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Merge pull request #60 from osrf/jessica/mwes
2023 minimum working example
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,108 @@ | ||
| import rclpy | ||
| from rclpy.node import Node | ||
| from ros_gz_interfaces.msg import ParamVec | ||
| from std_msgs.msg import Float64 | ||
| from rclpy.qos import QoSProfile, QoSDurabilityPolicy | ||
| from geometry_msgs.msg import PoseStamped | ||
|
|
||
| class GhostShip(Node): | ||
| def __init__(self): | ||
| print('Starting node...') | ||
| super().__init__('ghost_ship') | ||
| self.task_type = "" | ||
| self.task_state = "" | ||
| self.task_sub = self.create_subscription(ParamVec, '/vrx/task/info', | ||
| self.taskCB, 10) | ||
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|
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| pub_qos = QoSProfile(depth=1, | ||
| durability=QoSDurabilityPolicy.TRANSIENT_LOCAL) | ||
| self.right_thrust_pub = self.create_publisher(Float64, | ||
| '/wamv/thrusters/right/thrust', | ||
| qos_profile=pub_qos) | ||
| self.left_thrust_pub = self.create_publisher(Float64, | ||
| '/wamv/thrusters/left/thrust', | ||
| qos_profile=pub_qos) | ||
| self.thrust_msg = Float64() | ||
| self.thrust_msg.data = 30.0 | ||
| self.loopCount = 0 | ||
|
|
||
| self.landmark_pub = self.create_publisher(PoseStamped, | ||
| '/vrx/perception/landmark', | ||
| qos_profile=pub_qos) | ||
| self.landmark_msg = PoseStamped() | ||
| self.landmark_msg.header.stamp = self.get_clock().now().to_msg() | ||
| self.landmark_msg.header.frame_id = 'mb_marker_buoy_red' | ||
| self.landmark_msg.pose.position.x = -33.7227024 | ||
| self.landmark_msg.pose.position.y = 150.67402097 | ||
| self.landmark_msg.pose.position.z = 0.0 | ||
|
|
||
| self.create_timer(0.5, self.sendCmds) | ||
|
|
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| def taskCB(self, msg): | ||
| task_info = msg.params | ||
| for p in task_info: | ||
| if p.name == 'name': | ||
| self.task_type = p.value .string_value | ||
| if p.name == 'state': | ||
| self.task_state = p.value.string_value | ||
|
|
||
| def moveForward(self): | ||
| self.right_thrust_pub.publish(self.thrust_msg) | ||
| self.left_thrust_pub.publish(self.thrust_msg) | ||
| self.loopCount += 1 | ||
|
|
||
| def stop(self): | ||
| self.thrust_msg.data = 0.0 | ||
| self.right_thrust_pub.publish(self.thrust_msg) | ||
| self.left_thrust_pub.publish(self.thrust_msg) | ||
|
|
||
| def publishBuoyLoc(self): | ||
| if self.loopCount > 10: | ||
| self.landmark_pub.publish(self.landmark_msg) | ||
| self.loopCount = 0 | ||
| self.loopCount += 1 | ||
|
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| def sendCmds(self): | ||
| if rclpy.ok(): | ||
| match self.task_type: | ||
| case "perception": | ||
| if self.task_state == ("initial" or "ready"): | ||
| print("Waiting for perception task to start...") | ||
| elif self.task_state == "running": | ||
| self.publishBuoyLoc() | ||
| elif self.task_state == "finished": | ||
| print("Task ended...") | ||
| rclpy.shutdown() | ||
| case "stationkeeping": | ||
| if self.task_state == ("initial" or "ready"): | ||
| print("Waiting for stationkeeping task to start...") | ||
| elif self.task_state == "running": | ||
| if self.loopCount < 10: | ||
| self.moveForward() | ||
| else: | ||
| self.stop() | ||
| elif self.task_state == "finished": | ||
| print("Task ended...") | ||
| rclpy.shutdown() | ||
| case _: | ||
| print(self.task_state) | ||
| if self.task_state == ("initial" or "ready"): | ||
| print("Waiting for default task to start...") | ||
| elif self.task_state == "running": | ||
| self.right_thrust_pub.publish(self.thrust_msg) | ||
| self.left_thrust_pub.publish(self.thrust_msg) | ||
| elif self.task_state == "finished": | ||
| print("Task ended...") | ||
| rclpy.shutdown() | ||
|
|
||
| def main(args=None): | ||
| rclpy.init(args=args) | ||
|
|
||
| ghost_ship = GhostShip() | ||
| rclpy.spin(ghost_ship) | ||
|
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|
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||
| if __name__ == '__main__': | ||
| main() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1 +1 @@ | ||
| crvogt/vrx_2022_simple | ||
| jessicaherman/vrx-competitor-example:2023.v2 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,64 @@ | ||
| wamv_camera: | ||
| - name: front_left_camera | ||
| visualize: False | ||
| x: 0.75 | ||
| y: 0.1 | ||
| z: 1.5 | ||
| R: 0.0 | ||
| P: ${radians(15)} | ||
| Y: 0.0 | ||
| post_Y: 0.0 | ||
| - name: front_right_camera | ||
| visualize: False | ||
| x: 0.75 | ||
| y: -0.1 | ||
| z: 1.5 | ||
| R: 0.0 | ||
| P: ${radians(15)} | ||
| Y: 0.0 | ||
| post_Y: 0.0 | ||
| - name: far_left_camera | ||
| visualize: False | ||
| x: 0.75 | ||
| y: 0.3 | ||
| z: 1.5 | ||
| R: 0.0 | ||
| P: ${radians(15)} | ||
| Y: 0.0 | ||
| post_Y: 0.0 | ||
| wamv_gps: | ||
| - name: gps_wamv | ||
| x: -0.85 | ||
| y: 0.0 | ||
| z: 1.3 | ||
| R: 0.0 | ||
| P: 0.0 | ||
| Y: 0.0 | ||
| wamv_imu: | ||
| - name: imu_wamv | ||
| x: 0.3 | ||
| y: -0.2 | ||
| z: 1.3 | ||
| R: 0.0 | ||
| P: 0.0 | ||
| Y: 0.0 | ||
| lidar: | ||
| - name: lidar_wamv | ||
| type: 16_beam | ||
| x: 0.7 | ||
| y: 0.0 | ||
| z: 1.8 | ||
| R: 0.0 | ||
| P: ${radians(8)} | ||
| Y: 0.0 | ||
| post_Y: 0.0 | ||
| wamv_ball_shooter: | ||
| - name: ball_shooter | ||
| x: 0.55 | ||
| y: -0.3 | ||
| z: 1.3 | ||
| pitch: ${radians(-20)} | ||
| yaw: 0.0 | ||
| wamv_pinger: | ||
| - name: pinger | ||
| position: 1.0 0 -1.0 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| crvogt/vrx_2022_simple |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| engine: | ||
| - prefix: "left" | ||
| position: "-2.373776 1.027135 0.318237" | ||
| orientation: "0.0 0.0 0.0" | ||
| - prefix: "right" | ||
| position: "-2.373776 -1.027135 0.318237" | ||
| orientation: "0.0 0.0 0.0" | ||
| - prefix: "middle" | ||
| position: "0 0 0.318237" | ||
| orientation: "0.0 0.0 0.0" |
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