smarc-project/smarc_stonefish_sims

🟢 The SMARC simulation packages

smarc_stonefish_sims

Worlds simulations for stonefish. See readmes for sam_stonefish_sim and lolo_stonefish_sim.

Description of the environments

Most of the environments are self-contained. Some environments can be extended with components with mesh > 100MB, these mesh files can be downloaded from KTH Box.

smarc_stonefish_sims's Issues

Could not get transform between utm and /sam/base_link

I am trying to run
roslaunch sam_stonefish_sim mission.launch
but getting the error:
Could not get transform between utm and /sam/base_link

Any suggestion to fix the problem. Thanks in advance,

CH

Error when adding communication devices to robots

Hola!

Been working with both SAM and LoLo in the simulator and I've encountered an error when fitting either of the robots with a communication device. I get the following error (from the log file):
[ERROR] Specs of communication device 'sam/USBL' not properly defined!
[ERROR] Communication device of robot 'sam' not properly defined!
[ERROR] Robot not properly defined!
The simulator crashes after that.

This is how I instantiate (e.g.) the USBL in SAM's XML file, but the same happens with the other communication devices:

<comm name="USBL" type="usbl" device_id="9">
  <specs min_vertical_fov="0.0" max_vertical_fov="220.0" range="8000.0"/>
  <connect device_id="5" occlusion_test="false"/>
  <autoping rate="1.0"/>
  <noise range="0.05" horizontal_angle="0.2" vertical_angle="0.5"/>
  <resolution range="0.01" angle="0.1"/>
  <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  <link name="Vehicle"/>
  <ros_publisher topic="/$(arg robot_name)/sim/usbl"/>
</comm>

It seems to work fine when I build stonefish_ros and Stonefish from the original repos, but that seems to break other smarc-related services.

Running on Ubuntu 18.04 with ROS Melodic.

Rosmon not sourcing workspace when launching nodes

As the title says, using mon launch <package_name> <launchfile> as we do in the bringup scripts seems to ignore the sourced workspace and launches the launchfile from the same package installed using apt. No solution yet but a workaround is to either launch the file without rosmon or, alternatively, using mon launch <path to launch file> [arguments] as described in http://wiki.ros.org/rosmon.

lolo teleop node spamming cmd topics

When setting teleop to true in both simulator.launch and lolo_sam_simulator.launch in the lolo_stonefish_sim package, the launched teleop node will spam the command topics even if not in use. This will interfere with the setpoints sent by other controllers, e.g., the yaw_controller on lolo. Logging it here for future reference.

Add complete sensor interface for sidescan

Sidescan is currently published on the correct topic, but it does not have service to turn on/off or the status topic, see this section of the spec. The implementation of these can be seen in the real sidescan driver here (if you have access to that repo).