From 5d6e74c3b6fcdb6d65ea602abc2640d21a176d2b Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Sat, 26 Jul 2025 11:21:43 -0700 Subject: [PATCH 01/19] Add ball simulation --- .gitignore | 1 + simulation/CMakeLists.txt | 22 ++++++++++++++++++++++ simulation/HydrusSimManager.cpp | 33 +++++++++++++++++++++++++++++++++ simulation/HydrusSimManager.h | 8 ++++++++ simulation/README.md | 12 ++++++++++++ simulation/main.cpp | 15 +++++++++++++++ 6 files changed, 91 insertions(+) create mode 100644 simulation/CMakeLists.txt create mode 100644 simulation/HydrusSimManager.cpp create mode 100644 simulation/HydrusSimManager.h create mode 100644 simulation/README.md create mode 100644 simulation/main.cpp diff --git a/.gitignore b/.gitignore index 6b8e127..33a852e 100644 --- a/.gitignore +++ b/.gitignore @@ -5,3 +5,4 @@ best.pt .venv-formatters autonomy/src/autonomy.egg-info hydrus_software_stack.egg-info +simulation/build/ \ No newline at end of file diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt new file mode 100644 index 0000000..0ed12f6 --- /dev/null +++ b/simulation/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.10) +project(HydrusSim) + +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED True) + +find_package(Stonefish REQUIRED 1.5.0) + +include_directories( + ${CMAKE_SOURCE_DIR}/include +) + +add_executable(HydrusSim + main.cpp + HydrusSimManager.cpp + HydrusSimManager.h +) + +# Link with Stonefish library +target_link_libraries(HydrusSim + Stonefish::Stonefish +) \ No newline at end of file diff --git a/simulation/HydrusSimManager.cpp b/simulation/HydrusSimManager.cpp new file mode 100644 index 0000000..eeb45ca --- /dev/null +++ b/simulation/HydrusSimManager.cpp @@ -0,0 +1,33 @@ +#include "HydrusSimManager.h" +#include +#include + +HydrusSimManager::HydrusSimManager(sf::Scalar stepsPerSecond) : SimulationManager(stepsPerSecond) +{ +} + +void HydrusSimManager::BuildScenario() +{ + // Physical materials + CreateMaterial("Aluminium", 2700.0, 0.8); + CreateMaterial("Steel", 7810.0, 0.9); + SetMaterialsInteraction("Aluminium", "Aluminium", 0.7, 0.5); + SetMaterialsInteraction("Steel", "Steel", 0.4, 0.2); + SetMaterialsInteraction("Aluminium", "Steel", 0.6, 0.4); + + // Graphical materials (looks) + CreateLook("gray", sf::Color::Gray(0.5f), 0.3f, 0.2f); + CreateLook("red", sf::Color::RGB(1.f, 0.f, 0.f), 0.1f, 0.f); + + // Create environment + sf::Plane *plane = new sf::Plane("Ground", 10000.0, "Steel", "gray"); + AddStaticEntity(plane, sf::I4()); + + // Set object physics settings + sf::BodyPhysicsSettings phy; + phy.mode = sf::BodyPhysicsMode::SURFACE; + + // Create object + sf::Sphere *sph = new sf::Sphere("Sphere", phy, 0.1, sf::I4(), "Aluminium", "red"); + AddSolidEntity(sph, sf::Transform(sf::IQ(), sf::Vector3(0.0, 0.0, -1.0))); +} \ No newline at end of file diff --git a/simulation/HydrusSimManager.h b/simulation/HydrusSimManager.h new file mode 100644 index 0000000..c4b59cf --- /dev/null +++ b/simulation/HydrusSimManager.h @@ -0,0 +1,8 @@ +#include + +class HydrusSimManager : public sf::SimulationManager +{ +public: + HydrusSimManager(sf::Scalar stepsPerSecond); + void BuildScenario(); +}; \ No newline at end of file diff --git a/simulation/README.md b/simulation/README.md new file mode 100644 index 0000000..a222676 --- /dev/null +++ b/simulation/README.md @@ -0,0 +1,12 @@ +# Hydrus Simulator + +To compile and run: + +0. Use WSL2 or ideally a Linux distro. +1. Follow steps at https://stonefish.readthedocs.io/en/latest/install.html#building to build and install the Stonefish library +2. Run `cd simulation` from the root of this project +3. Run `mkdir build` +4. Run `cd build` +5. Run `cmake ..` to generate build files +6. Run `make` to build project +7. Run `./HydrusSim` to view simulation \ No newline at end of file diff --git a/simulation/main.cpp b/simulation/main.cpp new file mode 100644 index 0000000..5bd0648 --- /dev/null +++ b/simulation/main.cpp @@ -0,0 +1,15 @@ +#include +#include "HydrusSimManager.h" + +int main(int argc, char **argv) +{ + // Using default settings + sf::RenderSettings s; + sf::HelperSettings h; + + HydrusSimManager manager(500.0); + sf::GraphicalSimulationApp app("Simple simulator", "path_to_data", s, h, &manager); + app.Run(); + + return 0; +} \ No newline at end of file From 83eba221bc94810e42c691f145d931a612c1692c Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Sat, 26 Jul 2025 11:28:41 -0700 Subject: [PATCH 02/19] Fix stonefish library not being recognized by intellisense --- .vscode/c_cpp_properties.json | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) create mode 100644 .vscode/c_cpp_properties.json diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..97c74f9 --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,17 @@ +{ + "configurations": [ + { + "name": "Linux", + "includePath": [ + "${workspaceFolder}/**", + "/usr/local/include/Stonefish/**" + ], + "defines": [], + "compilerPath": "/usr/bin/gcc", + "cStandard": "c17", + "cppStandard": "gnu++17", + "intelliSenseMode": "linux-gcc-x64" + } + ], + "version": 4 +} \ No newline at end of file From 66984f4f18455812e0f7c6112a8e9de960166cd6 Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Sat, 26 Jul 2025 11:50:09 -0700 Subject: [PATCH 03/19] Add ocean (untested because WSL2 broke) --- simulation/CMakeLists.txt | 6 +++--- simulation/{ => include}/HydrusSimManager.h | 0 simulation/{ => src}/HydrusSimManager.cpp | 9 ++++++++- simulation/{ => src}/main.cpp | 0 4 files changed, 11 insertions(+), 4 deletions(-) rename simulation/{ => include}/HydrusSimManager.h (100%) rename simulation/{ => src}/HydrusSimManager.cpp (81%) rename simulation/{ => src}/main.cpp (100%) diff --git a/simulation/CMakeLists.txt b/simulation/CMakeLists.txt index 0ed12f6..0349cfe 100644 --- a/simulation/CMakeLists.txt +++ b/simulation/CMakeLists.txt @@ -11,9 +11,9 @@ include_directories( ) add_executable(HydrusSim - main.cpp - HydrusSimManager.cpp - HydrusSimManager.h + src/main.cpp + src/HydrusSimManager.cpp + include/HydrusSimManager.h ) # Link with Stonefish library diff --git a/simulation/HydrusSimManager.h b/simulation/include/HydrusSimManager.h similarity index 100% rename from simulation/HydrusSimManager.h rename to simulation/include/HydrusSimManager.h diff --git a/simulation/HydrusSimManager.cpp b/simulation/src/HydrusSimManager.cpp similarity index 81% rename from simulation/HydrusSimManager.cpp rename to simulation/src/HydrusSimManager.cpp index eeb45ca..de500ab 100644 --- a/simulation/HydrusSimManager.cpp +++ b/simulation/src/HydrusSimManager.cpp @@ -1,6 +1,7 @@ #include "HydrusSimManager.h" #include #include +#include HydrusSimManager::HydrusSimManager(sf::Scalar stepsPerSecond) : SimulationManager(stepsPerSecond) { @@ -20,12 +21,18 @@ void HydrusSimManager::BuildScenario() CreateLook("red", sf::Color::RGB(1.f, 0.f, 0.f), 0.1f, 0.f); // Create environment + EnableOcean(0.0); + getOcean()->setWaterType(0.2); + getOcean()->EnableCurrents(); + getAtmosphere()->SetSunPosition(0.0, 60.0); + getNED()->Init(41.77737, 3.03376, 0.0); + sf::Plane *plane = new sf::Plane("Ground", 10000.0, "Steel", "gray"); AddStaticEntity(plane, sf::I4()); // Set object physics settings sf::BodyPhysicsSettings phy; - phy.mode = sf::BodyPhysicsMode::SURFACE; + phy.mode = sf::BodyPhysicsMode::SUBMERGED; // Create object sf::Sphere *sph = new sf::Sphere("Sphere", phy, 0.1, sf::I4(), "Aluminium", "red"); diff --git a/simulation/main.cpp b/simulation/src/main.cpp similarity index 100% rename from simulation/main.cpp rename to simulation/src/main.cpp From 14b82c26c6216fdfcc1e11ece2d22e531bdee22f Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Sun, 3 Aug 2025 17:58:58 -0400 Subject: [PATCH 04/19] Add working hydrus model --- simulation/models/hydrus_unibody.obj | 2807 ++++++++++++++++++++++++++ simulation/src/HydrusSimManager.cpp | 16 +- simulation/src/main.cpp | 11 +- 3 files changed, 2828 insertions(+), 6 deletions(-) create mode 100644 simulation/models/hydrus_unibody.obj diff --git a/simulation/models/hydrus_unibody.obj b/simulation/models/hydrus_unibody.obj new file mode 100644 index 0000000..152f22d --- /dev/null +++ b/simulation/models/hydrus_unibody.obj @@ -0,0 +1,2807 @@ +# WaveFront *.obj file (generated by Autodesk ATF) + +mtllib Experimental obj file (unibody) v0.mtl + +g Body1 + +v 10.477500 -10.795000 43.180000 +v 10.477500 -10.795000 37.465000 +v 10.477500 -10.795000 31.750000 +v 10.477500 -17.462500 31.750000 +v 10.477500 -17.462500 37.465000 +v 10.477500 -17.462500 43.180000 +v 10.795000 -17.462500 31.750000 +v 10.795000 -17.462500 37.465000 +v 10.795000 -17.462500 43.180000 +v -10.477500 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397/790/766 336/791/767 398/792/768 +f 335/793/769 334/794/770 399/795/771 +f 399/795/771 334/794/770 400/796/772 +f 400/796/772 334/794/770 333/797/773 +f 400/796/772 333/797/773 401/798/774 +# 410 vertices +# 798 texture params +# 774 normals +# 808 facets + +# 3 groups diff --git a/simulation/src/HydrusSimManager.cpp b/simulation/src/HydrusSimManager.cpp index de500ab..9291d6a 100644 --- a/simulation/src/HydrusSimManager.cpp +++ b/simulation/src/HydrusSimManager.cpp @@ -1,6 +1,8 @@ #include "HydrusSimManager.h" #include #include +#include +#include #include HydrusSimManager::HydrusSimManager(sf::Scalar stepsPerSecond) : SimulationManager(stepsPerSecond) @@ -9,7 +11,7 @@ HydrusSimManager::HydrusSimManager(sf::Scalar stepsPerSecond) : SimulationManage void HydrusSimManager::BuildScenario() { - // Physical materials + // Physical materialsw CreateMaterial("Aluminium", 2700.0, 0.8); CreateMaterial("Steel", 7810.0, 0.9); SetMaterialsInteraction("Aluminium", "Aluminium", 0.7, 0.5); @@ -17,6 +19,7 @@ void HydrusSimManager::BuildScenario() SetMaterialsInteraction("Aluminium", "Steel", 0.6, 0.4); // Graphical materials (looks) + CreateLook("black", sf::Color::RGB(0.f, 0.f, 0.f), 0.1f, 0.1f); CreateLook("gray", sf::Color::Gray(0.5f), 0.3f, 0.2f); CreateLook("red", sf::Color::RGB(1.f, 0.f, 0.f), 0.1f, 0.f); @@ -25,16 +28,19 @@ void HydrusSimManager::BuildScenario() getOcean()->setWaterType(0.2); getOcean()->EnableCurrents(); getAtmosphere()->SetSunPosition(0.0, 60.0); - getNED()->Init(41.77737, 3.03376, 0.0); + getNED()->Init(0.0, 0.0, 0.0); sf::Plane *plane = new sf::Plane("Ground", 10000.0, "Steel", "gray"); - AddStaticEntity(plane, sf::I4()); + AddStaticEntity(plane, sf::Transform(sf::IQ(), sf::Vector3(0.0, 0.0, 5.0))); - // Set object physics settings + // Create object sf::BodyPhysicsSettings phy; phy.mode = sf::BodyPhysicsMode::SUBMERGED; + phy.collisions = false; - // Create object sf::Sphere *sph = new sf::Sphere("Sphere", phy, 0.1, sf::I4(), "Aluminium", "red"); AddSolidEntity(sph, sf::Transform(sf::IQ(), sf::Vector3(0.0, 0.0, -1.0))); + + sf::Polyhedron *poly = new sf::Polyhedron("Hydrus", phy, sf::GetDataPath() + "models/hydrus_unibody.obj", sf::Scalar(0.01), sf::I4(), "Steel", "black"); + AddSolidEntity(poly, sf::Transform(sf::IQ(), sf::Vector3(0.0, -1.0, 0.0))); } \ No newline at end of file diff --git a/simulation/src/main.cpp b/simulation/src/main.cpp index 5bd0648..18b44b6 100644 --- a/simulation/src/main.cpp +++ b/simulation/src/main.cpp @@ -1,14 +1,23 @@ #include #include "HydrusSimManager.h" +#include +#include int main(int argc, char **argv) { // Using default settings sf::RenderSettings s; + s.verticalSync = true; // Enable vertical sync + s.windowH = 1024; + s.windowW = 1280; // Set window size sf::HelperSettings h; + // Get the directory where the executable's source is located + std::filesystem::path sourcePath = std::filesystem::path(__FILE__).parent_path().parent_path(); + std::string simulationPath = sourcePath.string() + "/"; + HydrusSimManager manager(500.0); - sf::GraphicalSimulationApp app("Simple simulator", "path_to_data", s, h, &manager); + sf::GraphicalSimulationApp app("Simple simulator", simulationPath, s, h, &manager); app.Run(); return 0; From 6f6aec40dbf12a05d4b1486c47aaae6c84367848 Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Sun, 3 Aug 2025 21:43:59 -0400 Subject: [PATCH 05/19] Define Hydrus robot with thrusters in XML file for compatibility with stonefish ros --- simulation/models/hydrus_unibody_centered.obj | 1755 ++++++++++ simulation/models/propeller.obj | 2906 +++++++++++++++++ simulation/scenarios/hydrus_auv.scn | 188 ++ simulation/scenarios/hydrus_env.scn | 47 + simulation/src/HydrusSimManager.cpp | 112 +- 5 files changed, 4975 insertions(+), 33 deletions(-) create mode 100644 simulation/models/hydrus_unibody_centered.obj create mode 100644 simulation/models/propeller.obj create mode 100644 simulation/scenarios/hydrus_auv.scn create mode 100644 simulation/scenarios/hydrus_env.scn diff --git a/simulation/models/hydrus_unibody_centered.obj b/simulation/models/hydrus_unibody_centered.obj new file mode 100644 index 0000000..6924a2f --- /dev/null +++ b/simulation/models/hydrus_unibody_centered.obj @@ -0,0 +1,1755 @@ +# Blender 4.5.1 LTS +# www.blender.org +mtllib hydrus_unibody_centered.mtl +o hydrus_unibody +v 0.104775 -0.030123 0.057167 +v 0.104775 -0.030123 0.000017 +v 0.104775 -0.030123 -0.057133 +v 0.104775 -0.096798 -0.057133 +v 0.104775 -0.096798 0.000017 +v 0.104775 -0.096798 0.057167 +v 0.107950 -0.096798 -0.057133 +v 0.107950 -0.096798 0.000017 +v 0.107950 -0.096798 0.057167 +v -0.104775 -0.030123 -0.057133 +v -0.104775 -0.030123 0.000017 +v -0.104775 -0.030123 0.057167 +v -0.104775 -0.096798 0.057167 +v -0.104775 -0.096798 0.000017 +v -0.104775 -0.096798 -0.057133 +v -0.107950 -0.096798 -0.057133 +v -0.107950 -0.096798 0.057167 +v -0.107950 -0.096798 0.000017 +v -0.000000 -0.030123 0.057167 +v -0.000000 -0.030123 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+ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulation/scenarios/hydrus_env.scn b/simulation/scenarios/hydrus_env.scn new file mode 100644 index 0000000..1f0e9d0 --- /dev/null +++ b/simulation/scenarios/hydrus_env.scn @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulation/src/HydrusSimManager.cpp b/simulation/src/HydrusSimManager.cpp index 9291d6a..f5af1ae 100644 --- a/simulation/src/HydrusSimManager.cpp +++ b/simulation/src/HydrusSimManager.cpp @@ -1,9 +1,13 @@ #include "HydrusSimManager.h" +#include +#include #include +#include #include #include #include #include +#include HydrusSimManager::HydrusSimManager(sf::Scalar stepsPerSecond) : SimulationManager(stepsPerSecond) { @@ -11,36 +15,78 @@ HydrusSimManager::HydrusSimManager(sf::Scalar stepsPerSecond) : SimulationManage void HydrusSimManager::BuildScenario() { - // Physical materialsw - CreateMaterial("Aluminium", 2700.0, 0.8); - CreateMaterial("Steel", 7810.0, 0.9); - SetMaterialsInteraction("Aluminium", "Aluminium", 0.7, 0.5); - SetMaterialsInteraction("Steel", "Steel", 0.4, 0.2); - SetMaterialsInteraction("Aluminium", "Steel", 0.6, 0.4); - - // Graphical materials (looks) - CreateLook("black", sf::Color::RGB(0.f, 0.f, 0.f), 0.1f, 0.1f); - CreateLook("gray", sf::Color::Gray(0.5f), 0.3f, 0.2f); - CreateLook("red", sf::Color::RGB(1.f, 0.f, 0.f), 0.1f, 0.f); - - // Create environment - EnableOcean(0.0); - getOcean()->setWaterType(0.2); - getOcean()->EnableCurrents(); - getAtmosphere()->SetSunPosition(0.0, 60.0); - getNED()->Init(0.0, 0.0, 0.0); - - sf::Plane *plane = new sf::Plane("Ground", 10000.0, "Steel", "gray"); - AddStaticEntity(plane, sf::Transform(sf::IQ(), sf::Vector3(0.0, 0.0, 5.0))); - - // Create object - sf::BodyPhysicsSettings phy; - phy.mode = sf::BodyPhysicsMode::SUBMERGED; - phy.collisions = false; - - sf::Sphere *sph = new sf::Sphere("Sphere", phy, 0.1, sf::I4(), "Aluminium", "red"); - AddSolidEntity(sph, sf::Transform(sf::IQ(), sf::Vector3(0.0, 0.0, -1.0))); - - sf::Polyhedron *poly = new sf::Polyhedron("Hydrus", phy, sf::GetDataPath() + "models/hydrus_unibody.obj", sf::Scalar(0.01), sf::I4(), "Steel", "black"); - AddSolidEntity(poly, sf::Transform(sf::IQ(), sf::Vector3(0.0, -1.0, 0.0))); -} \ No newline at end of file + sf::ScenarioParser parser(this); + bool success = parser.Parse(sf::GetDataPath() + "scenarios/hydrus_env.scn"); + if (!success) + cCritical("Scenario parser: Parsing failed!"); +} + +// Keep the following commented out code for future reference or use +// // Physical materials +// CreateMaterial("Aluminium", 2700.0, 0.8); +// CreateMaterial("Steel", 7810.0, 0.9); +// SetMaterialsInteraction("Aluminium", "Aluminium", 0.7, 0.5); +// SetMaterialsInteraction("Steel", "Steel", 0.4, 0.2); +// SetMaterialsInteraction("Aluminium", "Steel", 0.6, 0.4); + +// // Graphical materials (looks) +// CreateLook("green", sf::Color::RGB(0.f, 1.f, 0.f), 0.1f, 0.1f); +// CreateLook("gray", sf::Color::Gray(0.5f), 0.3f, 0.2f); +// CreateLook("red", sf::Color::RGB(1.f, 0.f, 0.f), 0.1f, 0.f); + +// // Create environment +// EnableOcean(0.0); +// getOcean()->setWaterType(0.2); +// getOcean()->EnableCurrents(); +// getAtmosphere()->SetSunPosition(0.0, 60.0); +// getNED()->Init(0.0, 0.0, 0.0); + +// sf::Plane *plane = new sf::Plane("Ground", 10000.0, "Steel", "gray"); +// AddStaticEntity(plane, sf::Transform(sf::IQ(), sf::Vector3(0.0, 0.0, 5.0))); + +// // Create AUV +// sf::BodyPhysicsSettings phy; +// phy.mode = sf::BodyPhysicsMode::SUBMERGED; +// phy.buoyancy = true; +// phy.collisions = true; + +// sf::Polyhedron *unibody = new sf::Polyhedron("hydrus_unibody", phy, sf::GetDataPath() + "models/hydrus_unibody_centered.obj", sf::Scalar(1), sf::Transform(sf::Quaternion(0, 0, -M_PI_2), sf::Vector3(0.0, 0.0, 0.0)), "Steel", "green"); +// sf::Compound *vehicle = new sf::Compound("Hydrus", phy, unibody, sf::Transform(sf::Quaternion(0, 0, 0), sf::Vector3(0.0, 0.0, 0.0))); + +// // Create thrusters +// std::array thrusterNames = { +// "thruster_front_left", +// "thruster_front_right", +// "thruster_back_left", +// "thruster_back_right", +// "thruster_depth_1", +// "thruster_depth_2", +// "thruster_depth_3", +// "thruster_depth_4"}; +// std::array thrusters; +// std::shared_ptr propeller = std::make_shared("Propeller", phy, sf::GetDataPath() + "models/propeller.obj", sf::Scalar(0.75), sf::I4(), "Dummy", "propeller"); +// for (size_t i = 0; i < thrusterNames.size(); ++i) +// { +// std::shared_ptr rotorDynamics; +// rotorDynamics = std::make_shared(1.0, 10.0, 5.0, 5.0); +// std::shared_ptr thrustModel; +// thrustModel = std::make_shared(0.18, 0.48, 0.48, 0.05, true, getOcean()->getLiquid().density); +// thrusters[i] = new sf::Thruster(thrusterNames[i], propeller, rotorDynamics, thrustModel, 0.18, true, 105.0, false, true); +// } + +// sf::Robot *auv = new sf::GeneralRobot("HydrusAUV", false); +// auv->DefineLinks(vehicle); +// auv->BuildKinematicStructure(); + +// // Corner thrusters +// auv->AddLinkActuator(thrusters[0], "Hydrus", sf::Transform(sf::Quaternion(-M_PI_4 + M_PI_4 * -0.5, 0, 0), sf::Vector3(0.198, 0.407, 0.0))); +// auv->AddLinkActuator(thrusters[1], "Hydrus", sf::Transform(sf::Quaternion(M_PI_4 + M_PI_4 * 0.5, 0, 0), sf::Vector3(0.198, -0.408, 0.0))); +// auv->AddLinkActuator(thrusters[2], "Hydrus", sf::Transform(sf::Quaternion(-M_PI_2 + M_PI_4 * -0.5, 0, 0), sf::Vector3(-0.198, 0.407, 0.0))); +// auv->AddLinkActuator(thrusters[3], "Hydrus", sf::Transform(sf::Quaternion(M_PI_2 + M_PI_4 * 0.5, 0, 0), sf::Vector3(-0.198, -0.408, 0.0))); +// // Depth thrusters +// auv->AddLinkActuator(thrusters[4], "Hydrus", sf::Transform(sf::Quaternion(0, -M_PI_2, 0), sf::Vector3(0.211, 0.169, 0))); +// auv->AddLinkActuator(thrusters[5], "Hydrus", sf::Transform(sf::Quaternion(0, -M_PI_2, 0), sf::Vector3(0.211, -0.169, 0.0))); +// auv->AddLinkActuator(thrusters[6], "Hydrus", sf::Transform(sf::Quaternion(0, -M_PI_2, 0), sf::Vector3(-0.211, 0.169, 0.0))); +// auv->AddLinkActuator(thrusters[7], "Hydrus", sf::Transform(sf::Quaternion(0, -M_PI_2, 0), sf::Vector3(-0.211, -0.169, 0.0))); + +// AddRobot(auv, sf::Transform(sf::Quaternion(0, 0, 0), sf::Vector3(0.0, 0.0, 0.0))); \ No newline at end of file From 654b75fe788f4a4900b0e679498871a234395aef Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 28 Aug 2025 16:02:14 -0400 Subject: [PATCH 06/19] Add Docker image for simulation --- .vscode/settings.json | 53 +++++++++++++------------ docker/simulation/simulation.Dockerfile | 34 ++++++++++++++++ docker/simulation/simulation.yaml | 23 +++++++++++ 3 files changed, 84 insertions(+), 26 deletions(-) create mode 100644 docker/simulation/simulation.Dockerfile create mode 100644 docker/simulation/simulation.yaml diff --git a/.vscode/settings.json b/.vscode/settings.json index 5406887..f9b311b 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -1,27 +1,28 @@ { - "python.autoComplete.extraPaths": [ - "/home/catkin_ws/src/hydrus-software-stack/scripts", - "/catkin_ws/devel/lib/python3/dist-packages", - "/opt/ros/noetic/lib/python3/dist-packages" - ], - "python.analysis.extraPaths": [ - "/home/catkin_ws/src/hydrus-software-stack/scripts", - "/catkin_ws/devel/lib/python3/dist-packages", - "/opt/ros/noetic/lib/python3/dist-packages" - ], - "pyrefly.trace.server": "verbose", - "editor.hover.enabled": true, - "editor.snippetSuggestions": "inline", - "python.testing.unittestArgs": [ - "-v", - "-s", - "./test", - "-p", - "*_test.py" - ], - "python.testing.pytestEnabled": false, - "python.testing.unittestEnabled": true, - "files.associations": { - "*.hss": "yaml" - } -} + "python.autoComplete.extraPaths": [ + "/home/catkin_ws/src/hydrus-software-stack/scripts", + "/catkin_ws/devel/lib/python3/dist-packages", + "/opt/ros/noetic/lib/python3/dist-packages" + ], + "python.analysis.extraPaths": [ + "/home/catkin_ws/src/hydrus-software-stack/scripts", + "/catkin_ws/devel/lib/python3/dist-packages", + "/opt/ros/noetic/lib/python3/dist-packages" + ], + "pyrefly.trace.server": "verbose", + "editor.hover.enabled": true, + "editor.snippetSuggestions": "inline", + "python.testing.unittestArgs": [ + "-v", + "-s", + "./test", + "-p", + "*_test.py" + ], + "python.testing.pytestEnabled": false, + "python.testing.unittestEnabled": true, + "files.associations": { + "*.hss": "yaml" + }, + "cmake.ignoreCMakeListsMissing": true +} \ No newline at end of file diff --git a/docker/simulation/simulation.Dockerfile b/docker/simulation/simulation.Dockerfile new file mode 100644 index 0000000..d06f05d --- /dev/null +++ b/docker/simulation/simulation.Dockerfile @@ -0,0 +1,34 @@ +FROM osrf/ros:humble-desktop-full-jammy +RUN apt-get update + +ARG DEBIAN_FRONTEND=noninteractive + +RUN apt-get upgrade -y && \ + apt-get install -y \ + libglm-dev \ + libfreetype6-dev \ + libsdl2-dev \ + python3-colcon-common-extensions \ + python3-rosdep \ + python3-vcstool + +# ROS 2 workspace setup +SHELL ["/bin/bash", "-c"] + +ENV ROS_WS=/home/ros2_ws + +RUN mkdir -p /${ROS_WS}/src \ + && echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc + +WORKDIR $ROS_WS/src + +RUN cd /${ROS_WS}/ \ + && colcon build --symlink-install \ + && source install/setup.bash + +WORKDIR /home/ + +RUN git clone https://github.com/patrykcieslak/stonefish +RUN cd stonefish && mkdir build && cd build && cmake .. && make -j$(nproc) && sudo make install + +WORKDIR $ROS_WS/src diff --git a/docker/simulation/simulation.yaml b/docker/simulation/simulation.yaml new file mode 100644 index 0000000..b6e46e1 --- /dev/null +++ b/docker/simulation/simulation.yaml @@ -0,0 +1,23 @@ +services: + simulation: + build: + context: ../../../hydrus-software-stack + dockerfile: docker/simulation/simulation.Dockerfile + privileged: true + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: all + capabilities: [gpu] + environment: + - DISPLAY=${DISPLAY} + ulimits: + nofile: + soft: 1024 + hard: 524288 + volumes: + - /tmp/.X11-unix:/tmp/.X11-unix + stdin_open: true + tty: true From 26ceba2ebefd4c576dc6b0c62dfe340b42f3ae1c Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 28 Aug 2025 16:13:43 -0400 Subject: [PATCH 07/19] Move existing simulation files to standalone --- .gitignore | 2 +- docker/amd64/cpu/hydrus.Dockerfile | 2 + .../{ => standalone_sim}/CMakeLists.txt | 0 simulation/{ => standalone_sim}/README.md | 0 .../include/HydrusSimManager.h | 0 .../standalone_sim/models/hydrus_unibody.obj | 2807 ++++++++++++++++ .../models/hydrus_unibody_centered.obj | 1755 ++++++++++ .../standalone_sim/models/propeller.obj | 2906 +++++++++++++++++ .../standalone_sim/scenarios/hydrus_auv.scn | 188 ++ .../standalone_sim/scenarios/hydrus_env.scn | 47 + .../src/HydrusSimManager.cpp | 0 simulation/{ => standalone_sim}/src/main.cpp | 0 12 files changed, 7706 insertions(+), 1 deletion(-) rename simulation/{ => standalone_sim}/CMakeLists.txt (100%) rename simulation/{ => standalone_sim}/README.md (100%) rename simulation/{ => standalone_sim}/include/HydrusSimManager.h (100%) create mode 100644 simulation/standalone_sim/models/hydrus_unibody.obj create mode 100644 simulation/standalone_sim/models/hydrus_unibody_centered.obj create mode 100644 simulation/standalone_sim/models/propeller.obj create mode 100644 simulation/standalone_sim/scenarios/hydrus_auv.scn create mode 100644 simulation/standalone_sim/scenarios/hydrus_env.scn rename simulation/{ => standalone_sim}/src/HydrusSimManager.cpp (100%) rename simulation/{ => standalone_sim}/src/main.cpp (100%) diff --git a/.gitignore b/.gitignore index c26cb74..69a5924 100644 --- a/.gitignore +++ b/.gitignore @@ -5,7 +5,7 @@ best.pt .venv-formatters autonomy/src/autonomy.egg-info hydrus_software_stack.egg-info -simulation/build/ +*build/ # Generated by Cargo # will have compiled files and executables diff --git a/docker/amd64/cpu/hydrus.Dockerfile b/docker/amd64/cpu/hydrus.Dockerfile index ac7e556..00d20af 100644 --- a/docker/amd64/cpu/hydrus.Dockerfile +++ b/docker/amd64/cpu/hydrus.Dockerfile @@ -100,6 +100,8 @@ RUN apt-get update && apt-get install -y \ ros-noetic-image-transport \ ros-noetic-laser-proc + + COPY ./devices/Arduino/HydrusModule /root/Arduino/libraries/HydrusModule COPY ./ /catkin_ws/src/hydrus-software-stack diff --git a/simulation/CMakeLists.txt b/simulation/standalone_sim/CMakeLists.txt similarity index 100% rename from simulation/CMakeLists.txt rename to simulation/standalone_sim/CMakeLists.txt diff --git a/simulation/README.md b/simulation/standalone_sim/README.md similarity index 100% rename from simulation/README.md rename to simulation/standalone_sim/README.md diff --git a/simulation/include/HydrusSimManager.h b/simulation/standalone_sim/include/HydrusSimManager.h similarity index 100% rename from simulation/include/HydrusSimManager.h rename to simulation/standalone_sim/include/HydrusSimManager.h diff --git a/simulation/standalone_sim/models/hydrus_unibody.obj b/simulation/standalone_sim/models/hydrus_unibody.obj new file mode 100644 index 0000000..152f22d --- /dev/null +++ b/simulation/standalone_sim/models/hydrus_unibody.obj @@ -0,0 +1,2807 @@ +# WaveFront *.obj file (generated by Autodesk ATF) + +mtllib Experimental obj file (unibody) v0.mtl + +g Body1 + +v 10.477500 -10.795000 43.180000 +v 10.477500 -10.795000 37.465000 +v 10.477500 -10.795000 31.750000 +v 10.477500 -17.462500 31.750000 +v 10.477500 -17.462500 37.465000 +v 10.477500 -17.462500 43.180000 +v 10.795000 -17.462500 31.750000 +v 10.795000 -17.462500 37.465000 +v 10.795000 -17.462500 43.180000 +v -10.477500 -10.795000 31.750000 +v -10.477500 -10.795000 37.465000 +v -10.477500 -10.795000 43.180000 +v -10.477500 -17.462500 43.180000 +v -10.477500 -17.462500 37.465000 +v -10.477500 -17.462500 31.750000 +v -10.795000 -17.462500 31.750000 +v -10.795000 -17.462500 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188/255/253 +f 572/764/406 191/258/256 107/195/195 +f 572/763/406 188/255/253 190/257/255 +f 572/455/406 327/424/391 191/453/256 +f 216/605/288 530/765/285 416/589/506 +f 251/591/331 416/589/506 530/765/285 +f 221/322/297 457/766/294 337/443/401 +f 235/594/313 337/443/401 457/766/294 +f 156/727/215 638/726/576 543/728/212 +f 157/729/216 638/726/576 276/730/577 +f 218/702/292 589/701/569 636/767/289 +f 219/703/293 636/767/289 589/701/569 +f 219/703/293 589/701/569 607/704/570 +f 159/754/220 263/752/584 490/768/217 +f 143/755/198 490/768/217 263/752/584 diff --git a/simulation/standalone_sim/scenarios/hydrus_auv.scn b/simulation/standalone_sim/scenarios/hydrus_auv.scn new file mode 100644 index 0000000..1efb0c2 --- /dev/null +++ b/simulation/standalone_sim/scenarios/hydrus_auv.scn @@ -0,0 +1,188 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulation/standalone_sim/scenarios/hydrus_env.scn b/simulation/standalone_sim/scenarios/hydrus_env.scn new file mode 100644 index 0000000..1f0e9d0 --- /dev/null +++ b/simulation/standalone_sim/scenarios/hydrus_env.scn @@ -0,0 +1,47 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulation/src/HydrusSimManager.cpp b/simulation/standalone_sim/src/HydrusSimManager.cpp similarity index 100% rename from simulation/src/HydrusSimManager.cpp rename to simulation/standalone_sim/src/HydrusSimManager.cpp diff --git a/simulation/src/main.cpp b/simulation/standalone_sim/src/main.cpp similarity index 100% rename from simulation/src/main.cpp rename to simulation/standalone_sim/src/main.cpp From db8b2d64d158bb85262c670b005488540fffafed Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 28 Aug 2025 16:23:51 -0400 Subject: [PATCH 08/19] Add ros 2 stonefish package to git --- docker/simulation/simulation.Dockerfile | 8 +++++--- simulation/launch/hydrussim.launch.py | 27 +++++++++++++++++++++++++ 2 files changed, 32 insertions(+), 3 deletions(-) create mode 100644 simulation/launch/hydrussim.launch.py diff --git a/docker/simulation/simulation.Dockerfile b/docker/simulation/simulation.Dockerfile index d06f05d..6f1910b 100644 --- a/docker/simulation/simulation.Dockerfile +++ b/docker/simulation/simulation.Dockerfile @@ -20,10 +20,12 @@ ENV ROS_WS=/home/ros2_ws RUN mkdir -p /${ROS_WS}/src \ && echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc -WORKDIR $ROS_WS/src +WORKDIR $ROS_WS/ + +RUN cd src \ + && git clone https://github.com/patrykcieslak/stonefish_ros2.git -RUN cd /${ROS_WS}/ \ - && colcon build --symlink-install \ +RUN colcon build --symlink-install \ && source install/setup.bash WORKDIR /home/ diff --git a/simulation/launch/hydrussim.launch.py b/simulation/launch/hydrussim.launch.py new file mode 100644 index 0000000..3163bbb --- /dev/null +++ b/simulation/launch/hydrussim.launch.py @@ -0,0 +1,27 @@ +from launch_ros.substitutions import FindPackageShare +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution + + +def generate_launch_description(): + return LaunchDescription([ + IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + PathJoinSubstitution([ + FindPackageShare('stonefish_ros2'), + 'launch', + 'stonefish_simulator.launch.py' + ]) + ]), + launch_arguments={ + 'simulation_data': PathJoinSubstitution([FindPackageShare('my_package'), 'data']), + 'scenario_desc': PathJoinSubstitution([FindPackageShare('my_package'), 'scenarios', 'simulation.scn']), + 'simulation_rate': '300.0', + 'window_res_x': '1200', + 'window_res_y': '800', + 'rendering_quality': 'high' + }.items() + ) + ]) From f4e9d24d1ae619d8d9e3114266cb1da8fdf8c1e6 Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 28 Aug 2025 18:08:00 -0400 Subject: [PATCH 09/19] Finish implementing ros 2 container with working simulation --- docker/simulation/simulation.Dockerfile | 20 +++++---- docker/simulation/simulation.yaml | 1 + .../data}/models/hydrus_unibody.obj | 0 .../data}/models/hydrus_unibody_centered.obj | 0 .../data}/models/propeller.obj | 0 .../data}/scenarios/hydrus_auv.scn | 0 .../data}/scenarios/hydrus_env.scn | 0 .../hydrus_sim_ros2/__init__.py | 0 .../launch/hydrussim.launch.py | 4 +- simulation/hydrus_sim_ros2/package.xml | 19 ++++++++ .../hydrus_sim_ros2/resource/hydrus_sim_ros2 | 0 simulation/hydrus_sim_ros2/setup.cfg | 4 ++ simulation/hydrus_sim_ros2/setup.py | 45 +++++++++++++++++++ .../hydrus_sim_ros2/test/test_copyright.py | 25 +++++++++++ .../hydrus_sim_ros2/test/test_flake8.py | 25 +++++++++++ .../hydrus_sim_ros2/test/test_pep257.py | 23 ++++++++++ 16 files changed, 156 insertions(+), 10 deletions(-) rename simulation/{ => hydrus_sim_ros2/data}/models/hydrus_unibody.obj (100%) rename simulation/{ => hydrus_sim_ros2/data}/models/hydrus_unibody_centered.obj (100%) rename simulation/{ => hydrus_sim_ros2/data}/models/propeller.obj (100%) rename simulation/{ => hydrus_sim_ros2/data}/scenarios/hydrus_auv.scn (100%) rename simulation/{ => hydrus_sim_ros2/data}/scenarios/hydrus_env.scn (100%) create mode 100644 simulation/hydrus_sim_ros2/hydrus_sim_ros2/__init__.py rename simulation/{ => hydrus_sim_ros2}/launch/hydrussim.launch.py (90%) create mode 100644 simulation/hydrus_sim_ros2/package.xml create mode 100644 simulation/hydrus_sim_ros2/resource/hydrus_sim_ros2 create mode 100644 simulation/hydrus_sim_ros2/setup.cfg create mode 100644 simulation/hydrus_sim_ros2/setup.py create mode 100644 simulation/hydrus_sim_ros2/test/test_copyright.py create mode 100644 simulation/hydrus_sim_ros2/test/test_flake8.py create mode 100644 simulation/hydrus_sim_ros2/test/test_pep257.py diff --git a/docker/simulation/simulation.Dockerfile b/docker/simulation/simulation.Dockerfile index 6f1910b..856f66a 100644 --- a/docker/simulation/simulation.Dockerfile +++ b/docker/simulation/simulation.Dockerfile @@ -10,7 +10,16 @@ RUN apt-get upgrade -y && \ libsdl2-dev \ python3-colcon-common-extensions \ python3-rosdep \ - python3-vcstool + python3-vcstool \ + python3-ament-package \ + ros-humble-ament-cmake + +# Setup Stonefish + +WORKDIR /home/ + +RUN git clone https://github.com/patrykcieslak/stonefish +RUN cd stonefish && mkdir build && cd build && cmake .. && make -j$(nproc) && sudo make install # ROS 2 workspace setup SHELL ["/bin/bash", "-c"] @@ -23,14 +32,9 @@ RUN mkdir -p /${ROS_WS}/src \ WORKDIR $ROS_WS/ RUN cd src \ - && git clone https://github.com/patrykcieslak/stonefish_ros2.git + && git clone https://github.com/juandelpueblo/stonefish_ros2.git -RUN colcon build --symlink-install \ +RUN source /opt/ros/humble/setup.bash && colcon build --symlink-install \ && source install/setup.bash -WORKDIR /home/ - -RUN git clone https://github.com/patrykcieslak/stonefish -RUN cd stonefish && mkdir build && cd build && cmake .. && make -j$(nproc) && sudo make install - WORKDIR $ROS_WS/src diff --git a/docker/simulation/simulation.yaml b/docker/simulation/simulation.yaml index b6e46e1..e9e0e91 100644 --- a/docker/simulation/simulation.yaml +++ b/docker/simulation/simulation.yaml @@ -19,5 +19,6 @@ services: hard: 524288 volumes: - /tmp/.X11-unix:/tmp/.X11-unix + - ../../simulation/hydrus_sim_ros2:/home/ros2_ws/src/hydrus_sim_ros2 stdin_open: true tty: true diff --git a/simulation/models/hydrus_unibody.obj b/simulation/hydrus_sim_ros2/data/models/hydrus_unibody.obj similarity index 100% rename from simulation/models/hydrus_unibody.obj rename to simulation/hydrus_sim_ros2/data/models/hydrus_unibody.obj diff --git a/simulation/models/hydrus_unibody_centered.obj b/simulation/hydrus_sim_ros2/data/models/hydrus_unibody_centered.obj similarity index 100% rename from simulation/models/hydrus_unibody_centered.obj rename to simulation/hydrus_sim_ros2/data/models/hydrus_unibody_centered.obj diff --git a/simulation/models/propeller.obj b/simulation/hydrus_sim_ros2/data/models/propeller.obj similarity index 100% rename from simulation/models/propeller.obj rename to simulation/hydrus_sim_ros2/data/models/propeller.obj diff --git a/simulation/scenarios/hydrus_auv.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn similarity index 100% rename from simulation/scenarios/hydrus_auv.scn rename to simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn diff --git a/simulation/scenarios/hydrus_env.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn similarity index 100% rename from simulation/scenarios/hydrus_env.scn rename to simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn diff --git a/simulation/hydrus_sim_ros2/hydrus_sim_ros2/__init__.py b/simulation/hydrus_sim_ros2/hydrus_sim_ros2/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/simulation/launch/hydrussim.launch.py b/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py similarity index 90% rename from simulation/launch/hydrussim.launch.py rename to simulation/hydrus_sim_ros2/launch/hydrussim.launch.py index 3163bbb..279dae5 100644 --- a/simulation/launch/hydrussim.launch.py +++ b/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py @@ -16,8 +16,8 @@ def generate_launch_description(): ]) ]), launch_arguments={ - 'simulation_data': PathJoinSubstitution([FindPackageShare('my_package'), 'data']), - 'scenario_desc': PathJoinSubstitution([FindPackageShare('my_package'), 'scenarios', 'simulation.scn']), + 'simulation_data': PathJoinSubstitution([FindPackageShare('hydrus_sim_ros2'), 'data']), + 'scenario_desc': PathJoinSubstitution([FindPackageShare('hydrus_sim_ros2'), 'data', 'scenarios', 'hydrus_env.scn']), 'simulation_rate': '300.0', 'window_res_x': '1200', 'window_res_y': '800', diff --git a/simulation/hydrus_sim_ros2/package.xml b/simulation/hydrus_sim_ros2/package.xml new file mode 100644 index 0000000..6b26eb2 --- /dev/null +++ b/simulation/hydrus_sim_ros2/package.xml @@ -0,0 +1,19 @@ + + + + hydrus_sim_ros2 + 0.0.0 + TODO: Package description + ed + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + ros2launch + + + ament_python + + diff --git a/simulation/hydrus_sim_ros2/resource/hydrus_sim_ros2 b/simulation/hydrus_sim_ros2/resource/hydrus_sim_ros2 new file mode 100644 index 0000000..e69de29 diff --git a/simulation/hydrus_sim_ros2/setup.cfg b/simulation/hydrus_sim_ros2/setup.cfg new file mode 100644 index 0000000..3d2ceac --- /dev/null +++ b/simulation/hydrus_sim_ros2/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/hydrus_sim_ros2 +[install] +install_scripts=$base/lib/hydrus_sim_ros2 \ No newline at end of file diff --git a/simulation/hydrus_sim_ros2/setup.py b/simulation/hydrus_sim_ros2/setup.py new file mode 100644 index 0000000..497d426 --- /dev/null +++ b/simulation/hydrus_sim_ros2/setup.py @@ -0,0 +1,45 @@ +import os +from glob import glob +from setuptools import find_packages, setup + +package_name = 'hydrus_sim_ros2' + +def files_under(root_dir): + # Yield (install_dir, [file_path]) pairs for every file under root_dir + pairs = [] + for path in glob(os.path.join(root_dir, '**', '*'), recursive=True): + if os.path.isfile(path): + # Preserve subfolder structure under share///... + rel_dir = os.path.dirname(os.path.relpath(path, start='.')) + # rel_dir like "data/maps" or "launch" + install_dir = os.path.join('share', package_name, rel_dir) + pairs.append((install_dir, [path])) + return pairs + +data_files = [ + ('share/ament_index/resource_index/packages', [os.path.join('resource', package_name)]), + ('share/' + package_name, ['package.xml']), +] + +# Always include top-level launch files (and any nested ones) +data_files += files_under('launch') +# Include everything under data/ (recursively) +data_files += files_under('data') + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=data_files, + install_requires=['setuptools'], + zip_safe=True, + maintainer='ed', + maintainer_email='edyancruz@outlook.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/simulation/hydrus_sim_ros2/test/test_copyright.py b/simulation/hydrus_sim_ros2/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/simulation/hydrus_sim_ros2/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/simulation/hydrus_sim_ros2/test/test_flake8.py b/simulation/hydrus_sim_ros2/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/simulation/hydrus_sim_ros2/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/simulation/hydrus_sim_ros2/test/test_pep257.py b/simulation/hydrus_sim_ros2/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/simulation/hydrus_sim_ros2/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' From b42bdb6f5580696e213ed3cf4f7024418196d2f0 Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Tue, 2 Sep 2025 10:53:57 -0400 Subject: [PATCH 10/19] Add README.md with instructions for running the simulation --- simulation/README.md | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 simulation/README.md diff --git a/simulation/README.md b/simulation/README.md new file mode 100644 index 0000000..9dd4199 --- /dev/null +++ b/simulation/README.md @@ -0,0 +1,13 @@ +# How to run: + +Docker is required to run the simulation along with a Linux install (WSL works but very slow). An Nvidia GPU is also highly recommended. + +1. Go to docker/simulation folder + +2. Run `docker compose -f simulation.yaml run simulation` + +3. Run `cd /home/ros2_ws` + +4. Run `colcon build --symlink-install` + +5. Run `ros2 launch hydrus_sim_ros2 hydrussim.launch.py` \ No newline at end of file From cb6c96ed64a6403ce7f20c57154b66f734cda99d Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Tue, 2 Sep 2025 11:17:17 -0400 Subject: [PATCH 11/19] Add thruster control instructions to README and update scenario file with thruster subscriber --- simulation/README.md | 4 +++- simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn | 2 ++ 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/simulation/README.md b/simulation/README.md index 9dd4199..34bfdba 100644 --- a/simulation/README.md +++ b/simulation/README.md @@ -10,4 +10,6 @@ Docker is required to run the simulation along with a Linux install (WSL works b 4. Run `colcon build --symlink-install` -5. Run `ros2 launch hydrus_sim_ros2 hydrussim.launch.py` \ No newline at end of file +5. Run `ros2 launch hydrus_sim_ros2 hydrussim.launch.py` + +To control thrusters, run `ros2 topic pub /hydrus_thruster std_msgs/msg/Float64MultiArray "{layout: {}, data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"`. The first 4 are the corner thrusters while the last 4 are the depth thrusters. \ No newline at end of file diff --git a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn index 1efb0c2..8bb2b67 100644 --- a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn +++ b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn @@ -13,6 +13,8 @@ + + From 0374035078e80c4fbe9b852b6ef878daa1bbaf72 Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 4 Sep 2025 09:52:52 -0400 Subject: [PATCH 12/19] Add simulation Docker entrypoint for easier running --- docker/simulation/entrypoint.sh | 4 ++++ docker/simulation/simulation.Dockerfile | 6 +++++- simulation/README.md | 10 ++++------ 3 files changed, 13 insertions(+), 7 deletions(-) create mode 100755 docker/simulation/entrypoint.sh diff --git a/docker/simulation/entrypoint.sh b/docker/simulation/entrypoint.sh new file mode 100755 index 0000000..9e81caf --- /dev/null +++ b/docker/simulation/entrypoint.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +colcon build --symlink-install +source install/setup.bash +ros2 launch hydrus_sim_ros2 hydrussim.launch.py \ No newline at end of file diff --git a/docker/simulation/simulation.Dockerfile b/docker/simulation/simulation.Dockerfile index 856f66a..224b689 100644 --- a/docker/simulation/simulation.Dockerfile +++ b/docker/simulation/simulation.Dockerfile @@ -37,4 +37,8 @@ RUN cd src \ RUN source /opt/ros/humble/setup.bash && colcon build --symlink-install \ && source install/setup.bash -WORKDIR $ROS_WS/src +WORKDIR $ROS_WS/ + +COPY docker/simulation/entrypoint.sh . + +CMD ["bash", "entrypoint.sh"] \ No newline at end of file diff --git a/simulation/README.md b/simulation/README.md index 34bfdba..fd6a93f 100644 --- a/simulation/README.md +++ b/simulation/README.md @@ -4,12 +4,10 @@ Docker is required to run the simulation along with a Linux install (WSL works b 1. Go to docker/simulation folder -2. Run `docker compose -f simulation.yaml run simulation` +2. Run `docker compose -f simulation.yaml run simulation`. This will launch a window with the simulation. -3. Run `cd /home/ros2_ws` +To control thrusters, follow these steps after running the simulation: -4. Run `colcon build --symlink-install` +1. Run `docker compose -f simulation.yaml run simulation /bin/bash` in another terminal window/tab to gain access to the shell. -5. Run `ros2 launch hydrus_sim_ros2 hydrussim.launch.py` - -To control thrusters, run `ros2 topic pub /hydrus_thruster std_msgs/msg/Float64MultiArray "{layout: {}, data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"`. The first 4 are the corner thrusters while the last 4 are the depth thrusters. \ No newline at end of file +2. Run `ros2 topic pub /hydrus_thruster std_msgs/msg/Float64MultiArray "{layout: {}, data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"`. The first 4 are the corner thrusters while the last 4 are the depth thrusters. \ No newline at end of file From 87eb32ea040c82d078d5981f5422ed3364c7f0d3 Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 4 Sep 2025 10:58:20 -0400 Subject: [PATCH 13/19] Add thruster teleop node to control simulation thrusters --- simulation/README.md | 2 +- .../data/scenarios/hydrus_auv.scn | 2 +- .../hydrus_sim_ros2/thruster_teleop.py | 116 ++++++++++++++++++ simulation/hydrus_sim_ros2/package.xml | 8 +- simulation/hydrus_sim_ros2/setup.py | 1 + 5 files changed, 124 insertions(+), 5 deletions(-) create mode 100644 simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py diff --git a/simulation/README.md b/simulation/README.md index fd6a93f..aad5541 100644 --- a/simulation/README.md +++ b/simulation/README.md @@ -10,4 +10,4 @@ To control thrusters, follow these steps after running the simulation: 1. Run `docker compose -f simulation.yaml run simulation /bin/bash` in another terminal window/tab to gain access to the shell. -2. Run `ros2 topic pub /hydrus_thruster std_msgs/msg/Float64MultiArray "{layout: {}, data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"`. The first 4 are the corner thrusters while the last 4 are the depth thrusters. \ No newline at end of file +2. Run `ros2 topic pub /hydrus_thrusters std_msgs/msg/Float64MultiArray "{layout: {}, data: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}"`. The first 4 are the corner thrusters while the last 4 are the depth thrusters. \ No newline at end of file diff --git a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn index 8bb2b67..96289b6 100644 --- a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn +++ b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn @@ -13,7 +13,7 @@ - + diff --git a/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py b/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py new file mode 100644 index 0000000..d2676ae --- /dev/null +++ b/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py @@ -0,0 +1,116 @@ +import rclpy +from rclpy.node import Node +import threading +import sys +import termios +import tty + +from std_msgs.msg import Float64MultiArray + + +class ThrusterTeleOp(Node): + + def __init__(self): + super().__init__('thruster_teleop') + self.publisher_ = self.create_publisher( + Float64MultiArray, 'hydrus_thruster', 10) + timer_period = 0.1 # seconds + self.timer = self.create_timer(timer_period, self.timer_callback) + self.thruster_speeds = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] + + # Vertical movement settings + self.vertical_thrust = 0.0 + self.thrust_increment = 0.1 + self.max_thrust = 1.0 + self.min_thrust = -1.0 + + # Start keyboard listener thread + self.running = True + self.keyboard_thread = threading.Thread(target=self.keyboard_listener) + self.keyboard_thread.daemon = True + self.keyboard_thread.start() + + self.print_instructions() + + def print_instructions(self): + print("\n=== Hydrus Thruster Teleop Control ===") + print("Controls:") + print(" w/W : Move up (increase thrust)") + print(" s/S : Move down (decrease thrust)") + print(" x/X : Stop all thrusters") + print(" q/Q : Quit") + print("=====================================\n") + + def keyboard_listener(self): + """Listen for keyboard input in a separate thread""" + old_settings = termios.tcgetattr(sys.stdin) + try: + tty.setraw(sys.stdin.fileno()) + while self.running: + key = sys.stdin.read(1) + if key: + self.process_key(key) + except Exception as e: + self.get_logger().error(f'Keyboard listener error: {e}') + finally: + termios.tcsetattr(sys.stdin, termios.TCSADRAIN, old_settings) + + def process_key(self, key): + """Process keyboard input""" + key_lower = key.lower() + + if key_lower == 'q': + # Move up - increase thrust + self.vertical_thrust = min(self.max_thrust, + self.vertical_thrust + self.thrust_increment) + self.get_logger().info(f'Moving up - Thrust: {self.vertical_thrust:.1f}') + + elif key_lower == 'e': + # Move down - decrease thrust (negative values) + self.vertical_thrust = max(self.min_thrust, + self.vertical_thrust - self.thrust_increment) + self.get_logger().info(f'Moving down - Thrust: {self.vertical_thrust:.1f}') + + elif key_lower == 'x': + # Stop all thrusters + self.vertical_thrust = 0.0 + self.get_logger().info('Stopping all thrusters') + + elif key_lower == 'z': + # Quit + self.get_logger().info('Quitting...') + self.running = False + rclpy.shutdown() + + # Update thruster speeds (last 4 thrusters for vertical movement) + for i in range(4, 8): # Thrusters 4, 5, 6, 7 + self.thruster_speeds[i] = self.vertical_thrust + + def timer_callback(self): + msg = Float64MultiArray() + msg.data = self.thruster_speeds + self.publisher_.publish(msg) + # Only log when thrust values change to reduce spam + if any(speed != 0.0 for speed in self.thruster_speeds): + self.get_logger().info( + f'Thruster speeds: {[f"{speed:.1f}" for speed in self.thruster_speeds]}') + + +def main(args=None): + rclpy.init(args=args) + + thruster_teleop = None + try: + thruster_teleop = ThrusterTeleOp() + rclpy.spin(thruster_teleop) + except KeyboardInterrupt: + print("\nShutting down...") + finally: + if thruster_teleop is not None: + thruster_teleop.running = False + thruster_teleop.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/simulation/hydrus_sim_ros2/package.xml b/simulation/hydrus_sim_ros2/package.xml index 6b26eb2..e9a500f 100644 --- a/simulation/hydrus_sim_ros2/package.xml +++ b/simulation/hydrus_sim_ros2/package.xml @@ -3,15 +3,17 @@ hydrus_sim_ros2 0.0.0 - TODO: Package description - ed - TODO: License declaration + Package to simulate the Hydrus AUV + Edyan Crtuz + WTFPL ament_copyright ament_flake8 ament_pep257 python3-pytest ros2launch + rclpy + std_msgs ament_python diff --git a/simulation/hydrus_sim_ros2/setup.py b/simulation/hydrus_sim_ros2/setup.py index 497d426..42b612f 100644 --- a/simulation/hydrus_sim_ros2/setup.py +++ b/simulation/hydrus_sim_ros2/setup.py @@ -40,6 +40,7 @@ def files_under(root_dir): tests_require=['pytest'], entry_points={ 'console_scripts': [ + 'thruster_teleop = hydrus_sim_ros2.thruster_teleop:main', ], }, ) From dafbfa00179ff4ae52d32d1fcd045aff6357749e Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 4 Sep 2025 11:05:38 -0400 Subject: [PATCH 14/19] Adjust material so sub doesn't sink --- .../data/scenarios/hydrus_auv.scn | 18 +++++++++--------- .../data/scenarios/hydrus_env.scn | 1 + 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn index 96289b6..6123ce2 100644 --- a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn +++ b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn @@ -7,7 +7,7 @@ - + @@ -23,7 +23,7 @@ normalized_setpoint="true" /> - + @@ -44,7 +44,7 @@ normalized_setpoint="true" /> - + @@ -65,7 +65,7 @@ normalized_setpoint="true" /> - + @@ -86,7 +86,7 @@ normalized_setpoint="true" /> - + @@ -108,7 +108,7 @@ normalized_setpoint="true" /> - + @@ -129,7 +129,7 @@ normalized_setpoint="true" /> - + @@ -150,7 +150,7 @@ normalized_setpoint="true" /> - + @@ -171,7 +171,7 @@ normalized_setpoint="true" /> - + diff --git a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn index 1f0e9d0..0cd693b 100644 --- a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn +++ b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn @@ -19,6 +19,7 @@ + From 4ab17e228f021963dcbbcd05b66275674e8eb4b3 Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 4 Sep 2025 11:10:49 -0400 Subject: [PATCH 15/19] Adjust material density --- simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn index 0cd693b..b689629 100644 --- a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn +++ b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_env.scn @@ -19,7 +19,7 @@ - + From 575cbcf7b7e6fa5d7bf3662f214077b450ae227a Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 18 Sep 2025 09:27:17 -0400 Subject: [PATCH 16/19] Remove standalone sim --- simulation/standalone_sim/CMakeLists.txt | 22 - simulation/standalone_sim/README.md | 12 - .../standalone_sim/include/HydrusSimManager.h | 8 - .../standalone_sim/models/hydrus_unibody.obj | 2807 ---------------- .../models/hydrus_unibody_centered.obj | 1755 ---------- .../standalone_sim/models/propeller.obj | 2906 ----------------- .../standalone_sim/scenarios/hydrus_auv.scn | 188 -- .../standalone_sim/scenarios/hydrus_env.scn | 47 - .../standalone_sim/src/HydrusSimManager.cpp | 92 - simulation/standalone_sim/src/main.cpp | 24 - 10 files changed, 7861 deletions(-) delete mode 100644 simulation/standalone_sim/CMakeLists.txt delete mode 100644 simulation/standalone_sim/README.md delete mode 100644 simulation/standalone_sim/include/HydrusSimManager.h delete mode 100644 simulation/standalone_sim/models/hydrus_unibody.obj delete mode 100644 simulation/standalone_sim/models/hydrus_unibody_centered.obj delete mode 100644 simulation/standalone_sim/models/propeller.obj delete mode 100644 simulation/standalone_sim/scenarios/hydrus_auv.scn delete mode 100644 simulation/standalone_sim/scenarios/hydrus_env.scn delete mode 100644 simulation/standalone_sim/src/HydrusSimManager.cpp delete mode 100644 simulation/standalone_sim/src/main.cpp diff --git a/simulation/standalone_sim/CMakeLists.txt b/simulation/standalone_sim/CMakeLists.txt deleted file mode 100644 index 0349cfe..0000000 --- a/simulation/standalone_sim/CMakeLists.txt +++ /dev/null @@ -1,22 +0,0 @@ -cmake_minimum_required(VERSION 3.10) -project(HydrusSim) - -set(CMAKE_CXX_STANDARD 20) -set(CMAKE_CXX_STANDARD_REQUIRED True) - -find_package(Stonefish REQUIRED 1.5.0) - -include_directories( - ${CMAKE_SOURCE_DIR}/include -) - -add_executable(HydrusSim - src/main.cpp - src/HydrusSimManager.cpp - include/HydrusSimManager.h -) - -# Link with Stonefish library -target_link_libraries(HydrusSim - Stonefish::Stonefish -) \ No newline at end of file diff --git a/simulation/standalone_sim/README.md b/simulation/standalone_sim/README.md deleted file mode 100644 index a222676..0000000 --- a/simulation/standalone_sim/README.md +++ /dev/null @@ -1,12 +0,0 @@ -# Hydrus Simulator - -To compile and run: - -0. Use WSL2 or ideally a Linux distro. -1. Follow steps at https://stonefish.readthedocs.io/en/latest/install.html#building to build and install the Stonefish library -2. Run `cd simulation` from the root of this project -3. Run `mkdir build` -4. Run `cd build` -5. Run `cmake ..` to generate build files -6. Run `make` to build project -7. Run `./HydrusSim` to view simulation \ No newline at end of file diff --git a/simulation/standalone_sim/include/HydrusSimManager.h b/simulation/standalone_sim/include/HydrusSimManager.h deleted file mode 100644 index c4b59cf..0000000 --- a/simulation/standalone_sim/include/HydrusSimManager.h +++ /dev/null @@ -1,8 +0,0 @@ -#include - -class HydrusSimManager : public sf::SimulationManager -{ -public: - HydrusSimManager(sf::Scalar stepsPerSecond); - void BuildScenario(); -}; \ No newline at end of file diff --git a/simulation/standalone_sim/models/hydrus_unibody.obj b/simulation/standalone_sim/models/hydrus_unibody.obj deleted file mode 100644 index 152f22d..0000000 --- a/simulation/standalone_sim/models/hydrus_unibody.obj +++ /dev/null @@ -1,2807 +0,0 @@ -# WaveFront *.obj file (generated by Autodesk ATF) - -mtllib Experimental obj file (unibody) v0.mtl - -g Body1 - -v 10.477500 -10.795000 43.180000 -v 10.477500 -10.795000 37.465000 -v 10.477500 -10.795000 31.750000 -v 10.477500 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490/768/217 -f 143/755/198 490/768/217 263/752/584 diff --git a/simulation/standalone_sim/scenarios/hydrus_auv.scn b/simulation/standalone_sim/scenarios/hydrus_auv.scn deleted file mode 100644 index 1efb0c2..0000000 --- a/simulation/standalone_sim/scenarios/hydrus_auv.scn +++ /dev/null @@ -1,188 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/simulation/standalone_sim/scenarios/hydrus_env.scn b/simulation/standalone_sim/scenarios/hydrus_env.scn deleted file mode 100644 index 1f0e9d0..0000000 --- a/simulation/standalone_sim/scenarios/hydrus_env.scn +++ /dev/null @@ -1,47 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/simulation/standalone_sim/src/HydrusSimManager.cpp b/simulation/standalone_sim/src/HydrusSimManager.cpp deleted file mode 100644 index f5af1ae..0000000 --- a/simulation/standalone_sim/src/HydrusSimManager.cpp +++ /dev/null @@ -1,92 +0,0 @@ -#include "HydrusSimManager.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include - -HydrusSimManager::HydrusSimManager(sf::Scalar stepsPerSecond) : SimulationManager(stepsPerSecond) -{ -} - -void HydrusSimManager::BuildScenario() -{ - sf::ScenarioParser parser(this); - bool success = parser.Parse(sf::GetDataPath() + "scenarios/hydrus_env.scn"); - if (!success) - cCritical("Scenario parser: Parsing failed!"); -} - -// Keep the following commented out code for future reference or use -// // Physical materials -// CreateMaterial("Aluminium", 2700.0, 0.8); -// CreateMaterial("Steel", 7810.0, 0.9); -// SetMaterialsInteraction("Aluminium", "Aluminium", 0.7, 0.5); -// SetMaterialsInteraction("Steel", "Steel", 0.4, 0.2); -// SetMaterialsInteraction("Aluminium", "Steel", 0.6, 0.4); - -// // Graphical materials (looks) -// CreateLook("green", sf::Color::RGB(0.f, 1.f, 0.f), 0.1f, 0.1f); -// CreateLook("gray", sf::Color::Gray(0.5f), 0.3f, 0.2f); -// CreateLook("red", sf::Color::RGB(1.f, 0.f, 0.f), 0.1f, 0.f); - -// // Create environment -// EnableOcean(0.0); -// getOcean()->setWaterType(0.2); -// getOcean()->EnableCurrents(); -// getAtmosphere()->SetSunPosition(0.0, 60.0); -// getNED()->Init(0.0, 0.0, 0.0); - -// sf::Plane *plane = new sf::Plane("Ground", 10000.0, "Steel", "gray"); -// AddStaticEntity(plane, sf::Transform(sf::IQ(), sf::Vector3(0.0, 0.0, 5.0))); - -// // Create AUV -// sf::BodyPhysicsSettings phy; -// phy.mode = sf::BodyPhysicsMode::SUBMERGED; -// phy.buoyancy = true; -// phy.collisions = true; - -// sf::Polyhedron *unibody = new sf::Polyhedron("hydrus_unibody", phy, sf::GetDataPath() + "models/hydrus_unibody_centered.obj", sf::Scalar(1), sf::Transform(sf::Quaternion(0, 0, -M_PI_2), sf::Vector3(0.0, 0.0, 0.0)), "Steel", "green"); -// sf::Compound *vehicle = new sf::Compound("Hydrus", phy, unibody, sf::Transform(sf::Quaternion(0, 0, 0), sf::Vector3(0.0, 0.0, 0.0))); - -// // Create thrusters -// std::array thrusterNames = { -// "thruster_front_left", -// "thruster_front_right", -// "thruster_back_left", -// "thruster_back_right", -// "thruster_depth_1", -// "thruster_depth_2", -// "thruster_depth_3", -// "thruster_depth_4"}; -// std::array thrusters; -// std::shared_ptr propeller = std::make_shared("Propeller", phy, sf::GetDataPath() + "models/propeller.obj", sf::Scalar(0.75), sf::I4(), "Dummy", "propeller"); -// for (size_t i = 0; i < thrusterNames.size(); ++i) -// { -// std::shared_ptr rotorDynamics; -// rotorDynamics = std::make_shared(1.0, 10.0, 5.0, 5.0); -// std::shared_ptr thrustModel; -// thrustModel = std::make_shared(0.18, 0.48, 0.48, 0.05, true, getOcean()->getLiquid().density); -// thrusters[i] = new sf::Thruster(thrusterNames[i], propeller, rotorDynamics, thrustModel, 0.18, true, 105.0, false, true); -// } - -// sf::Robot *auv = new sf::GeneralRobot("HydrusAUV", false); -// auv->DefineLinks(vehicle); -// auv->BuildKinematicStructure(); - -// // Corner thrusters -// auv->AddLinkActuator(thrusters[0], "Hydrus", sf::Transform(sf::Quaternion(-M_PI_4 + M_PI_4 * -0.5, 0, 0), sf::Vector3(0.198, 0.407, 0.0))); -// auv->AddLinkActuator(thrusters[1], "Hydrus", sf::Transform(sf::Quaternion(M_PI_4 + M_PI_4 * 0.5, 0, 0), sf::Vector3(0.198, -0.408, 0.0))); -// auv->AddLinkActuator(thrusters[2], "Hydrus", sf::Transform(sf::Quaternion(-M_PI_2 + M_PI_4 * -0.5, 0, 0), sf::Vector3(-0.198, 0.407, 0.0))); -// auv->AddLinkActuator(thrusters[3], "Hydrus", sf::Transform(sf::Quaternion(M_PI_2 + M_PI_4 * 0.5, 0, 0), sf::Vector3(-0.198, -0.408, 0.0))); -// // Depth thrusters -// auv->AddLinkActuator(thrusters[4], "Hydrus", sf::Transform(sf::Quaternion(0, -M_PI_2, 0), sf::Vector3(0.211, 0.169, 0))); -// auv->AddLinkActuator(thrusters[5], "Hydrus", sf::Transform(sf::Quaternion(0, -M_PI_2, 0), sf::Vector3(0.211, -0.169, 0.0))); -// auv->AddLinkActuator(thrusters[6], "Hydrus", sf::Transform(sf::Quaternion(0, -M_PI_2, 0), sf::Vector3(-0.211, 0.169, 0.0))); -// auv->AddLinkActuator(thrusters[7], "Hydrus", sf::Transform(sf::Quaternion(0, -M_PI_2, 0), sf::Vector3(-0.211, -0.169, 0.0))); - -// AddRobot(auv, sf::Transform(sf::Quaternion(0, 0, 0), sf::Vector3(0.0, 0.0, 0.0))); \ No newline at end of file diff --git a/simulation/standalone_sim/src/main.cpp b/simulation/standalone_sim/src/main.cpp deleted file mode 100644 index 18b44b6..0000000 --- a/simulation/standalone_sim/src/main.cpp +++ /dev/null @@ -1,24 +0,0 @@ -#include -#include "HydrusSimManager.h" -#include -#include - -int main(int argc, char **argv) -{ - // Using default settings - sf::RenderSettings s; - s.verticalSync = true; // Enable vertical sync - s.windowH = 1024; - s.windowW = 1280; // Set window size - sf::HelperSettings h; - - // Get the directory where the executable's source is located - std::filesystem::path sourcePath = std::filesystem::path(__FILE__).parent_path().parent_path(); - std::string simulationPath = sourcePath.string() + "/"; - - HydrusSimManager manager(500.0); - sf::GraphicalSimulationApp app("Simple simulator", simulationPath, s, h, &manager); - app.Run(); - - return 0; -} \ No newline at end of file From 11e909a7dcb21649161402109dd6ca0f57dc21ea Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 18 Sep 2025 09:38:05 -0400 Subject: [PATCH 17/19] Improve thruster teleop and make it easier to run --- docker/simulation/simulation.Dockerfile | 1 + docker/simulation/thruster_teleop.sh | 3 + .../hydrus_sim_ros2/thruster_teleop.py | 83 +++++++++++++++++-- .../launch/hydrussim.launch.py | 4 +- 4 files changed, 82 insertions(+), 9 deletions(-) create mode 100755 docker/simulation/thruster_teleop.sh diff --git a/docker/simulation/simulation.Dockerfile b/docker/simulation/simulation.Dockerfile index 224b689..070b326 100644 --- a/docker/simulation/simulation.Dockerfile +++ b/docker/simulation/simulation.Dockerfile @@ -40,5 +40,6 @@ RUN source /opt/ros/humble/setup.bash && colcon build --symlink-install \ WORKDIR $ROS_WS/ COPY docker/simulation/entrypoint.sh . +COPY docker/simulation/thruster_teleop.sh . CMD ["bash", "entrypoint.sh"] \ No newline at end of file diff --git a/docker/simulation/thruster_teleop.sh b/docker/simulation/thruster_teleop.sh new file mode 100755 index 0000000..0f7741f --- /dev/null +++ b/docker/simulation/thruster_teleop.sh @@ -0,0 +1,3 @@ +#!/usr/bin/env bash +source install/setup.bash +ros2 run hydrus_sim_ros2 thruster_teleop \ No newline at end of file diff --git a/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py b/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py index d2676ae..387f680 100644 --- a/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py +++ b/simulation/hydrus_sim_ros2/hydrus_sim_ros2/thruster_teleop.py @@ -13,7 +13,7 @@ class ThrusterTeleOp(Node): def __init__(self): super().__init__('thruster_teleop') self.publisher_ = self.create_publisher( - Float64MultiArray, 'hydrus_thruster', 10) + Float64MultiArray, '/hydrus_thrusters', 10) timer_period = 0.1 # seconds self.timer = self.create_timer(timer_period, self.timer_callback) self.thruster_speeds = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] @@ -24,6 +24,10 @@ def __init__(self): self.max_thrust = 1.0 self.min_thrust = -1.0 + # Horizontal movement settings for corner thrusters + self.forward_thrust = 0.0 + self.rotation_thrust = 0.0 + # Start keyboard listener thread self.running = True self.keyboard_thread = threading.Thread(target=self.keyboard_listener) @@ -35,10 +39,15 @@ def __init__(self): def print_instructions(self): print("\n=== Hydrus Thruster Teleop Control ===") print("Controls:") - print(" w/W : Move up (increase thrust)") - print(" s/S : Move down (decrease thrust)") - print(" x/X : Stop all thrusters") - print(" q/Q : Quit") + print(" w : Move forward (stops rotation)") + print(" s : Move backward (stops rotation)") + print(" a : Rotate left (stops forward/backward)") + print(" d : Rotate right (stops forward/backward)") + print(" q : Move up (increase thrust)") + print(" e : Move down (decrease thrust)") + print(" x : Stop all thrusters") + print(" z : Quit") + print("Note: Forward/backward and rotation are mutually exclusive") print("=====================================\n") def keyboard_listener(self): @@ -59,7 +68,43 @@ def process_key(self, key): """Process keyboard input""" key_lower = key.lower() - if key_lower == 'q': + if key_lower == 'w': + # Move forward - thrusters 0 and 2 forward + # Reset rotation when moving forward + self.rotation_thrust = 0.0 + self.forward_thrust = min(self.max_thrust, + self.forward_thrust + self.thrust_increment) + self.get_logger().info( + f'Moving forward - Thrust: {self.forward_thrust:.1f}') + + elif key_lower == 's': + # Move backward - thrusters 0 and 2 backward + # Reset rotation when moving backward + self.rotation_thrust = 0.0 + self.forward_thrust = max(self.min_thrust, + self.forward_thrust - self.thrust_increment) + self.get_logger().info( + f'Moving backward - Thrust: {self.forward_thrust:.1f}') + + elif key_lower == 'a': + # Rotate left + # Reset forward movement when rotating + self.forward_thrust = 0.0 + self.rotation_thrust = min(self.max_thrust, + self.rotation_thrust + self.thrust_increment) + self.get_logger().info( + f'Rotating left - Thrust: {self.rotation_thrust:.1f}') + + elif key_lower == 'd': + # Rotate right + # Reset forward movement when rotating + self.forward_thrust = 0.0 + self.rotation_thrust = max(self.min_thrust, + self.rotation_thrust - self.thrust_increment) + self.get_logger().info( + f'Rotating right - Thrust: {self.rotation_thrust:.1f}') + + elif key_lower == 'q': # Move up - increase thrust self.vertical_thrust = min(self.max_thrust, self.vertical_thrust + self.thrust_increment) @@ -74,6 +119,8 @@ def process_key(self, key): elif key_lower == 'x': # Stop all thrusters self.vertical_thrust = 0.0 + self.forward_thrust = 0.0 + self.rotation_thrust = 0.0 self.get_logger().info('Stopping all thrusters') elif key_lower == 'z': @@ -82,7 +129,29 @@ def process_key(self, key): self.running = False rclpy.shutdown() - # Update thruster speeds (last 4 thrusters for vertical movement) + # Update thruster speeds + # Corner thrusters (0, 1, 2, 3) for horizontal movement + + if self.forward_thrust != 0.0: + # Forward/backward movement - thrusters 0 and 2 + self.thruster_speeds[0] = self.forward_thrust + self.thruster_speeds[1] = 0.0 + self.thruster_speeds[2] = self.forward_thrust + self.thruster_speeds[3] = 0.0 + elif self.rotation_thrust != 0.0: + # Rotation movement - differential thrust on corners + self.thruster_speeds[0] = self.rotation_thrust + self.thruster_speeds[1] = -self.rotation_thrust + self.thruster_speeds[2] = -self.rotation_thrust + self.thruster_speeds[3] = self.rotation_thrust + else: + # No horizontal movement + self.thruster_speeds[0] = 0.0 + self.thruster_speeds[1] = 0.0 + self.thruster_speeds[2] = 0.0 + self.thruster_speeds[3] = 0.0 + + # Vertical thrusters (4, 5, 6, 7) for up/down movement for i in range(4, 8): # Thrusters 4, 5, 6, 7 self.thruster_speeds[i] = self.vertical_thrust diff --git a/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py b/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py index 279dae5..544f848 100644 --- a/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py +++ b/simulation/hydrus_sim_ros2/launch/hydrussim.launch.py @@ -19,8 +19,8 @@ def generate_launch_description(): 'simulation_data': PathJoinSubstitution([FindPackageShare('hydrus_sim_ros2'), 'data']), 'scenario_desc': PathJoinSubstitution([FindPackageShare('hydrus_sim_ros2'), 'data', 'scenarios', 'hydrus_env.scn']), 'simulation_rate': '300.0', - 'window_res_x': '1200', - 'window_res_y': '800', + 'window_res_x': '1920', + 'window_res_y': '1080', 'rendering_quality': 'high' }.items() ) From f33a37158453c1bf215729fac51e87bb180e6c3a Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 18 Sep 2025 09:38:22 -0400 Subject: [PATCH 18/19] Simplify docker compose file --- docker/simulation/simulation.yaml | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/docker/simulation/simulation.yaml b/docker/simulation/simulation.yaml index e9e0e91..ac970ab 100644 --- a/docker/simulation/simulation.yaml +++ b/docker/simulation/simulation.yaml @@ -4,15 +4,10 @@ services: context: ../../../hydrus-software-stack dockerfile: docker/simulation/simulation.Dockerfile privileged: true - deploy: - resources: - reservations: - devices: - - driver: nvidia - count: all - capabilities: [gpu] + runtime: nvidia environment: - DISPLAY=${DISPLAY} + - PYTHONUNBUFFERED=1 ulimits: nofile: soft: 1024 From 5e9a155bdcd1e2d00bc0eed9e3eece37dd81bf24 Mon Sep 17 00:00:00 2001 From: JuanDelPueblo Date: Thu, 18 Sep 2025 09:38:32 -0400 Subject: [PATCH 19/19] Add IMU and Camera (to be tuned) --- .../data/scenarios/hydrus_auv.scn | 35 +++++++++++++++++++ 1 file changed, 35 insertions(+) diff --git a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn index 6123ce2..7a24f92 100644 --- a/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn +++ b/simulation/hydrus_sim_ros2/data/scenarios/hydrus_auv.scn @@ -185,6 +185,41 @@ + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file