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@Keith-Khadar
Keith-Khadar committed Jan 8, 2025
1 parent b3d3f20 commit 17b52e8
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28 changes: 28 additions & 0 deletions src/subjugator/simulation/subjugator_bringup/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)

project(subjugator_bringup)

find_package(ament_cmake REQUIRED)
find_package(subjugator_description REQUIRED)
find_package(subjugator_gazebo REQUIRED)

# Install project launch files
install(
DIRECTORY
launch/
DESTINATION share/${PROJECT_NAME}/launch
)

# Install project configuration files
install(
DIRECTORY
config/
DESTINATION share/${PROJECT_NAME}/config
)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

ament_package()
2 changes: 2 additions & 0 deletions src/subjugator/simulation/subjugator_bringup/README.md
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# subjugator_bringup
This folder holds holds launch files and high level utilities.
25 changes: 25 additions & 0 deletions src/subjugator/simulation/subjugator_bringup/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>subjugator_bringup</name>
<version>0.0.0</version>
<description>Contains launch files for the subjugator project</description>
<maintainer email="keith.khadar@gmail.com">Keith Khadar</maintainer>
<license>Apache 2.0</license>
<author>Keith Khadar</author>

<depend>joint_state_publisher_gui</depend>

<depend>ros_gz</depend>
<depend>sdformat_urdf</depend>
<depend>subjugator_description</depend>
<depend>subjugator_gazebo</depend>

<buildtool_depend>ament_cmake</buildtool_depend>

<test_depend>ament_lint_auto</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>
21 changes: 21 additions & 0 deletions src/subjugator/simulation/subjugator_description/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)

project(subjugator_description)

find_package(ament_cmake REQUIRED)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

install(
DIRECTORY
models/
DESTINATION share/${PROJECT_NAME}/models
)

ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.dsv.in")
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/hooks/${PROJECT_NAME}.sh.in")

ament_package()
2 changes: 2 additions & 0 deletions src/subjugator/simulation/subjugator_description/README.md
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# subjugator_description
This folder holds the sdf decription of the simulated system and any other assets
1 change: 1 addition & 0 deletions src/subjugator/simulation/subjugator_description/hooks/subjugator_description.dsv.in
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prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share;@CMAKE_INSTALL_PREFIX@/share
1 change: 1 addition & 0 deletions src/subjugator/simulation/subjugator_description/hooks/subjugator_description.sh.in
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ament_prepend_unique_value GZ_SIM_RESOURCE_PATH "$AMENT_CURRENT_PREFIX/share/@PROJECT_NAME@/models"
101 changes: 101 additions & 0 deletions src/subjugator/simulation/subjugator_description/models/Coral/meshes/dae/coral.dae
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13 changes: 13 additions & 0 deletions src/subjugator/simulation/subjugator_description/models/Coral/model.config
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<model>
<name>Coral 2024</name>
<version>1.0</version>
<sdf version='1.0'>./sdf/Coral.sdf</sdf>

<author>
<name>Keith Khadar</name>
</author>

<description>
This is the model for Task 05 Collect Samples for RoboSub 2024.
</description>
</model>
120 changes: 120 additions & 0 deletions src/subjugator/simulation/subjugator_description/models/Coral/sdf/Coral.sdf
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<sdf version="1.9">
<model name="Coral" canonical_link="root">
<link name="root">
<collision name="Coral_collision">
<pose>-0.00653 -0.00037 0.00843 0.00000 0.00000 0.00000</pose>
<geometry>
<box>
<size>0.14933 0.01685 0.01652</size>
</box>
</geometry>
<surface>
<contact/>
</surface>
</collision>
<collision name="Coral_collision.001">
<pose>-0.07727 0.03707 0.00843 0.00000 0.00000 1.56849</pose>
<geometry>
<box>
<size>0.07173 0.01685 0.01652</size>
</box>
</geometry>
<surface>
<contact/>
</surface>
</collision>
<collision name="Coral_collision.002">
<pose>-0.08883 0.09077 0.02194 0.06664 -0.53369 2.05071</pose>
<geometry>
<box>
<size>0.04961 0.01685 0.01652</size>
</box>
</geometry>
<surface>
<contact/>
</surface>
</collision>
<collision name="Coral_collision.003">
<pose>-0.07689 -0.04222 0.00843 0.00000 0.00000 -1.57311</pose>
<geometry>
<box>
<size>0.07173 0.01685 0.01652</size>
</box>
</geometry>
<surface>
<contact/>
</surface>
</collision>
<collision name="Coral_collision.004">
<pose>-0.06341 -0.09515 0.02194 0.06664 -0.53369 -0.97168</pose>
<geometry>
<box>
<size>0.04961 0.01685 0.01652</size>
</box>
</geometry>
<surface>
<contact/>
</surface>
</collision>
<collision name="Coral_collision.005">
<pose>0.00062 -0.00037 0.06113 -0.00000 1.57080 -0.00000</pose>
<geometry>
<box>
<size>0.09261 0.01685 0.01652</size>
</box>
</geometry>
<surface>
<contact/>
</surface>
</collision>
<collision name="Coral_collision.008">
<pose>0.00062 0.03771 0.05878 -1.57080 -0.00272 -1.57080</pose>
<geometry>
<box>
<size>0.06180 0.01685 0.01652</size>
</box>
</geometry>
<surface>
<contact/>
</surface>
</collision>
<collision name="Coral_collision.011">
<pose>0.00073 0.06054 0.05867 -1.57457 -0.90005 -3.13676</pose>
<geometry>
<box>
<size>0.07817 0.01685 0.01652</size>
</box>
</geometry>
<surface>
<contact/>
</surface>
</collision>
<inertial>
<inertia>
<ixx>0.00040</ixx>
<ixy>-0.00006</ixy>
<ixz>-0.00008</ixz>
<iyy>0.00028</iyy>
<iyz>-0.00005</iyz>
<izz>0.00050</izz>
</inertia>
<pose>-0.03511 0.00990 0.02775 0.00000 0.00000 0.00000</pose>
<mass>0.18700</mass>
</inertial>
<visual name="Coral">
<material>
<diffuse>0.93725 0.26275 0.00000 1.00000</diffuse>
<specular>0.02745 0.02745 0.02745 1.00000</specular>
<emissive>0.00000 0.00000 0.00000 1.00000</emissive>
</material>
<pose>0.00000 0.00000 0.00000 0.00000 0.00000 0.00000</pose>
<geometry>
<mesh>
<uri>../meshes/dae/coral.dae</uri>
<scale>1.00000 1.00000 1.00000</scale>
</mesh>
</geometry>
</visual>
</link>
</model>
</sdf>
101 changes: 101 additions & 0 deletions ...ugator/simulation/subjugator_description/models/Nautilus/meshes/dae/nautilus_assembly.dae
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13 changes: 13 additions & 0 deletions src/subjugator/simulation/subjugator_description/models/Nautilus/model.config
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<model>
<name>Nautilus 2024</name>
<version>1.0</version>
<sdf version='1.0'>./sdf/Nautilus.sdf</sdf>

<author>
<name>Keith Khadar</name>
</author>

<description>
This is the model for Task 05 Collect Samples for RoboSub 2024.
</description>
</model>
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