How to use VRX on ubuntu20.04 with ROS1 Noetic?[2]

1.Which topics

name	type
/clock	system time
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/rosout
/rosout_agg
/vrx
/vrx/debug/wind/direction
/vrx/debug/wind/speed
/vrx/dock_2022_placard1/shuffle
/vrx/dock_2022_placard2/shuffle
/vrx/dock_2022_placard3/shuffle
/wamv/joint_states
/wamv/sensors/cameras/front_left_camera/camera_info	camera info
/wamv/sensors/cameras/front_left_camera/image_raw	images
/wamv/sensors/cameras/front_left_camera/image_raw/compressed	compressed images
/wamv/sensors/cameras/front_left_camera/image_raw/compressed/parameter_descriptions
/wamv/sensors/cameras/front_left_camera/image_raw/compressed/parameter_updates
/wamv/sensors/cameras/front_left_camera/image_raw/compressedDepth
/wamv/sensors/cameras/front_left_camera/image_raw/compressedDepth/parameter_descriptions
/wamv/sensors/cameras/front_left_camera/image_raw/compressedDepth/parameter_updates
/wamv/sensors/cameras/front_left_camera/image_raw/theora
/wamv/sensors/cameras/front_left_camera/image_raw/theora/parameter_descriptions
/wamv/sensors/cameras/front_left_camera/image_raw/theora/parameter_updates
/wamv/sensors/cameras/front_left_camera/parameter_descriptions
/wamv/sensors/cameras/front_left_camera/parameter_updates
/wamv/sensors/cameras/front_right_camera/camera_info	camera info
/wamv/sensors/cameras/front_right_camera/image_raw	images
/wamv/sensors/cameras/front_right_camera/image_raw/compressed	compressed images
/wamv/sensors/cameras/front_right_camera/image_raw/compressed/parameter_descriptions
/wamv/sensors/cameras/front_right_camera/image_raw/compressed/parameter_updates
/wamv/sensors/cameras/front_right_camera/image_raw/compressedDepth
/wamv/sensors/cameras/front_right_camera/image_raw/compressedDepth/parameter_descriptions
/wamv/sensors/cameras/front_right_camera/image_raw/compressedDepth/parameter_updates
/wamv/sensors/cameras/front_right_camera/image_raw/theora
/wamv/sensors/cameras/front_right_camera/image_raw/theora/parameter_descriptions
/wamv/sensors/cameras/front_right_camera/image_raw/theora/parameter_updates
/wamv/sensors/cameras/front_right_camera/parameter_descriptions
/wamv/sensors/cameras/front_right_camera/parameter_updates
/wamv/sensors/cameras/middle_right_camera/camera_info	camera info
/wamv/sensors/cameras/middle_right_camera/image_raw	images
/wamv/sensors/cameras/middle_right_camera/image_raw/compressed	compressed images
/wamv/sensors/cameras/middle_right_camera/image_raw/compressed/parameter_descriptions
/wamv/sensors/cameras/middle_right_camera/image_raw/compressed/parameter_updates
/wamv/sensors/cameras/middle_right_camera/image_raw/compressedDepth
/wamv/sensors/cameras/middle_right_camera/image_raw/compressedDepth/parameter_descriptions
/wamv/sensors/cameras/middle_right_camera/image_raw/compressedDepth/parameter_updates
/wamv/sensors/cameras/middle_right_camera/image_raw/theora
/wamv/sensors/cameras/middle_right_camera/image_raw/theora/parameter_descriptions
/wamv/sensors/cameras/middle_right_camera/image_raw/theora/parameter_updates
/wamv/sensors/cameras/middle_right_camera/parameter_descriptions
/wamv/sensors/cameras/middle_right_camera/parameter_updates
/wamv/sensors/pingers/pinger/marker/signal
/wamv/sensors/pingers/pinger/range_bearing
/wamv/sensors/pingers/pinger/set_pinger_position
/wamv/shooters/ball_shooter/fire
/wamv/thrusters/lateral_thrust_angle
/wamv/thrusters/lateral_thrust_cmd
/wamv/thrusters/left_thrust_angle
/wamv/thrusters/left_thrust_cmd
/wamv/thrusters/right_thrust_angle
/wamv/thrusters/right_thrust_cmd

2.Control

1.1操作模拟船

（1）命令行直接发布

//启动仿真环境
roslaunch vrx_gazebo sandisland.launch

将指令发布给左右推进器。

• speed

rostopic pub /wamv/thrusters/left_thrust_cmd std_msgs/Float32 "data: 5" -r 0.5 
rostopic pub /wamv/thrusters/right_thrust_cmd std_msgs/Float32 "data: 0.5"

• angle

rostopic pub /wamv/thrusters/left_thrust_angle std_msgs/Float32 "data: 5" -r 0.5 

（2）启动键盘控制文件

sudo apt-get install ros-noetic-teleop-twist-keyboard

//启动仿真环境
roslaunch vrx_2019 sandisland.launch

//启动键盘控制文件
roslaunch vrx_gazebo usv_keydrive.launch

3.Customer your VRX world

• Attention!: find world file in your launch file.
• 
• change your parameters in world file, here is my_example_course.world

3.1Which world parameters

• in files

3.2改变风的参数

关于风的参数写在vrx_gazebo / worlds / xacros / usv_wind_plugin.xacro中；与风有关的模型以其与风参数之间的关系写在vrx_gazebo / worlds / XXXX.world.xacro中。

3.2.1更改默认参数：

3.2.1.1在vrx_gazebo / worlds / xacros / usv_wind_plugin.xacro中更改默认参数；

vrx_gazebo / worlds / xacros / usv_wind_plugin.xacro文件

关于=和:= (网上有的说)=是相等，:=是赋值；
定义了一个宏，名称为usv_wind_gazebo，参数如下，根据以下参数生成一个标签块；其中有**的表示可以插入任意多个元素，*表示可以插入一个元素，啥也没有的为一简单的文本参数。

<?xml version="1.0"?> 版本号；
xmlns:xacro="http://ros.org/wiki/xacro"  为xacro使用声明；

3.2.1.2在vrx_gazebo / worlds / XXX.world.xacro中更改受风影响的模型或其系数，覆盖默认参数；

用<xacro:include filename=“路径”/> <xacro:usv_wind_gazebo />调用宏，中间<wind_objs>为宏的参数。

3.2.2发布瞬时风速

使用插件发布风速

rqt_plot / vrx / debug / wind / speed / data

3.2.3波场（wave feild）

波浪宏定义在wave_gazebo/world/models/ocean/waves/model.xacro文件中。

3.2.4雾

雾和其他照明条件没有直接写在文件中，如果需要要自己根据标准格式写该部分的标签块，写到vrx_gazebo/worlds/XXX.xacro文件中。

3.2.4.1Find your sence file in your world xacro

3.2.4.2Add fog to the scene:

    <scene><sky></sky><grid>false</grid><ambient>1.0 1.0 1.0</ambient><background>0.8 0.8 0.8</background><fog><type>linear</type><color>1 1 1 1</color><start>1</start><end>100</end><density>1</density></fog></scene>

3.2.4环境照明

    <scene><sky></sky><grid>false</grid><ambient>1.0 1.0 1.0</ambient><background>0.8 0.8 0.8</background></scene>

3.2.5save and build

source path to your workspace/devel/setup.zsh 
rosrun xacro xacro my_example_course.world.xacro > my_example_course.world

3.2.6run

roslaunch vrx_gazebo vrx_my.launch

roslaunch vrx_gazebo XXX.launch world:=pwd/my_world.world
注意pwd两边不是单引号，是esc下边那个摁键打出来的英文符号。

3.3.Add ships

• add namesapce in vrx.launch : raplace name(1), default(1)

 <arg name="namespace1" default="wamv1"/>

• add coodinates : repalce name(6)

<!-- Initial USV location and attitude--><arg name="x1" default="-532" /><arg name="y1" default="200" /><arg name="z1" default="0.1" /><arg name="P1" default="0" /><arg name="R1" default="0" /><arg name="Y1" default="1" />

• add param : replace namespace(2)

  <!-- USV01 --><param name="$(arg namespace1)/robot_description"command="$(find xacro)/xacro &#x002D;&#x002D;inorder '$(arg urdf)'locked:=$(arg wamv_locked)		   thruster_config:=$(arg thrust_config)vrx_sensors_enabled:=$(arg vrx_sensors_enabled)namespace:=$(arg namespace1) "/>

• add node :replace name(1),arg(6),namespace(1),model(1)

  <node name="spawn_model1" pkg="gazebo_ros" type="spawn_model"args="-x $(arg x1) -y $(arg y1) -z $(arg z1)-R $(arg R1) -P $(arg P1) -Y $(arg Y1)-urdf -param $(arg namespace1)/robot_description -model wamv1"/>

3. 添加障碍元素

可在终端用cat example_course.world.xacro来查看文件内容，
可通过在example_course.world.xacro文件中添加新的标签来添加需要避开的障碍等模型，

Add light buoy

In world files，其中<uri/>为模型标签，可在model://后添加自带的模型名称来设值，为位置标签，六个值分别为x,y,z,roll,pitch.yaw.
use different name for every model.
- code after add

4. Add your own dock

4.1首先在vrx的/gazebo/models文件夹下创建dock_base_my文件夹，用来保存模型信息，进入该文件夹（-p表示如果没有路径中的文件夹也一并创建，可同时创建多个不同层次的文件夹）

mkdir -p ~/vrx_ws/src/vrx/vrx_gazebo/models/dock_base_my
cd ~/vrx_ws/src/vrx/vrx_gazebo/models/dock_base_my

4.2在dock_my文件夹中创建model.config文件，并将以下内容复制进去

创建文件

gedit model.config

内容如下，其中model标签下的name标签为所创建的自定义模型的名字

    <?xml version="1.0"?><model><name>dock_base_my</name><version>1.0</version><sdf version="1.6">model.sdf</sdf><author><name>Carlos Agüero</name><email>[e-mail]</email></author><description>My custom dock_my.</description></model>

4.3在dock_base_my文件夹中创建model.sdf.erb文件，并将以下内容复制进去

gedit model.sdf.erb

内容如下，修改模型只需要修改layout中的内容，包括在一堆单引号中的为一行，每一行用逗号隔开，一个X代表一个4x4的码头块，一个空格代表一个4x4的空白块

    <?xml version="1.0" ?><sdf version="1.6"><!-- Important: This file is generated. DO NOT EDIT! --><model name="robotx_dock_2016_base"><%layout = ['X  X','X  X','X  X','XXXXXXX','XXXX','XXXXXXX','X  X','X  X','X  X',]%><%= ERB.new(File.read('dock_generator.erb'),nil, '-', 'dock').result(binding) %></model></sdf>

效果如下

4.4在vrx_gazebo的CMakeList.txt中添加编译信息

在set(dock_base_erb_files )（若文件未被修改过则位于第233行）中添加models/dock_base_my/model.sdf.erb，其中dock_base_my为新建模型的名字。

4.5回到编译工作空间

catkin build vrx_gazebo

4.6打开gazebo，通过insert添加自定义模型

roslaunch vrx_gazebo vrx.launch

在左上方有insert选项，找到dock_base_my单击即可在世界中添加。

4.7报错

报错信息

[gazebo-2] process has died [pid 21545, exit code 255, cmd /opt/ros/melodic/lib/gazebo_ros/gzserver -e ode /home/jyh/vrx_ws/devel/share/vrx_gazebo/worlds/example_course.world __name:=gazebo __log:=/home/jyh/.ros/log/95d77786-66b9-11eb-a0d3-181deaf58039/gazebo-2.log].

解决方法

$ killall gzserver

5.创建自定义WAM-V推进器和传感器

5.1创建和使用自定义WAM-V urdf文件步骤

首先创建一个文件夹，创建并写好推进器和传感器的yaml配置文件（后面给出示例），然后利用vrx提供的脚本启动文件直接从两个yaml配置文件生成WAM-V的urdf文件，该过程首先从两个yaml文件分别生成传感器和推进器的同名xacro文件，然后通过两个xacro文件生成WAM-V的urdf文件，该脚本还会检测输入的两个yaml文件是否符合compliance.py文件标准，该文件是一个vrx比赛所用船的推进器和传感器标准文件，对于自己定义的船不需要完全按照该标准定义，可以作为参考，但要保证船只物理可实现，要如果未通过标准检测会出现红色的报错信息，但在gazebo中依旧可用。

mkdir ~/my_wamv
gedit ~/my_wamv/thruster_config.yaml
gedit ~/my_wamv/sensor_config.yaml

写好配置文件之后，用下面的命令利用generate_wamv.launch启动脚本生成WAM-V的urdf文件，其中$HOME表示/home/.

roslaunch vrx_gazebo generate_wamv.launch thruster_yaml:=$HOME/my_wamv/thruster_config.yaml  sensor_yaml:=$HOME/my_wamv/sensor_config.yaml wamv_target:=$HOME/my_wamv/my_wamv.urdf

参数说明

thruster_yaml			推进器yaml配置文件的完整路径
sensor_yaml  			传感器yaml配置文件的完整路径
wamv_target  			生成WAM-V的urdf文件所在位置的完整路径

编译成功（无论是否通过检测）会输出：

[INFO] [1566845959.198003]:
Using /home/jyh/my_wamv/thruster_config.yaml as the thruster configuration yaml file[INFO] [1566845959.208003]: 
Using /home/jyh/my_wamv/sensor_config.yaml as the sensor configuration yaml filexacro: in-order processing became default in ROS Melodic. You can drop the option.（该句不一定会输出，没输出也不要紧）WAM-V urdf file sucessfully generated. File location: /home/tylerlum/my_wamv/my_wamv.urdf
================================================================================
REQUIRED process [wamv_config/wamv_generator-2] has died!
process has finished cleanly
log file: /home/jyh/.ros/log/58174356-65c7-11eb-9f1c-181deaf58039/wamv_config-wamv_generator-2*.log
Initiating shutdown!
================================================================================

通过以下配置urdf参数来调用自定义的WAM-V的urdf文件，参数值为所生成的urdf文件的完整路径，若没有给定urdf参数会使用启动文件中的默认配置。

roslaunch vrx_gazebo sandisland.launch urdf:=$HOME/my_wamv/my_wamv_2.urdf

5.2自定义可配置内容及配置文件格式

打开任意 可配置内容 文件夹中的xacro文件，查看其中宏定义的参数，例如打开engine.xacro，可以看到其宏定义中参数如下；
可以看出prefix为无默认值的必须参数，position、orientation为有默认值的可选参数。

<xacro:macro name="engine" params="prefix position:='0 0 0' orientation:='0 0 0'">

yaml文件格式：yaml对大小写敏感；使用缩进来表达层次逻辑，yaml的缩进不能用tab，只能用空格，只需保证同层次的代码左对齐即可；用#来表示注释。
yaml数据结构：类比Python，以键值对为基础，如position: "-2.373776 1.027135 0.318237"为一键值对；同层次的键值对构成一个字典，前边有-的同层级内容视为一个整体构成一个字典，多个前边有-的同层级内容整体构成一个列表，以此为基础存储参数信息。
yaml配置文件的一般格式如下，以传感器的配置文件为例，文件相当于一个字典，最外层字典的键名和配置内容文件夹中xacro文件同名，该键的值为一个字典，字典中存储的键名为参数名，值为参数值。

wamv_camera:- name: front_left_camerax: 0.75y: 0.1P: ${radians(15)}- name: front_right_camerax: 0.75y: -0.1P: ${radians(15)}- name: middle_right_camerax: 0.75y: 0.3P: ${radians(15)}
wamv_gps:- name: gps_wamvx: -0.85
wamv_imu:- name: imu_wamvy: -0.2
wamv_p3d:- name: p3d_wamv
lidar:- name: lidar_wamvtype: 16_beamP: ${radians(8)}

5.3创建和使用自定义urdf文件的其他方法（并未成功，有些位置添加标签可以但有些位置不行）

类似自定义世界环境的方法，创建一个文件夹，并把原本的基本xacro文件赋值过来。

mkdir example_vrx_package
cd example_vrx_package/
roscp wamv_gazebo wamv_gazebo.urdf.xacro my_wamv.urdf.xacro

然后在复制过来的xacro文件中调用xacro宏来添加新的传感器，例如添加摄像头（不用包含所需的xacro宏描述文件吗？）

  <xacro:property name="stereo_x" value="1.0" /><xacro:wamv_camera name="stereo_left" x="${stereo_x}" y="0.3" z="1.5" P="${radians(15)}" /><xacro:wamv_camera name="stereo_right" x="${stereo_x}" y="-0.3" z="1.5" P="${radians(15)}" />

然后在包含该文件的文件夹下进行编译，并用urdf参数赋值运行

rosrun xacro xacro --inorder my_wamv.urdf.xacro > my_wamv.urdf
roslaunch vrx_gazebo sandisland.launch urdf:=`pwd`/my_wamv.urdf

航路点waypoint可视化

Biography:

技术-XTDrone项目学习-VRX无人艇项目例程-多无人艇生成-ROS-Matlab通信编程
学习笔记1.1.1——vrx仿真环境的使用
VRX tutorials