Model submission for Absolem sensor configurations 6,7,8 by CTU-CRAS-Norlab

docker/subt_sim_entry/Dockerfile

@@ -5,10 +5,13 @@ FROM osrf/subt-virtual-testbed:models_latest
 RUN sudo apt-get update -qq \
  && sudo apt-get install --no-install-recommends -y -qq \
         build-essential \
+        bwm-ng \
+        atop \
         cmake \
         cppcheck \
         gdb \
         git \
+        gnutls-bin \
         libbluetooth-dev \
         libccd-dev \
         libcwiid-dev \
@@ -30,8 +33,18 @@ RUN sudo apt-get update -qq \
         net-tools \
         iputils-ping \
         libyaml-cpp-dev \
+        xvfb \
+        g++-8 \
  && sudo apt-get clean -qq
 
+RUN sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
+
+RUN gcc --version
+
+# Install AWS CLI. This is needed by cloudsim to capture ROS logs.
+RUN pip3 install --upgrade awscli=="1.16.220"
+VOLUME /root/.aws
+
 # install ROS and required packages
 RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
  && sudo apt-get update -qq \
@@ -50,15 +63,7 @@ RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.ros.org/ros/ubuntu
     ros-melodic-rotors-control \
     ros-melodic-theora-image-transport \
  && sudo rosdep init \
- && sudo apt-get clean -qq
-
-# Make a couple folders for organizing docker volumes
-RUN mkdir ~/workspaces ~/other
-
-# When running a container start in the developer's home folder
-WORKDIR /home/$USERNAME
-
-RUN rosdep update
+ && sudo apt-get clean
 
 # sdformat8-sdf conflicts with sdformat-sdf installed from gazebo
 # so we need to workaround this using a force overwrite
@@ -68,8 +73,8 @@ RUN sudo /bin/sh -c 'echo "deb [trusted=yes] http://packages.osrfoundation.org/g
  && sudo /bin/sh -c 'apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'
 
 # install ign-dome
-RUN sudo apt-get update -qq \
- && sudo apt-get install -y -qq \
+RUN sudo apt-get update \
+&&  sudo apt-get install -y \
     ignition-dome \
  && sudo apt-get clean
 
@@ -79,16 +84,34 @@ RUN sudo apt-get update \
     ros-melodic-ros-ign \
  && sudo apt-get clean -qq
 
-# Clone all the subt models so that you don't download them every time
-# docker is run
+# Make a couple folders for organizing docker volumes
+RUN mkdir ~/workspaces ~/other
+
+# When running a container start in the developer's home folder
+WORKDIR /home/$USERNAME
+
+# Install subt sim
 RUN mkdir -p subt_ws/src \
  && cd subt_ws/src \
+ && git config --global http.postBuffer 1048576000 \
  && git clone https://github.com/osrf/subt
 
+# Install dependencies
+RUN . /opt/ros/melodic/setup.sh \
+ && rosdep update \
+ && sudo apt-get update \
+ && rosdep install -y --from-paths . --ignore-src -r \
+    --skip-keys=ignition-transport9 \
+    --skip-keys=ignition-math6 \
+    --skip-keys=ignition-msgs6 \
+    --skip-keys=ignition-plugin1 \
+    --skip-keys=ignition-common3 \
+    --skip-keys=ignition-launch2 \
+ && sudo apt-get clean -qq
+
 WORKDIR /home/$USERNAME/subt_ws
 
 RUN /bin/bash -c 'source /opt/ros/melodic/setup.bash && catkin_make -DCMAKE_BUILD_TYPE=Release install'
-
 RUN /bin/sh -c 'echo ". /opt/ros/melodic/setup.bash" >> ~/.bashrc' \
  && /bin/sh -c 'echo ". ~/subt_ws/install/setup.sh" >> ~/.bashrc'
 

submitted_models/bosdyn_spot/.gitignore

@@ -0,0 +1 @@
+model.sdf.urdf

submitted_models/bosdyn_spot/CMakeLists.txt

@@ -0,0 +1,91 @@
+cmake_minimum_required(VERSION 3.10.0)
+project(bosdyn_spot)
+
+set(CMAKE_CXX_STANDARD 17)
+
+set(IGN_GAZEBO_VER 4)
+find_package(ignition-gazebo${IGN_GAZEBO_VER} REQUIRED)
+
+set(DEPS control_toolbox dynamic_reconfigure ros_ign_bridge nodelet roscpp)
+set(MSG_DEPS std_msgs geometry_msgs)
+
+find_package(catkin REQUIRED COMPONENTS ${DEPS} ${MSG_DEPS} message_generation)
+
+add_message_files(FILES Contact.msg ContactsStamped.msg LogicalContact.msg)
+generate_messages(DEPENDENCIES ${MSG_DEPS})
+
+catkin_package(CATKIN_DEPENDS ${DEPS} ${MSG_DEPS} message_runtime)
+
+add_library(multi-joint-command-system src/multi_joint_command.cpp)
+target_link_libraries(multi-joint-command-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+add_library(foot_contact_bridge src/foot_contact_bridge.cpp)
+target_include_directories(foot_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(foot_contact_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(foot_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_library(logical_contact_bridge src/logical_contact_bridge.cpp)
+target_include_directories(logical_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(logical_contact_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(logical_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+add_library(logical-contact-system src/logical_contact_system.cpp)
+target_link_libraries(logical-contact-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+add_library(pid_control_bridge src/pid_control_bridge.cpp)
+target_include_directories(pid_control_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(pid_control_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(pid_control_bridge ${catkin_EXPORTED_TARGETS})
+
+add_library(joint_trajectory_bridge src/joint_trajectory_bridge.cpp)
+target_include_directories(joint_trajectory_bridge PUBLIC ${catkin_INCLUDE_DIRS})
+target_link_libraries(joint_trajectory_bridge
+  PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES}
+)
+add_dependencies(joint_trajectory_bridge ${catkin_EXPORTED_TARGETS})
+
+add_library(configurable-joint-position-controller-system src/configurable_joint_position_controller.cpp)
+target_link_libraries(configurable-joint-position-controller-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+add_library(mono-camera-system src/mono_camera_system.cpp)
+target_link_libraries(mono-camera-system
+  PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core
+)
+
+install(TARGETS
+    configurable-joint-position-controller-system
+    joint_trajectory_bridge
+    multi-joint-command-system
+    pid_control_bridge
+    foot_contact_bridge
+    logical-contact-system
+    logical_contact_bridge
+    mono-camera-system
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(PROGRAMS scripts/clean_sdf scripts/high_precision_constants.py scripts/print_robot_urdf scripts/yaml_to_xacro_args
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
+
+install(DIRECTORY config launch meshes urdf worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config nodelets.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+catkin_install_python(PROGRAMS nodes/pid_multituner
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

submitted_models/bosdyn_spot/Changelog.md

@@ -0,0 +1,5 @@
+# Changelog
+
+## 1.0.0
+
+- First working version.

submitted_models/bosdyn_spot/config/ekf/base_to_footprint.yaml

@@ -0,0 +1,30 @@
+frequency: 50
+
+transform_timeout: 0.01
+transform_time_offset: 0.045
+
+two_d_mode: false
+# diagnostics_agg: true
+
+#x     , y     , z,
+#roll  , pitch , yaw,
+#vx    , vy    , vz,
+#vroll , vpitch, vyaw,
+#ax    , ay    , az
+
+pose0: base_to_footprint_pose
+pose0_config: [true,  true,  true,
+               true,  true,  true,
+               false, false, false,
+               false, false, false,
+               false, false, false]
+
+#imu0: imu/data
+#imu0_config: [false, false, false,
+#              false, false, false,
+#              true, true, true,
+#              false, false, false,
+#              false, false, false]
+
+odom_frame: base_footprint
+world_frame: base_footprint

submitted_models/bosdyn_spot/config/ekf/footprint_to_odom.yaml

@@ -0,0 +1,31 @@
+frequency: 50
+
+transform_timeout: 0.01
+# transform_time_offset: 0.05
+
+two_d_mode: true
+# diagnostics_agg: true
+
+#x     , y     , z,
+#roll  , pitch , yaw,
+#vx    , vy    , vz,
+#vroll , vpitch, vyaw,
+#ax    , ay    , az
+
+odom0: odom/raw
+odom0_config: [false, false, false,
+               false, false, false,
+                true,  true, false,
+               false, false, true,
+               false, false, false]
+
+imu0: imu/data
+imu0_config: [false, false, false,
+              false, false, true,
+              false, false, false,
+              false, false,  true,
+              false, false, false]
+
+odom_frame: odom
+base_link_frame: base_footprint
+world_frame: odom

submitted_models/bosdyn_spot/config/gait/gait.yaml

@@ -0,0 +1,12 @@
+knee_orientation : ">>"
+pantograph_leg : false
+odom_scaler: 1.0
+max_linear_velocity_x : 1.5
+max_linear_velocity_y : 0.25
+max_angular_velocity_z : 0.5
+# the following parameters affect stability of the gait
+com_x_translation : -0.1
+swing_height : 0.08
+stance_depth : -0.01
+stance_duration : 0.3 # affects max speed and stability
+nominal_height : 0.48

submitted_models/bosdyn_spot/config/joints/joints.yaml

@@ -0,0 +1,23 @@
+left_front:
+  - front_left_hip_x
+  - front_left_hip_y
+  - front_left_knee
+  - front_left_foot
+
+right_front:
+  - front_right_hip_x
+  - front_right_hip_y
+  - front_right_knee
+  - front_right_foot
+
+left_hind:
+  - rear_left_hip_x
+  - rear_left_hip_y
+  - rear_left_knee
+  - rear_left_foot
+
+right_hind:
+  - rear_right_hip_x
+  - rear_right_hip_y
+  - rear_right_knee
+  - rear_right_foot

submitted_models/bosdyn_spot/config/links/links.yaml

@@ -0,0 +1,24 @@
+base: body  # this should not have the namespace, it is added in state_estimation
+left_front:
+  - $(arg name)/front_left_hip
+  - $(arg name)/front_left_upper_leg
+  - $(arg name)/front_left_lower_leg
+  - $(arg name)/front_left_ee
+
+right_front:
+  - $(arg name)/front_right_hip
+  - $(arg name)/front_right_upper_leg
+  - $(arg name)/front_right_lower_leg
+  - $(arg name)/front_right_ee
+
+left_hind:
+  - $(arg name)/rear_left_hip
+  - $(arg name)/rear_left_upper_leg
+  - $(arg name)/rear_left_lower_leg
+  - $(arg name)/rear_left_ee
+
+right_hind:
+  - $(arg name)/rear_right_hip
+  - $(arg name)/rear_right_upper_leg
+  - $(arg name)/rear_right_lower_leg
+  - $(arg name)/rear_right_ee

submitted_models/bosdyn_spot/config/model/common.yaml

@@ -0,0 +1,12 @@
+leg_kp: 1e+7
+leg_kd: 100.0
+leg_mu1: 0.8
+leg_mu2: 0.8
+# leg_fdir1: '0 0 1'
+
+max_knee_effort: 80
+max_knee_velocity: 15
+max_hip_x_effort: 80
+max_hip_x_velocity: 15
+max_hip_y_effort: 80
+max_hip_y_velocity: 15

submitted_models/bosdyn_spot/config/model/ign.yaml

@@ -0,0 +1 @@
+rendering_target: ign

submitted_models/bosdyn_spot/config/model/urdf.yaml

@@ -0,0 +1 @@
+rendering_target: urdf

submitted_models/bosdyn_spot/config/ros_control/ros_control.yaml

@@ -0,0 +1,15 @@
+"":
+  joint_group_position_controller:
+      gains: # also good: 380, 0.2, 5.75
+        front_left_hip_x  : {p: 250, i: 0.2, d: 5.0}
+        front_left_hip_y  : {p: 250, i: 0.2, d: 5.0}
+        front_left_knee   : {p: 250, i: 0.2, d: 5.0}
+        front_right_hip_x : {p: 250, i: 0.2, d: 5.0}
+        front_right_hip_y : {p: 250, i: 0.2, d: 5.0}
+        front_right_knee  : {p: 250, i: 0.2, d: 5.0}
+        rear_left_hip_x   : {p: 250, i: 0.2, d: 5.0}
+        rear_left_hip_y   : {p: 250, i: 0.2, d: 5.0}
+        rear_left_knee    : {p: 250, i: 0.2, d: 5.0}
+        rear_right_hip_x  : {p: 250, i: 0.2, d: 5.0}
+        rear_right_hip_y  : {p: 250, i: 0.2, d: 5.0}
+        rear_right_knee   : {p: 250, i: 0.2, d: 5.0}