --git a/gazebo/dave_ros_gz_plugins/CMakeLists.txt b/gazebo/posim_ros_gz_plugins/CMakeLists.txt similarity index 83% rename from gazebo/dave_ros_gz_plugins/CMakeLists.txt rename to gazebo/posim_ros_gz_plugins/CMakeLists.txt index 8e356488..1c45e06b 100644 --- a/gazebo/dave_ros_gz_plugins/CMakeLists.txt +++ b/gazebo/posim_ros_gz_plugins/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(dave_ros_gz_plugins) +project(posim_ros_gz_plugins) # Find required packages find_package(ament_cmake REQUIRED) @@ -11,8 +11,8 @@ find_package(std_msgs REQUIRED) find_package(gz-common 7 REQUIRED COMPONENTS profiler) find_package(gz-sim 10 REQUIRED) find_package(geometry_msgs REQUIRED) -find_package(dave_interfaces REQUIRED) -find_package(dave_gz_world_plugins REQUIRED) +find_package(posim_interfaces REQUIRED) +find_package(posim_gz_world_plugins REQUIRED) find_package(Boost REQUIRED) # Set version variables @@ -36,8 +36,8 @@ target_include_directories(OceanCurrentPlugin $ PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src - include ${dave_gz_world_plugins_INCLUDE_DIRS} - include ${dave_interfaces_INCLUDE_DIRS} + include ${posim_gz_world_plugins_INCLUDE_DIRS} + include ${posim_interfaces_INCLUDE_DIRS} ) # Linking @@ -52,13 +52,13 @@ target_link_libraries(OceanCurrentPlugin # Specify dependencies using ament_target_dependencies target_link_libraries(SphericalCoords - ${dave_interfaces_TARGETS} + ${posim_interfaces_TARGETS} rclcpp::rclcpp ${geometry_msgs_TARGETS} ${std_msgs_TARGETS} ) target_link_libraries(DVLBridge - ${dave_interfaces_TARGETS} + ${posim_interfaces_TARGETS} rclcpp::rclcpp ${geometry_msgs_TARGETS} ${std_msgs_TARGETS} @@ -67,11 +67,11 @@ target_link_libraries(OceanCurrentPlugin rclcpp::rclcpp ${std_msgs_TARGETS} ${geometry_msgs_TARGETS} - ${dave_interfaces_TARGETS} - dave_gz_world_plugins::OceanCurrentWorldPlugin - dave_gz_world_plugins::gauss_markov_process - dave_gz_world_plugins::tidal_oscillation - dave_gz_world_plugins::dave_gz_world_plugins-msgs + ${posim_interfaces_TARGETS} + posim_gz_world_plugins::OceanCurrentWorldPlugin + posim_gz_world_plugins::gauss_markov_process + posim_gz_world_plugins::tidal_oscillation + posim_gz_world_plugins::posim_gz_world_plugins-msgs ) # Install targets @@ -103,8 +103,8 @@ ament_export_dependencies( gz-sim geometry_msgs std_msgs - dave_interfaces - dave_gz_world_plugins + posim_interfaces + posim_gz_world_plugins rclcpp ) diff --git a/gazebo/dave_ros_gz_plugins/hooks/dave_ros_gz_plugins.dsv.in b/gazebo/posim_ros_gz_plugins/hooks/posim_ros_gz_plugins.dsv.in similarity index 100% rename from gazebo/dave_ros_gz_plugins/hooks/dave_ros_gz_plugins.dsv.in rename to gazebo/posim_ros_gz_plugins/hooks/posim_ros_gz_plugins.dsv.in diff --git a/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/DVLBridge.hh b/gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/DVLBridge.hh similarity index 83% rename from gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/DVLBridge.hh rename to gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/DVLBridge.hh index 23ea6aa6..37bf1264 100644 --- a/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/DVLBridge.hh +++ b/gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/DVLBridge.hh @@ -15,18 +15,18 @@ * */ -#ifndef DAVE_ROS_GZ_PLUGINS__DVLBRIDGE_HH_ -#define DAVE_ROS_GZ_PLUGINS__DVLBRIDGE_HH_ +#ifndef POSIM_ROS_GZ_PLUGINS__DVLBRIDGE_HH_ +#define POSIM_ROS_GZ_PLUGINS__DVLBRIDGE_HH_ #include #include #include #include #include -#include "dave_interfaces/msg/dvl.hpp" -#include "dave_interfaces/msg/dvl_beam.hpp" +#include "posim_interfaces/msg/dvl.hpp" +#include "posim_interfaces/msg/dvl_beam.hpp" -namespace dave_ros_gz_plugins +namespace posim_ros_gz_plugins { class DVLBridge : public gz::sim::System, @@ -52,6 +52,6 @@ private: struct PrivateData; std::unique_ptr dataPtr; }; -} // namespace dave_ros_gz_plugins +} // namespace posim_ros_gz_plugins -#endif // DAVE_ROS_GZ_PLUGINS__DVLBRIDGE_HH_ +#endif // POSIM_ROS_GZ_PLUGINS__DVLBRIDGE_HH_ diff --git a/gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/OceanCurrentPlugin.hh b/gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/OceanCurrentPlugin.hh new file mode 100644 index 00000000..621c4949 --- /dev/null +++ b/gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/OceanCurrentPlugin.hh @@ -0,0 +1,114 @@ +#ifndef POSIM_ROS_GZ_PLUGINS__OCEAN_CURRENT_PLUGIN_HH_ +#define POSIM_ROS_GZ_PLUGINS__OCEAN_CURRENT_PLUGIN_HH_ + +// Gazebo Simulation Related Headers +#include + +// ROS 2 Headers +#include +#include + +// Standard Library Headers +#include +#include +#include + +// Plugin-specific Headers +#include "posim_gz_world_plugins/OceanCurrentWorldPlugin.hh" + +// Dave Interfaces: Message Types +#include "posim_interfaces/msg/stratified_current_database.hpp" +#include "posim_interfaces/msg/stratified_current_velocity.hpp" + +// Dave Interfaces: Service Types +#include "posim_interfaces/srv/get_current_model.hpp" +#include "posim_interfaces/srv/get_origin_spherical_coord.hpp" +#include "posim_interfaces/srv/set_current_direction.hpp" +#include "posim_interfaces/srv/set_current_model.hpp" +#include "posim_interfaces/srv/set_current_velocity.hpp" +#include "posim_interfaces/srv/set_origin_spherical_coord.hpp" +#include "posim_interfaces/srv/set_stratified_current_direction.hpp" +#include "posim_interfaces/srv/set_stratified_current_velocity.hpp" + +// #include "posim_interfaces/srv/Stratified_Current_Database.hpp" +// #include "posim_interfaces/srv/Stratified_Current_Velocity.hpp" + +namespace posim_ros_gz_plugins +{ +class OceanCurrentPlugin : public gz::sim::System, + public gz::sim::ISystemConfigure, + public gz::sim::ISystemPostUpdate +{ +public: + OceanCurrentPlugin(); + ~OceanCurrentPlugin() override; + + // ---------------------------------------------- + + void Configure( + const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, + gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventMgr); + + // ---------------------------------------------- + + void PostUpdate(const gz::sim::UpdateInfo & _info, const gz::sim::EntityComponentManager & _ecm); + + // ---------------------------------------------- + + bool UpdateHorzAngle( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool UpdateStratHorzAngle( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool UpdateVertAngle( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool UpdateStratVertAngle( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool UpdateCurrentVelocity( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool UpdateStratCurrentVelocity( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool GetCurrentVelocityModel( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool GetCurrentHorzAngleModel( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool GetCurrentVertAngleModel( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool UpdateCurrentVelocityModel( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool UpdateCurrentHorzAngleModel( + const std::shared_ptr _req, + std::shared_ptr _res); + + bool UpdateCurrentVertAngleModel( + const std::shared_ptr _req, + std::shared_ptr _res); + +private: + // std::shared_ptr rosNode; + + struct PrivateData; + std::unique_ptr dataPtr; +}; +} // namespace posim_ros_gz_plugins + +#endif // POSIM_ROS_GZ_PLUGINS__OCEAN_CURRENT_PLUGIN_HH_ diff --git a/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/SphericalCoords.hh b/gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/SphericalCoords.hh similarity index 55% rename from gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/SphericalCoords.hh rename to gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/SphericalCoords.hh index 2a696e16..a16070da 100644 --- a/gazebo/dave_ros_gz_plugins/include/dave_ros_gz_plugins/SphericalCoords.hh +++ b/gazebo/posim_ros_gz_plugins/include/posim_ros_gz_plugins/SphericalCoords.hh @@ -15,8 +15,8 @@ * */ -#ifndef DAVE_ROS_GZ_PLUGINS__SPHERICALCOORDS_HH_ -#define DAVE_ROS_GZ_PLUGINS__SPHERICALCOORDS_HH_ +#ifndef POSIM_ROS_GZ_PLUGINS__SPHERICALCOORDS_HH_ +#define POSIM_ROS_GZ_PLUGINS__SPHERICALCOORDS_HH_ #include @@ -24,12 +24,12 @@ #include #include -#include "dave_interfaces/srv/get_origin_spherical_coord.hpp" -#include "dave_interfaces/srv/set_origin_spherical_coord.hpp" -#include "dave_interfaces/srv/transform_from_spherical_coord.hpp" -#include "dave_interfaces/srv/transform_to_spherical_coord.hpp" +#include "posim_interfaces/srv/get_origin_spherical_coord.hpp" +#include "posim_interfaces/srv/set_origin_spherical_coord.hpp" +#include "posim_interfaces/srv/transform_from_spherical_coord.hpp" +#include "posim_interfaces/srv/transform_to_spherical_coord.hpp" -namespace dave_ros_gz_plugins +namespace posim_ros_gz_plugins { class SphericalCoords : public gz::sim::System, @@ -48,20 +48,20 @@ public: const gz::sim::UpdateInfo & info, const gz::sim::EntityComponentManager & ecm) override; bool GetOriginSphericalCoord( - const std::shared_ptr request, - std::shared_ptr response); + const std::shared_ptr request, + std::shared_ptr response); bool SetOriginSphericalCoord( - const std::shared_ptr request, - std::shared_ptr response); + const std::shared_ptr request, + std::shared_ptr response); bool TransformToSphericalCoord( - const std::shared_ptr request, - std::shared_ptr response); + const std::shared_ptr request, + std::shared_ptr response); bool TransformFromSphericalCoord( - const std::shared_ptr request, - std::shared_ptr response); + const std::shared_ptr request, + std::shared_ptr response); private: std::shared_ptr ros_node_; @@ -69,6 +69,6 @@ private: struct PrivateData; std::unique_ptr dataPtr; }; -} // namespace dave_ros_gz_plugins +} // namespace posim_ros_gz_plugins -#endif // DAVE_ROS_GZ_PLUGINS__SPHERICALCOORDS_HH_ +#endif // POSIM_ROS_GZ_PLUGINS__SPHERICALCOORDS_HH_ diff --git a/gazebo/dave_ros_gz_plugins/package.xml b/gazebo/posim_ros_gz_plugins/package.xml similarity index 90% rename from gazebo/dave_ros_gz_plugins/package.xml rename to gazebo/posim_ros_gz_plugins/package.xml index 2c1098fc..fff1a6eb 100644 --- a/gazebo/dave_ros_gz_plugins/package.xml +++ b/gazebo/posim_ros_gz_plugins/package.xml @@ -1,6 +1,6 @@ - dave_ros_gz_plugins + posim_ros_gz_plugins 0.0.0 ROS Gazebo Bridge - Translation plugins lena @@ -12,8 +12,8 @@ protobuf-dev protobuf rclcpp - dave_interfaces - dave_gz_world_plugins + posim_interfaces + posim_gz_world_plugins sensor_msgs geometry_msgs std_msgs diff --git a/gazebo/dave_ros_gz_plugins/src/DVLBridge.cc b/gazebo/posim_ros_gz_plugins/src/DVLBridge.cc similarity index 88% rename from gazebo/dave_ros_gz_plugins/src/DVLBridge.cc rename to gazebo/posim_ros_gz_plugins/src/DVLBridge.cc index b15a65b9..fb749350 100644 --- a/gazebo/dave_ros_gz_plugins/src/DVLBridge.cc +++ b/gazebo/posim_ros_gz_plugins/src/DVLBridge.cc @@ -21,13 +21,14 @@ #include #include "gz/plugin/Register.hh" -#include "dave_ros_gz_plugins/DVLBridge.hh" +#include "posim_ros_gz_plugins/DVLBridge.hh" GZ_ADD_PLUGIN( - dave_ros_gz_plugins::DVLBridge, gz::sim::System, dave_ros_gz_plugins::DVLBridge::ISystemConfigure, - dave_ros_gz_plugins::DVLBridge::ISystemPostUpdate) + posim_ros_gz_plugins::DVLBridge, gz::sim::System, + posim_ros_gz_plugins::DVLBridge::ISystemConfigure, + posim_ros_gz_plugins::DVLBridge::ISystemPostUpdate) -namespace dave_ros_gz_plugins +namespace posim_ros_gz_plugins { struct DVLBridge::PrivateData @@ -36,7 +37,7 @@ struct DVLBridge::PrivateData std::mutex mutex_; gz::transport::Node gz_node; std::string dvl_topic; - rclcpp::Publisher::SharedPtr dvl_pub; + rclcpp::Publisher::SharedPtr dvl_pub; }; DVLBridge::DVLBridge() : dataPtr(std::make_unique()) {} @@ -45,7 +46,7 @@ void DVLBridge::Configure( const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventManager) { - gzdbg << "dave_ros_gz_plugins::DVLBridge::Configure on entity: " << _entity << std::endl; + gzdbg << "posim_ros_gz_plugins::DVLBridge::Configure on entity: " << _entity << std::endl; if (!rclcpp::ok()) { @@ -74,16 +75,16 @@ void DVLBridge::Configure( // ROS2 publisher this->dataPtr->dvl_pub = - this->ros_node_->create_publisher(this->dataPtr->dvl_topic, 1); + this->ros_node_->create_publisher(this->dataPtr->dvl_topic, 1); } void DVLBridge::receiveGazeboCallback(const gz::msgs::DVLVelocityTracking & msg) { std::lock_guard lock(this->dataPtr->mutex_); - gzmsg << "dave_ros_gz_plugins::DVLBridge::receiveGazeboCallback" << std::endl; + gzmsg << "posim_ros_gz_plugins::DVLBridge::receiveGazeboCallback" << std::endl; - auto dvl_msg = dave_interfaces::msg::DVL(); + auto dvl_msg = posim_interfaces::msg::DVL(); dvl_msg.header.stamp.sec = msg.header().stamp().sec(); dvl_msg.header.stamp.nanosec = msg.header().stamp().nsec(); for (int i = 0; i < msg.header().data_size(); ++i) @@ -156,7 +157,7 @@ void DVLBridge::receiveGazeboCallback(const gz::msgs::DVLVelocityTracking & msg) for (size_t i = 0; i < beam_size; i++) { - auto beam = dave_interfaces::msg::DVLBeam(); + auto beam = posim_interfaces::msg::DVLBeam(); beam.id = msg.beams()[i].id(); switch (msg.beams()[i].velocity().reference()) @@ -221,8 +222,8 @@ void DVLBridge::PostUpdate( if (_info.iterations % 1000 == 0) { - gzmsg << "dave_ros_gz_plugins::DVLBridge::PostUpdate" << std::endl; + gzmsg << "posim_ros_gz_plugins::DVLBridge::PostUpdate" << std::endl; } } -} // namespace dave_ros_gz_plugins +} // namespace posim_ros_gz_plugins diff --git a/gazebo/dave_ros_gz_plugins/src/OceanCurrentPlugin.cc b/gazebo/posim_ros_gz_plugins/src/OceanCurrentPlugin.cc similarity index 76% rename from gazebo/dave_ros_gz_plugins/src/OceanCurrentPlugin.cc rename to gazebo/posim_ros_gz_plugins/src/OceanCurrentPlugin.cc index 59841b3b..0f627138 100644 --- a/gazebo/dave_ros_gz_plugins/src/OceanCurrentPlugin.cc +++ b/gazebo/posim_ros_gz_plugins/src/OceanCurrentPlugin.cc @@ -26,18 +26,18 @@ #include // Dave Gazebo World Plugins -#include "dave_gz_world_plugins/OceanCurrentWorldPlugin.hh" -#include "dave_gz_world_plugins/gauss_markov_process.hh" +#include "posim_gz_world_plugins/OceanCurrentWorldPlugin.hh" +#include "posim_gz_world_plugins/gauss_markov_process.hh" // Dave ROS-Gazebo Plugin -#include "dave_ros_gz_plugins/OceanCurrentPlugin.hh" +#include "posim_ros_gz_plugins/OceanCurrentPlugin.hh" GZ_ADD_PLUGIN( - dave_ros_gz_plugins::OceanCurrentPlugin, gz::sim::System, - dave_ros_gz_plugins::OceanCurrentPlugin::ISystemConfigure, - dave_ros_gz_plugins::OceanCurrentPlugin::ISystemPostUpdate) + posim_ros_gz_plugins::OceanCurrentPlugin, gz::sim::System, + posim_ros_gz_plugins::OceanCurrentPlugin::ISystemConfigure, + posim_ros_gz_plugins::OceanCurrentPlugin::ISystemPostUpdate) -namespace dave_ros_gz_plugins +namespace posim_ros_gz_plugins { struct OceanCurrentPlugin::PrivateData { @@ -45,24 +45,24 @@ struct OceanCurrentPlugin::PrivateData std::chrono::steady_clock::duration lastUpdate{0}; // ROS 2 Services for Current Models - rclcpp::Service::SharedPtr get_current_velocity_model; - rclcpp::Service::SharedPtr get_current_horz_angle_model; - rclcpp::Service::SharedPtr get_current_vert_angle_model; - rclcpp::Service::SharedPtr set_current_velocity_model; - rclcpp::Service::SharedPtr set_current_horz_angle_model; - rclcpp::Service::SharedPtr set_current_vert_angle_model; + rclcpp::Service::SharedPtr get_current_velocity_model; + rclcpp::Service::SharedPtr get_current_horz_angle_model; + rclcpp::Service::SharedPtr get_current_vert_angle_model; + rclcpp::Service::SharedPtr set_current_velocity_model; + rclcpp::Service::SharedPtr set_current_horz_angle_model; + rclcpp::Service::SharedPtr set_current_vert_angle_model; // ROS 2 Services for Current Velocity and Directions - rclcpp::Service::SharedPtr set_current_velocity; - rclcpp::Service::SharedPtr set_current_horz_angle; - rclcpp::Service::SharedPtr set_current_vert_angle; + rclcpp::Service::SharedPtr set_current_velocity; + rclcpp::Service::SharedPtr set_current_horz_angle; + rclcpp::Service::SharedPtr set_current_vert_angle; // ROS 2 Services for Stratified Current Models - rclcpp::Service::SharedPtr + rclcpp::Service::SharedPtr set_stratified_current_velocity; - rclcpp::Service::SharedPtr + rclcpp::Service::SharedPtr set_stratified_current_horz_angle; - rclcpp::Service::SharedPtr + rclcpp::Service::SharedPtr set_stratified_current_vert_angle; // ROS Node @@ -85,9 +85,9 @@ struct OceanCurrentPlugin::PrivateData // ROS 2 Publishers rclcpp::Publisher::SharedPtr flowVelocityPub; - rclcpp::Publisher::SharedPtr + rclcpp::Publisher::SharedPtr stratifiedCurrentVelocityPub; - rclcpp::Publisher::SharedPtr + rclcpp::Publisher::SharedPtr stratifiedCurrentDatabasePub; }; @@ -122,7 +122,7 @@ void OceanCurrentPlugin::Configure( // Save the SDF pointer this->dataPtr->sdf = _sdf; - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin) { gzerr @@ -171,94 +171,94 @@ void OceanCurrentPlugin::Configure( // Advertise the stratified ocean current message this->dataPtr->stratifiedCurrentVelocityPub = - this->dataPtr->rosNode->create_publisher( + this->dataPtr->rosNode->create_publisher( "stratifiedCurrentVelocityTopic", 1); // Advertise the stratified ocean current database message this->dataPtr->stratifiedCurrentDatabasePub = - this->dataPtr->rosNode->create_publisher( + this->dataPtr->rosNode->create_publisher( this->dataPtr->stratifiedCurrentVelocityDatabaseTopic, 1); // Advertise the service to get the current velocity model this->dataPtr->get_current_velocity_model = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "get_current_velocity_model", std::bind( &OceanCurrentPlugin::GetCurrentVelocityModel, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to get the current horizontal angle model this->dataPtr->get_current_horz_angle_model = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "get_current_horz_angle_model", std::bind( &OceanCurrentPlugin::GetCurrentHorzAngleModel, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to get the current vertical angle model this->dataPtr->get_current_vert_angle_model = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "get_current_vert_angle_model", std::bind( &OceanCurrentPlugin::GetCurrentVertAngleModel, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the current velocity model this->dataPtr->set_current_velocity_model = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_current_velocity_model", std::bind( &OceanCurrentPlugin::UpdateCurrentVelocityModel, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the current horizontal angle model this->dataPtr->set_current_horz_angle_model = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_current_horz_angle_model", std::bind( &OceanCurrentPlugin::UpdateCurrentHorzAngleModel, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the current vertical angle model this->dataPtr->set_current_vert_angle_model = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_current_vert_angle_model", std::bind( &OceanCurrentPlugin::UpdateCurrentVertAngleModel, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the current velocity mean value this->dataPtr->set_current_velocity = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_current_velocity", std::bind( &OceanCurrentPlugin::UpdateCurrentVelocity, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the stratified current velocity this->dataPtr->set_stratified_current_velocity = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_stratified_current_velocity", std::bind( &OceanCurrentPlugin::UpdateStratCurrentVelocity, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the current horizontal angle this->dataPtr->set_current_horz_angle = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_current_horz_angle", std::bind( &OceanCurrentPlugin::UpdateHorzAngle, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the current horizontal angle this->dataPtr->set_current_vert_angle = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_current_vert_angle", std::bind( &OceanCurrentPlugin::UpdateVertAngle, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the stratified current horizontal angle this->dataPtr->set_stratified_current_horz_angle = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_stratified_current_horz_angle", std::bind( &OceanCurrentPlugin::UpdateStratHorzAngle, this, std::placeholders::_1, std::placeholders::_2)); // Advertise the service to update the stratified current vertical angle this->dataPtr->set_stratified_current_vert_angle = - this->dataPtr->rosNode->create_service( + this->dataPtr->rosNode->create_service( "set_stratified_current_vert_angle", std::bind( &OceanCurrentPlugin::UpdateStratVertAngle, this, std::placeholders::_1, std::placeholders::_2)); @@ -266,10 +266,10 @@ void OceanCurrentPlugin::Configure( ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateHorzAngle( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -282,10 +282,10 @@ bool OceanCurrentPlugin::UpdateHorzAngle( ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateStratHorzAngle( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -315,10 +315,10 @@ bool OceanCurrentPlugin::UpdateStratHorzAngle( ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateVertAngle( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -332,10 +332,10 @@ bool OceanCurrentPlugin::UpdateVertAngle( ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateStratVertAngle( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -356,10 +356,10 @@ bool OceanCurrentPlugin::UpdateStratVertAngle( ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateCurrentVelocity( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -392,10 +392,10 @@ bool OceanCurrentPlugin::UpdateCurrentVelocity( ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateStratCurrentVelocity( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -434,10 +434,10 @@ bool OceanCurrentPlugin::UpdateStratCurrentVelocity( ///////////////////////////////////////////////// bool OceanCurrentPlugin::GetCurrentVelocityModel( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { // _res->success = false; @@ -456,10 +456,10 @@ bool OceanCurrentPlugin::GetCurrentVelocityModel( ///////////////////////////////////////////////// bool OceanCurrentPlugin::GetCurrentHorzAngleModel( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { // _res->success = false; @@ -478,10 +478,10 @@ bool OceanCurrentPlugin::GetCurrentHorzAngleModel( ///////////////////////////////////////////////// bool OceanCurrentPlugin::GetCurrentVertAngleModel( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { // _res->success = false; @@ -500,10 +500,10 @@ bool OceanCurrentPlugin::GetCurrentVertAngleModel( ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateCurrentVelocityModel( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -519,7 +519,7 @@ bool OceanCurrentPlugin::UpdateCurrentVelocityModel( for (int i = 0; i < stratifiedCurrentModels.size(); i++) { - dave_gz_world_plugins::GaussMarkovProcess & model = stratifiedCurrentModels[i][0]; //(updated) + posim_gz_world_plugins::GaussMarkovProcess & model = stratifiedCurrentModels[i][0]; //(updated) model.SetModel( model.mean, std::max(0.0, _req->min), std::max(0.0, _req->max), _req->mu, _req->noise); } @@ -532,10 +532,10 @@ bool OceanCurrentPlugin::UpdateCurrentVelocityModel( } ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateCurrentHorzAngleModel( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -549,7 +549,7 @@ bool OceanCurrentPlugin::UpdateCurrentHorzAngleModel( for (int i = 0; i < stratifiedCurrentModels.size(); i++) { - dave_gz_world_plugins::GaussMarkovProcess & model = stratifiedCurrentModels[i][1]; + posim_gz_world_plugins::GaussMarkovProcess & model = stratifiedCurrentModels[i][1]; model.SetModel( model.mean, std::max(-M_PI, _req->min), std::min(M_PI, _req->max), _req->mu, _req->noise); } @@ -562,10 +562,10 @@ bool OceanCurrentPlugin::UpdateCurrentHorzAngleModel( ///////////////////////////////////////////////// bool OceanCurrentPlugin::UpdateCurrentVertAngleModel( - const std::shared_ptr _req, - std::shared_ptr _res) + const std::shared_ptr _req, + std::shared_ptr _res) { - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin || !worldPlugin->sharedDataPtr) { _res->success = false; @@ -592,10 +592,10 @@ void OceanCurrentPlugin::PostUpdate( rclcpp::spin_some(this->dataPtr->rosNode); if (_info.iterations % 1000 == 0) { - gzmsg << "dave_ros_gz_plugins::OceanCurrentPlugin::PostUpdate" << std::endl; + gzmsg << "posim_ros_gz_plugins::OceanCurrentPlugin::PostUpdate" << std::endl; } } - auto * worldPlugin = dave_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); + auto * worldPlugin = posim_gz_world_plugins::OceanCurrentWorldPlugin::Instance(); if (!worldPlugin) { gzerr @@ -626,7 +626,7 @@ void OceanCurrentPlugin::PostUpdate( } // Generate and publish stratified current velocity - auto stratCurrentVelocityMsg = dave_interfaces::msg::StratifiedCurrentVelocity(); + auto stratCurrentVelocityMsg = posim_interfaces::msg::StratifiedCurrentVelocity(); stratCurrentVelocityMsg.header.stamp = this->dataPtr->rosNode->get_clock()->now(); stratCurrentVelocityMsg.header.frame_id = "world"; @@ -645,7 +645,7 @@ void OceanCurrentPlugin::PostUpdate( this->dataPtr->stratifiedCurrentVelocityPub->publish(stratCurrentVelocityMsg); // Generate and publish stratified current database - auto currentDatabaseMsg = dave_interfaces::msg::StratifiedCurrentDatabase(); + auto currentDatabaseMsg = posim_interfaces::msg::StratifiedCurrentDatabase(); for (int i = 0; i < sharedPtr->stratifiedDatabase.size(); i++) { // Stratified current database entry preparation @@ -702,6 +702,6 @@ void OceanCurrentPlugin::PostUpdate( this->dataPtr->lastUpdate = _info.simTime; } -} // namespace dave_ros_gz_plugins +} // namespace posim_ros_gz_plugins // #endif \ No newline at end of file diff --git a/gazebo/dave_ros_gz_plugins/src/SphericalCoords.cc b/gazebo/posim_ros_gz_plugins/src/SphericalCoords.cc similarity index 78% rename from gazebo/dave_ros_gz_plugins/src/SphericalCoords.cc rename to gazebo/posim_ros_gz_plugins/src/SphericalCoords.cc index 72aceed2..e8e9a76f 100644 --- a/gazebo/dave_ros_gz_plugins/src/SphericalCoords.cc +++ b/gazebo/posim_ros_gz_plugins/src/SphericalCoords.cc @@ -23,14 +23,14 @@ #include "gz/plugin/Register.hh" #include "gz/sim/components/World.hh" -#include "dave_ros_gz_plugins/SphericalCoords.hh" +#include "posim_ros_gz_plugins/SphericalCoords.hh" GZ_ADD_PLUGIN( - dave_ros_gz_plugins::SphericalCoords, gz::sim::System, - dave_ros_gz_plugins::SphericalCoords::ISystemConfigure, - dave_ros_gz_plugins::SphericalCoords::ISystemPostUpdate) + posim_ros_gz_plugins::SphericalCoords, gz::sim::System, + posim_ros_gz_plugins::SphericalCoords::ISystemConfigure, + posim_ros_gz_plugins::SphericalCoords::ISystemPostUpdate) -namespace dave_ros_gz_plugins +namespace posim_ros_gz_plugins { struct SphericalCoords::PrivateData @@ -39,10 +39,10 @@ struct SphericalCoords::PrivateData std::string ns; gz::sim::EntityComponentManager * ecm; gz::sim::World world; - rclcpp::Service::SharedPtr getOriginSrv; - rclcpp::Service::SharedPtr setOriginSrv; - rclcpp::Service::SharedPtr transformToSrv; - rclcpp::Service::SharedPtr transformFromSrv; + rclcpp::Service::SharedPtr getOriginSrv; + rclcpp::Service::SharedPtr setOriginSrv; + rclcpp::Service::SharedPtr transformToSrv; + rclcpp::Service::SharedPtr transformFromSrv; }; SphericalCoords::SphericalCoords() : dataPtr(std::make_unique()) {} @@ -51,7 +51,7 @@ void SphericalCoords::Configure( const gz::sim::Entity & _entity, const std::shared_ptr & _sdf, gz::sim::EntityComponentManager & _ecm, gz::sim::EventManager & _eventManager) { - gzdbg << "dave_ros_gz_plugins::SphericalCoords::Configure on entity: " << _entity << std::endl; + gzdbg << "posim_ros_gz_plugins::SphericalCoords::Configure on entity: " << _entity << std::endl; if (!rclcpp::ok()) { @@ -85,25 +85,25 @@ void SphericalCoords::Configure( } this->dataPtr->getOriginSrv = - this->ros_node_->create_service( + this->ros_node_->create_service( "/gz/get_origin_spherical_coordinates", std::bind( &SphericalCoords::GetOriginSphericalCoord, this, std::placeholders::_1, std::placeholders::_2)); this->dataPtr->setOriginSrv = - this->ros_node_->create_service( + this->ros_node_->create_service( "/gz/set_origin_spherical_coordinates", std::bind( &SphericalCoords::SetOriginSphericalCoord, this, std::placeholders::_1, std::placeholders::_2)); this->dataPtr->transformToSrv = - this->ros_node_->create_service( + this->ros_node_->create_service( "/gz/transform_to_spherical_coordinates", std::bind( &SphericalCoords::TransformToSphericalCoord, this, std::placeholders::_1, std::placeholders::_2)); this->dataPtr->transformFromSrv = - this->ros_node_->create_service( + this->ros_node_->create_service( "/gz/transform_from_spherical_coordinates", std::bind( &SphericalCoords::TransformFromSphericalCoord, this, std::placeholders::_1, @@ -111,8 +111,8 @@ void SphericalCoords::Configure( } bool SphericalCoords::TransformFromSphericalCoord( - const std::shared_ptr request, - std::shared_ptr response) + const std::shared_ptr request, + std::shared_ptr response) { gz::math::Angle lat, lon; lat.SetDegree(request->latitude_deg); @@ -137,8 +137,8 @@ bool SphericalCoords::TransformFromSphericalCoord( } bool SphericalCoords::TransformToSphericalCoord( - const std::shared_ptr request, - std::shared_ptr response) + const std::shared_ptr request, + std::shared_ptr response) { auto cartVec = gz::math::CoordinateVector3::Metric(request->input.x, request->input.y, request->input.z); @@ -156,8 +156,8 @@ bool SphericalCoords::TransformToSphericalCoord( } bool SphericalCoords::GetOriginSphericalCoord( - const std::shared_ptr request, - std::shared_ptr response) + const std::shared_ptr request, + std::shared_ptr response) { response->latitude_deg = this->dataPtr->world.SphericalCoordinates(*this->dataPtr->ecm)->LatitudeReference().Degree(); @@ -171,8 +171,8 @@ bool SphericalCoords::GetOriginSphericalCoord( } bool SphericalCoords::SetOriginSphericalCoord( - const std::shared_ptr request, - std::shared_ptr response) + const std::shared_ptr request, + std::shared_ptr response) { auto optionalSphericalCoords = this->dataPtr->world.SphericalCoordinates(*this->dataPtr->ecm); @@ -231,9 +231,9 @@ void SphericalCoords::PostUpdate( if (_info.iterations % 1000 == 0) { - gzmsg << "dave_ros_gz_plugins::SphericalCoords::PostUpdate" << std::endl; + gzmsg << "posim_ros_gz_plugins::SphericalCoords::PostUpdate" << std::endl; } } } -} // namespace dave_ros_gz_plugins +} // namespace posim_ros_gz_plugins diff --git a/models/dave_object_models/CMakeLists.txt b/models/posim_object_models/CMakeLists.txt similarity index 76% rename from models/dave_object_models/CMakeLists.txt rename to models/posim_object_models/CMakeLists.txt index 24ec4bcc..747082cf 100644 --- a/models/dave_object_models/CMakeLists.txt +++ b/models/posim_object_models/CMakeLists.txt @@ -1,11 +1,11 @@ cmake_minimum_required(VERSION 3.8) -project(dave_object_models) +project(posim_object_models) find_package(ament_cmake REQUIRED) install( DIRECTORY description launch - DESTINATION share/dave_object_models + DESTINATION share/posim_object_models ) ament_environment_hooks( diff --git a/models/dave_object_models/description/mossy_cinder_block/model.config b/models/posim_object_models/description/mossy_cinder_block/model.config similarity index 100% rename from models/dave_object_models/description/mossy_cinder_block/model.config rename to models/posim_object_models/description/mossy_cinder_block/model.config diff --git a/models/dave_object_models/description/mossy_cinder_block/model.sdf b/models/posim_object_models/description/mossy_cinder_block/model.sdf similarity index 100% rename from models/dave_object_models/description/mossy_cinder_block/model.sdf rename to models/posim_object_models/description/mossy_cinder_block/model.sdf diff --git a/models/dave_object_models/hooks/dave_object_models.dsv.in b/models/posim_object_models/hooks/posim_object_models.dsv.in similarity index 100% rename from models/dave_object_models/hooks/dave_object_models.dsv.in rename to models/posim_object_models/hooks/posim_object_models.dsv.in diff --git a/models/dave_object_models/launch/upload_object.launch.py b/models/posim_object_models/launch/upload_object.launch.py similarity index 97% rename from models/dave_object_models/launch/upload_object.launch.py rename to models/posim_object_models/launch/upload_object.launch.py index bbb299fd..3094a828 100755 --- a/models/dave_object_models/launch/upload_object.launch.py +++ b/models/posim_object_models/launch/upload_object.launch.py @@ -13,7 +13,7 @@ def validate_description(context, *args, **kwargs): namespace = LaunchConfiguration("namespace").perform(context) description_file = os.path.join( - get_package_share_directory("dave_object_models"), + get_package_share_directory("posim_object_models"), "description", namespace, "model.sdf", @@ -91,7 +91,7 @@ def generate_launch_description(): description_file = PathJoinSubstitution( [ - FindPackageShare("dave_object_models"), + FindPackageShare("posim_object_models"), "description", namespace, "model.sdf", diff --git a/models/dave_object_models/package.xml b/models/posim_object_models/package.xml similarity index 96% rename from models/dave_object_models/package.xml rename to models/posim_object_models/package.xml index 3d000c8a..069d7d93 100644 --- a/models/dave_object_models/package.xml +++ b/models/posim_object_models/package.xml @@ -1,6 +1,6 @@ - dave_object_models + posim_object_models 0.1.0 Dave object model description files are placed here. Rakesh Vivekanandan diff --git a/models/dave_robot_models/CMakeLists.txt b/models/posim_robot_models/CMakeLists.txt similarity index 85% rename from models/dave_robot_models/CMakeLists.txt rename to models/posim_robot_models/CMakeLists.txt index 5b517176..41d5078b 100644 --- a/models/dave_robot_models/CMakeLists.txt +++ b/models/posim_robot_models/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(dave_robot_models) +project(posim_robot_models) find_package(ament_cmake REQUIRED) @@ -13,7 +13,7 @@ install( install( DIRECTORY description launch meshes config - DESTINATION share/dave_robot_models + DESTINATION share/posim_robot_models ) ament_environment_hooks( diff --git a/models/dave_robot_models/config/bluerov2/ardusub.parm b/models/posim_robot_models/config/bluerov2/ardusub.parm similarity index 100% rename from models/dave_robot_models/config/bluerov2/ardusub.parm rename to models/posim_robot_models/config/bluerov2/ardusub.parm diff --git a/models/dave_robot_models/config/bluerov2/robot_config.py b/models/posim_robot_models/config/bluerov2/robot_config.py similarity index 97% rename from models/dave_robot_models/config/bluerov2/robot_config.py rename to models/posim_robot_models/config/bluerov2/robot_config.py index 8de7df10..bbb2277d 100644 --- a/models/dave_robot_models/config/bluerov2/robot_config.py +++ b/models/posim_robot_models/config/bluerov2/robot_config.py @@ -204,7 +204,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "launch", "bluerov_teleop.launch.py", ] @@ -246,7 +246,7 @@ def generate_launch_description(): "mavros_file", default_value=PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "config", "mavros", "mavros.yaml", @@ -283,7 +283,7 @@ def generate_launch_description(): "ardusub_params", default_value=PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "config", "bluerov2", "ardusub.parm", @@ -324,8 +324,8 @@ def generate_launch_description(): DeclareLaunchArgument( "virtual_joystick_url", default_value=( - "https://raw.githubusercontent.com/IOES-Lab/dave/" - "refs/heads/ros2/extras/virtual_joystick.html" + "https://raw.githubusercontent.com/IOES-Lab/POSIM/" + "refs/heads/main/extras/virtual_joystick.html" ), description="URL for the virtual joystick page", ), diff --git a/models/dave_robot_models/config/bluerov2_heavy/ardusub.parm b/models/posim_robot_models/config/bluerov2_heavy/ardusub.parm similarity index 100% rename from models/dave_robot_models/config/bluerov2_heavy/ardusub.parm rename to models/posim_robot_models/config/bluerov2_heavy/ardusub.parm diff --git a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py b/models/posim_robot_models/config/bluerov2_heavy/robot_config.py similarity index 97% rename from models/dave_robot_models/config/bluerov2_heavy/robot_config.py rename to models/posim_robot_models/config/bluerov2_heavy/robot_config.py index 5878464e..8a189726 100644 --- a/models/dave_robot_models/config/bluerov2_heavy/robot_config.py +++ b/models/posim_robot_models/config/bluerov2_heavy/robot_config.py @@ -202,7 +202,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "launch", "bluerov_teleop.launch.py", ] @@ -244,7 +244,7 @@ def generate_launch_description(): "mavros_file", default_value=PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "config", "mavros", "mavros.yaml", @@ -281,7 +281,7 @@ def generate_launch_description(): "ardusub_params", default_value=PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "config", "bluerov2", "ardusub.parm", @@ -322,8 +322,8 @@ def generate_launch_description(): DeclareLaunchArgument( "virtual_joystick_url", default_value=( - "https://raw.githubusercontent.com/IOES-Lab/dave/" - "refs/heads/ros2/extras/virtual_joystick.html" + "https://raw.githubusercontent.com/IOES-Lab/POSIM/" + "refs/heads/main/extras/virtual_joystick.html" ), description="URL for the virtual joystick page", ), diff --git a/models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/ardusub.parm b/models/posim_robot_models/config/bluerov2_heavy_multibeam_sonar/ardusub.parm similarity index 100% rename from models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/ardusub.parm rename to models/posim_robot_models/config/bluerov2_heavy_multibeam_sonar/ardusub.parm diff --git a/models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py b/models/posim_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py similarity index 96% rename from models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py rename to models/posim_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py index a9ace8e0..b1eb33a0 100644 --- a/models/dave_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py +++ b/models/posim_robot_models/config/bluerov2_heavy_multibeam_sonar/robot_config.py @@ -196,7 +196,7 @@ def launch_setup(context, *args, **kwargs): [ PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "launch", "bluerov_teleop.launch.py", ] @@ -238,7 +238,7 @@ def generate_launch_description(): "mavros_file", default_value=PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "config", "mavros", "mavros.yaml", @@ -275,7 +275,7 @@ def generate_launch_description(): "ardusub_params", default_value=PathJoinSubstitution( [ - FindPackageShare("dave_robot_models"), + FindPackageShare("posim_robot_models"), "config", "bluerov2", "ardusub.parm", @@ -306,8 +306,8 @@ def generate_launch_description(): DeclareLaunchArgument( "virtual_joystick_url", default_value=( - "https://raw.githubusercontent.com/IOES-Lab/dave/" - "refs/heads/ros2/extras/virtual_joystick.html" + "https://raw.githubusercontent.com/IOES-Lab/POSIM/" + "refs/heads/main/extras/virtual_joystick.html" ), description="URL for the virtual joystick page", ), diff --git a/models/dave_robot_models/config/glider_slocum/robot_config.py b/models/posim_robot_models/config/glider_slocum/robot_config.py similarity index 100% rename from models/dave_robot_models/config/glider_slocum/robot_config.py rename to models/posim_robot_models/config/glider_slocum/robot_config.py diff --git a/models/dave_robot_models/config/mavros/mavros.yaml b/models/posim_robot_models/config/mavros/mavros.yaml similarity index 100% rename from models/dave_robot_models/config/mavros/mavros.yaml rename to models/posim_robot_models/config/mavros/mavros.yaml diff --git a/models/dave_robot_models/config/rexrov/robot_config.py b/models/posim_robot_models/config/rexrov/robot_config.py similarity index 100% rename from models/dave_robot_models/config/rexrov/robot_config.py rename to models/posim_robot_models/config/rexrov/robot_config.py diff --git a/models/dave_robot_models/description/bluerov2/model.config b/models/posim_robot_models/description/bluerov2/model.config similarity index 100% rename from models/dave_robot_models/description/bluerov2/model.config rename to models/posim_robot_models/description/bluerov2/model.config diff --git a/models/dave_robot_models/description/bluerov2/model.sdf b/models/posim_robot_models/description/bluerov2/model.sdf similarity index 100% rename from models/dave_robot_models/description/bluerov2/model.sdf rename to models/posim_robot_models/description/bluerov2/model.sdf diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.config b/models/posim_robot_models/description/bluerov2_heavy/model.config similarity index 100% rename from models/dave_robot_models/description/bluerov2_heavy/model.config rename to models/posim_robot_models/description/bluerov2_heavy/model.config diff --git a/models/dave_robot_models/description/bluerov2_heavy/model.sdf b/models/posim_robot_models/description/bluerov2_heavy/model.sdf similarity index 100% rename from models/dave_robot_models/description/bluerov2_heavy/model.sdf rename to models/posim_robot_models/description/bluerov2_heavy/model.sdf diff --git a/models/dave_robot_models/description/bluerov2_heavy_multibeam_sonar/model.config b/models/posim_robot_models/description/bluerov2_heavy_multibeam_sonar/model.config similarity index 100% rename from models/dave_robot_models/description/bluerov2_heavy_multibeam_sonar/model.config rename to models/posim_robot_models/description/bluerov2_heavy_multibeam_sonar/model.config diff --git a/models/dave_robot_models/description/bluerov2_heavy_multibeam_sonar/model.sdf b/models/posim_robot_models/description/bluerov2_heavy_multibeam_sonar/model.sdf similarity index 100% rename from models/dave_robot_models/description/bluerov2_heavy_multibeam_sonar/model.sdf rename to models/posim_robot_models/description/bluerov2_heavy_multibeam_sonar/model.sdf diff --git a/models/dave_robot_models/description/glider_slocum/model.config b/models/posim_robot_models/description/glider_slocum/model.config similarity index 100% rename from models/dave_robot_models/description/glider_slocum/model.config rename to models/posim_robot_models/description/glider_slocum/model.config diff --git a/models/dave_robot_models/description/glider_slocum/model.sdf b/models/posim_robot_models/description/glider_slocum/model.sdf similarity index 99% rename from models/dave_robot_models/description/glider_slocum/model.sdf rename to models/posim_robot_models/description/glider_slocum/model.sdf index db9569e8..60bf7310 100644 --- a/models/dave_robot_models/description/glider_slocum/model.sdf +++ b/models/posim_robot_models/description/glider_slocum/model.sdf @@ -247,7 +247,7 @@ + name=" posim_gz_sensor_plugins::SubseaPressureSensorPlugin"> glider_slocum sea_pressure 10 diff --git a/models/dave_robot_models/description/rexrov/model.config b/models/posim_robot_models/description/rexrov/model.config similarity index 100% rename from models/dave_robot_models/description/rexrov/model.config rename to models/posim_robot_models/description/rexrov/model.config diff --git a/models/dave_robot_models/description/rexrov/model.sdf b/models/posim_robot_models/description/rexrov/model.sdf similarity index 98% rename from models/dave_robot_models/description/rexrov/model.sdf rename to models/posim_robot_models/description/rexrov/model.sdf index c6d87e4a..48035f2c 100644 --- a/models/dave_robot_models/description/rexrov/model.sdf +++ b/models/posim_robot_models/description/rexrov/model.sdf @@ -108,7 +108,7 @@ + name="posim_gz_sensor_plugins::UnderwaterCamera"> 0.8 0.5 0.2 @@ -879,14 +879,14 @@ + name="posim_ros_gz_plugins::DVLBridge"> /model/rexrov/dvl/velocity + name="posim_gz_sensor_plugins::SubseaPressureSensorPlugin"> rexrov sea_pressure 10 @@ -896,10 +896,10 @@ 9.80638 - + diff --git a/models/dave_worlds/worlds/new_dvl.world b/models/posim_worlds/worlds/new_dvl.world similarity index 100% rename from models/dave_worlds/worlds/new_dvl.world rename to models/posim_worlds/worlds/new_dvl.world diff --git a/models/dave_worlds/worlds/ocean_current_plugin.world b/models/posim_worlds/worlds/ocean_current_plugin.world similarity index 96% rename from models/dave_worlds/worlds/ocean_current_plugin.world rename to models/posim_worlds/worlds/ocean_current_plugin.world index a75f3349..2ec3c38a 100755 --- a/models/dave_worlds/worlds/ocean_current_plugin.world +++ b/models/posim_worlds/worlds/ocean_current_plugin.world @@ -116,7 +116,7 @@ - + hydrodynamics true @@ -148,7 +148,7 @@ stratified_current_velocity - transientOceanCurrentDatabase.csv @@ -157,7 +157,7 @@ - @@ -204,7 +204,7 @@ - + hydrodynamics diff --git a/models/dave_worlds/worlds/dave_Santorini.world b/models/posim_worlds/worlds/posim_Santorini.world similarity index 99% rename from models/dave_worlds/worlds/dave_Santorini.world rename to models/posim_worlds/worlds/posim_Santorini.world index a6046aec..917171e5 100644 --- a/models/dave_worlds/worlds/dave_Santorini.world +++ b/models/posim_worlds/worlds/posim_Santorini.world @@ -17,7 +17,7 @@ - + 0.01 0.01 0.01 1.0 diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/posim_worlds/worlds/posim_bimanual_example.world similarity index 99% rename from models/dave_worlds/worlds/dave_bimanual_example.world rename to models/posim_worlds/worlds/posim_bimanual_example.world index ac0b9bac..a71c9f8b 100644 --- a/models/dave_worlds/worlds/dave_bimanual_example.world +++ b/models/posim_worlds/worlds/posim_bimanual_example.world @@ -16,7 +16,7 @@ --> - + 0.001 1.0 @@ -51,7 +51,7 @@ 129.084798 - + diff --git a/models/dave_worlds/worlds/dave_electrical_mating.world b/models/posim_worlds/worlds/posim_electrical_mating.world similarity index 99% rename from models/dave_worlds/worlds/dave_electrical_mating.world rename to models/posim_worlds/worlds/posim_electrical_mating.world index 4a2728af..f0da90e4 100644 --- a/models/dave_worlds/worlds/dave_electrical_mating.world +++ b/models/posim_worlds/worlds/posim_electrical_mating.world @@ -17,7 +17,7 @@ - + 0.001 1.0 diff --git a/models/dave_worlds/worlds/dave_graded_seabed.world b/models/posim_worlds/worlds/posim_graded_seabed.world similarity index 98% rename from models/dave_worlds/worlds/dave_graded_seabed.world rename to models/posim_worlds/worlds/posim_graded_seabed.world index 33e9b5ff..ba3a5740 100644 --- a/models/dave_worlds/worlds/dave_graded_seabed.world +++ b/models/posim_worlds/worlds/posim_graded_seabed.world @@ -15,7 +15,7 @@ limitations under the License. --> - + 0.01 0.01 0.01 1.0 diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/posim_worlds/worlds/posim_integrated.world similarity index 99% rename from models/dave_worlds/worlds/dave_integrated.world rename to models/posim_worlds/worlds/posim_integrated.world index 8786f1f8..8219436b 100644 --- a/models/dave_worlds/worlds/dave_integrated.world +++ b/models/posim_worlds/worlds/posim_integrated.world @@ -19,7 +19,7 @@ - + 0.01 1.0 diff --git a/models/dave_worlds/worlds/dave_multibeam_sonar.world b/models/posim_worlds/worlds/posim_multibeam_sonar.world similarity index 100% rename from models/dave_worlds/worlds/dave_multibeam_sonar.world rename to models/posim_worlds/worlds/posim_multibeam_sonar.world diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/posim_worlds/worlds/posim_ocean_models.world similarity index 99% rename from models/dave_worlds/worlds/dave_ocean_models.world rename to models/posim_worlds/worlds/posim_ocean_models.world index a194a3f8..2d96d7b1 100644 --- a/models/dave_worlds/worlds/dave_ocean_models.world +++ b/models/posim_worlds/worlds/posim_ocean_models.world @@ -17,7 +17,7 @@ - + 0.01 0.01 0.01 1.0 diff --git a/models/dave_worlds/worlds/dave_ocean_waves.world b/models/posim_worlds/worlds/posim_ocean_waves.world similarity index 100% rename from models/dave_worlds/worlds/dave_ocean_waves.world rename to models/posim_worlds/worlds/posim_ocean_waves.world diff --git a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world b/models/posim_worlds/worlds/posim_ocean_waves_mossy_ground.world similarity index 100% rename from models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world rename to models/posim_worlds/worlds/posim_ocean_waves_mossy_ground.world diff --git a/models/dave_worlds/worlds/dave_ocean_waves_sonar.world b/models/posim_worlds/worlds/posim_ocean_waves_sonar.world similarity index 100% rename from models/dave_worlds/worlds/dave_ocean_waves_sonar.world rename to models/posim_worlds/worlds/posim_ocean_waves_sonar.world diff --git a/models/dave_worlds/worlds/dave_ocean_waves_sonar_integrated.world b/models/posim_worlds/worlds/posim_ocean_waves_sonar_integrated.world similarity index 100% rename from models/dave_worlds/worlds/dave_ocean_waves_sonar_integrated.world rename to models/posim_worlds/worlds/posim_ocean_waves_sonar_integrated.world diff --git a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world b/models/posim_worlds/worlds/posim_ocean_waves_transient_current.world similarity index 100% rename from models/dave_worlds/worlds/dave_ocean_waves_transient_current.world rename to models/posim_worlds/worlds/posim_ocean_waves_transient_current.world diff --git a/models/dave_worlds/worlds/dave_plug_and_socket.world b/models/posim_worlds/worlds/posim_plug_and_socket.world similarity index 99% rename from models/dave_worlds/worlds/dave_plug_and_socket.world rename to models/posim_worlds/worlds/posim_plug_and_socket.world index 442709e3..2321be08 100644 --- a/models/dave_worlds/worlds/dave_plug_and_socket.world +++ b/models/posim_worlds/worlds/posim_plug_and_socket.world @@ -17,7 +17,7 @@ - + 0.001 1.0 diff --git a/models/dave_worlds/worlds/transientOceanCurrentDatabase.csv b/models/posim_worlds/worlds/transientOceanCurrentDatabase.csv similarity index 100% rename from models/dave_worlds/worlds/transientOceanCurrentDatabase.csv rename to models/posim_worlds/worlds/transientOceanCurrentDatabase.csv diff --git a/models/dave_worlds/worlds/usbl_tutorial.world b/models/posim_worlds/worlds/usbl_tutorial.world similarity index 95% rename from models/dave_worlds/worlds/usbl_tutorial.world rename to models/posim_worlds/worlds/usbl_tutorial.world index 1b4878dd..25b01fb8 100644 --- a/models/dave_worlds/worlds/usbl_tutorial.world +++ b/models/posim_worlds/worlds/usbl_tutorial.world @@ -42,7 +42,7 @@ + name="posim_gz_sensor_plugins::UsblTransceiver"> USBL transceiver_manufacturer transponder_manufacturer @@ -81,7 +81,7 @@ + name="posim_gz_sensor_plugins::UsblTransponder"> USBL transponder_manufacturer 1 @@ -118,7 +118,7 @@ + name="posim_gz_sensor_plugins::UsblTransponder"> USBL transponder_manufacturer 2 diff --git a/dave_interfaces/CMakeLists.txt b/posim_interfaces/CMakeLists.txt similarity index 97% rename from dave_interfaces/CMakeLists.txt rename to posim_interfaces/CMakeLists.txt index 56276f13..bc0fa17c 100644 --- a/dave_interfaces/CMakeLists.txt +++ b/posim_interfaces/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.8) -project(dave_interfaces) +project(posim_interfaces) if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) diff --git a/dave_interfaces/msg/DVL.msg b/posim_interfaces/msg/DVL.msg similarity index 100% rename from dave_interfaces/msg/DVL.msg rename to posim_interfaces/msg/DVL.msg diff --git a/dave_interfaces/msg/DVLBeam.msg b/posim_interfaces/msg/DVLBeam.msg similarity index 100% rename from dave_interfaces/msg/DVLBeam.msg rename to posim_interfaces/msg/DVLBeam.msg diff --git a/dave_interfaces/msg/DVLTarget.msg b/posim_interfaces/msg/DVLTarget.msg similarity index 100% rename from dave_interfaces/msg/DVLTarget.msg rename to posim_interfaces/msg/DVLTarget.msg diff --git a/dave_interfaces/msg/Location.msg b/posim_interfaces/msg/Location.msg similarity index 100% rename from dave_interfaces/msg/Location.msg rename to posim_interfaces/msg/Location.msg diff --git a/dave_interfaces/msg/StratifiedCurrentDatabase.msg b/posim_interfaces/msg/StratifiedCurrentDatabase.msg similarity index 100% rename from dave_interfaces/msg/StratifiedCurrentDatabase.msg rename to posim_interfaces/msg/StratifiedCurrentDatabase.msg diff --git a/dave_interfaces/msg/StratifiedCurrentVelocity.msg b/posim_interfaces/msg/StratifiedCurrentVelocity.msg similarity index 100% rename from dave_interfaces/msg/StratifiedCurrentVelocity.msg rename to posim_interfaces/msg/StratifiedCurrentVelocity.msg diff --git a/dave_interfaces/msg/UsblCommand.msg b/posim_interfaces/msg/UsblCommand.msg similarity index 100% rename from dave_interfaces/msg/UsblCommand.msg rename to posim_interfaces/msg/UsblCommand.msg diff --git a/dave_interfaces/msg/UsblResponse.msg b/posim_interfaces/msg/UsblResponse.msg similarity index 100% rename from dave_interfaces/msg/UsblResponse.msg rename to posim_interfaces/msg/UsblResponse.msg diff --git a/dave_interfaces/package.xml b/posim_interfaces/package.xml similarity index 97% rename from dave_interfaces/package.xml rename to posim_interfaces/package.xml index 83ce9a93..f3380de3 100644 --- a/dave_interfaces/package.xml +++ b/posim_interfaces/package.xml @@ -1,6 +1,6 @@ - dave_interfaces + posim_interfaces 0.0.0 Topic and Service Message Formats lena diff --git a/dave_interfaces/srv/GetCurrentModel.srv b/posim_interfaces/srv/GetCurrentModel.srv similarity index 100% rename from dave_interfaces/srv/GetCurrentModel.srv rename to posim_interfaces/srv/GetCurrentModel.srv diff --git a/dave_interfaces/srv/GetOriginSphericalCoord.srv b/posim_interfaces/srv/GetOriginSphericalCoord.srv similarity index 100% rename from dave_interfaces/srv/GetOriginSphericalCoord.srv rename to posim_interfaces/srv/GetOriginSphericalCoord.srv diff --git a/dave_interfaces/srv/SetCurrentDirection.srv b/posim_interfaces/srv/SetCurrentDirection.srv similarity index 100% rename from dave_interfaces/srv/SetCurrentDirection.srv rename to posim_interfaces/srv/SetCurrentDirection.srv diff --git a/dave_interfaces/srv/SetCurrentModel.srv b/posim_interfaces/srv/SetCurrentModel.srv similarity index 100% rename from dave_interfaces/srv/SetCurrentModel.srv rename to posim_interfaces/srv/SetCurrentModel.srv diff --git a/dave_interfaces/srv/SetCurrentVelocity.srv b/posim_interfaces/srv/SetCurrentVelocity.srv similarity index 100% rename from dave_interfaces/srv/SetCurrentVelocity.srv rename to posim_interfaces/srv/SetCurrentVelocity.srv diff --git a/dave_interfaces/srv/SetOriginSphericalCoord.srv b/posim_interfaces/srv/SetOriginSphericalCoord.srv similarity index 100% rename from dave_interfaces/srv/SetOriginSphericalCoord.srv rename to posim_interfaces/srv/SetOriginSphericalCoord.srv diff --git a/dave_interfaces/srv/SetStratifiedCurrentDirection.srv b/posim_interfaces/srv/SetStratifiedCurrentDirection.srv similarity index 100% rename from dave_interfaces/srv/SetStratifiedCurrentDirection.srv rename to posim_interfaces/srv/SetStratifiedCurrentDirection.srv diff --git a/dave_interfaces/srv/SetStratifiedCurrentVelocity.srv b/posim_interfaces/srv/SetStratifiedCurrentVelocity.srv similarity index 100% rename from dave_interfaces/srv/SetStratifiedCurrentVelocity.srv rename to posim_interfaces/srv/SetStratifiedCurrentVelocity.srv diff --git a/dave_interfaces/srv/TransformFromSphericalCoord.srv b/posim_interfaces/srv/TransformFromSphericalCoord.srv similarity index 100% rename from dave_interfaces/srv/TransformFromSphericalCoord.srv rename to posim_interfaces/srv/TransformFromSphericalCoord.srv diff --git a/dave_interfaces/srv/TransformToSphericalCoord.srv b/posim_interfaces/srv/TransformToSphericalCoord.srv similarity index 100% rename from dave_interfaces/srv/TransformToSphericalCoord.srv rename to posim_interfaces/srv/TransformToSphericalCoord.srv