robocup-logistics / gazebo-rcll Goto Github PK

View Code? Open in Web Editor NEW

17.0 12.0 12.0 21.15 MB

Gazebo Models, Plugins, and World Files for the RoboCup Logistics League

License: GNU General Public License v2.0

CMake 3.45% C++ 95.72% C 0.83%

gazebo-rcll's Introduction

RoboCup-Logistics Gazebo Simulation

This repository includes the models, worlds and plugins to simulate the RoboCup Logistics League with Gazebo.

Setup Instructions

Install Gazebo

Build the plugins with cmake:

$ cmake -B build -DCMAKE_BUILD_TYPE=RelWithDebInfo
$ cmake --build build

Set up the environment. Open ~/.bashrc with your favorite text editor and add the following lines:

source /usr/share/gazebo/setup.sh
export GAZEBO_RCLL=~/gazebo-rcll
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:$GAZEBO_RCLL/build/plugins
export GAZEBO_MODEL_PATH=$GAZEBO_RCLL/models
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$GAZEBO_RCLL/models/carologistics
export GAZEBO_WORLD_PATH=$GAZEBO_RCLL/worlds/carologistics/llsf.world

You may have to change the path depending on where you cloned the repository and which world you want to run.

Restart your terminal to make sure the environment variables are set correctly.

Then you can start gazebo from the terminal.

gazebo-rcll's People

Contributors

Stargazers

Watchers

Forkers

pyroteam mostafagomaa rachot geraldsteinbauer transparentevan momoson tf-janr b2220333 nlimpert pkohout grips-robocup ali-alridha

gazebo-rcll's Issues

Ring station has slide on the wrong side

The model of the ring station is wrong, the slide is on the wrong side. This can be seen here:

The robot puts the workpiece on the correct side, but the model has the slide on the output instead of the input side.

support current refbox version

Hi,

during the last TC meeting it was mentioned that the work to update the Gazebo simulation will be finished during the summer, so that it will be possible to run simulations with the current version of the Refbox. Are there any new on this?

Thanks a lot,
Peter

[Question] Plugin initialisation in constructor instead of Load method

Hi @zwilling,

I'm wondering why in mps plugin (mps.cpp specifically) all the initialization stuff is done in class constructor instead of Load() method like on many others plugins and like recommended by gazebosim.

Is there any technical reason, or could the initialization be moved safely ?

Thanks

error: redefinition of ‘struct spdlog::details::null_mutex’ struct null_mutex

error: redefinition of ‘struct spdlog::details::null_mutex’
struct null_mutex

I met the problem when cmake build:

can anyone help me?

Simulation crashes if RS is prepared without a workpiece

Preparing an RS without putting a workpiece on its input crashes/freezes the simulation. The reason is that the MPS plugin tries to move the workpiece from the input to the output, but there is no workpiece.

This has been observed with the RS, but may also occur for other MPS types.

Simulation occasionally freezes for a few seconds

Sometimes, the simulation freezes (at least the gazebo GUI freezes). After this, the robots are often completely delocalized, effectively crashing the game.

Light signals are not working

The status lights of the MPS machines are not working in the latest version of the simulation. The refbox regularly sends a light signal via OPC-UA, which is currently ignored.

Failing to build with Gazebo 10 (Fedora 32)

This repository fails to build on Fedora 32 with Gazebo 10.1:

         --> Entering sub-directory src/plugins/mps
            [C++] src/plugins/mps/ring_station.cpp
In file included from /usr/include/gazebo-10/gazebo/transport/Connection.hh:21,
                 from /usr/include/gazebo-10/gazebo/transport/transport.hh:3,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/mps.h:28,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.h:29,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.cpp:23:
/usr/include/tbb/task.h:21:139: note: ‘#pragma message: TBB Warning: tbb/task.h is deprecated. For details, please see Deprecated Features appendix in the TBB reference manual.’
   21 | #pragma message("TBB Warning: tbb/task.h is deprecated. For details, please see Deprecated Features appendix in the TBB reference manual.")
      |                                                                                                                                           ^
/home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.cpp: In member function ‘void gazebo::RingStation::publish_indicator(bool, int)’:
/home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.cpp:73:85: error: invalid use of incomplete type ‘class gazebo::common::Color’
   73 |     msgs::Set(msg.mutable_material()->mutable_diffuse(), gazebo::common::Color(1,0,0));
      |                                                                                     ^
In file included from /usr/include/gazebo-10/gazebo/physics/Model.hh:27,
                 from /usr/include/gazebo-10/gazebo/physics/Actor.hh:27,
                 from /usr/include/gazebo-10/gazebo/physics/physics.hh:2,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/mps.h:25,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.h:29,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.cpp:23:
/usr/include/gazebo-10/gazebo/common/CommonTypes.hh:76:11: note: forward declaration of ‘class gazebo::common::Color’
   76 |     class Color;
      |           ^~~~~
/home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.cpp:77:87: error: invalid use of incomplete type ‘class gazebo::common::Color’
   77 |     msgs::Set(msg.mutable_material()->mutable_diffuse(), gazebo::common::Color(0.3,0,0));
      |                                                                                       ^
In file included from /usr/include/gazebo-10/gazebo/physics/Model.hh:27,
                 from /usr/include/gazebo-10/gazebo/physics/Actor.hh:27,
                 from /usr/include/gazebo-10/gazebo/physics/physics.hh:2,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/mps.h:25,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.h:29,
                 from /home/thofmann/code/gazebo-rcll/plugins/src/plugins/mps/ring_station.cpp:23:
/usr/include/gazebo-10/gazebo/common/CommonTypes.hh:76:11: note: forward declaration of ‘class gazebo::common::Color’
   76 |     class Color;
      |           ^~~~~
make[5]: *** [/home/thofmann/code/gazebo-rcll/plugins/etc/buildsys/rules.mk:176: ring_station.o] Error 1
make[4]: *** [/home/thofmann/code/gazebo-rcll/plugins/etc/buildsys/objsdir.mk:34: .objs_fawkes] Error 2
make[3]: *** [/home/thofmann/code/gazebo-rcll/plugins/etc/buildsys/rules.mk:149: mps] Error 2
make[2]: *** [/home/thofmann/code/gazebo-rcll/plugins/etc/buildsys/rules.mk:149: plugins] Error 2
make[1]: *** [/home/thofmann/code/gazebo-rcll/plugins/etc/buildsys/rules.mk:149: src] Error 2
make: *** [/home/thofmann/code/gazebo-rcll/plugins/etc/buildsys/rules.mk:149: plugins] Error 2

Segfault on llsf_refbox_comm plugin

Hi guys !

We (the French PYRO Team) are trying to connect the simulation with our ROS nodes and the refereebox, but we encouter a segfault on start of llsf_refbox_comm plugin.

Do you have the same problem ?

Supported gazebo versions

Hi,
Is only Gazebo 7.0 working, I have not found any information about that? Are there any plans to update the plugins to support a newer version?

Thanks a lot,
Peter

Rosrun

Hello, I'm trying to run gazebo as ros node (rosrun gazebo_ros gazebo), but my Insert tab has no models, only the paths to models are shown there. When I'm running gazebo alone, not as ros node - I can see models in Insert tab.

Cap carriers are not always initialized with caps

The cap carriers on the cap station shelves should initially all have a cap, but only some of them do:

The middle and right workpiece should have a black cap, like the workpiece on the left. For the other cap station, all caps should be gray.

About a dead link https://files.fawkesrobotics.org/projects/rcll-simstick

While looking for a demo available I found logrobcomp-rules2017-v2.pdf at http://www.robocup-logistics.org/sim-comp, the PDF file tells me I can download a USB Stick Image, but the link [https://files .fawkesrobotics.org/projects/rcll-simstick](https://files .fawkesrobotics.org/projects/rcll-simstick) seems to be invalid, I would like to know if this simulator has a relationship with fawksrobotics and if so where can I find this image?

Member request

Hi,

Can I be added to the repo members (even with None rights) please ?
I need this to setup slack integration 😛

update delivery_station mps plugin

Hi,

we started fixing the problems in our simulation, and we noticed that the delivery station plugin is still using the gate parameter of the PrepareInstructionDS (see below).
We have now a workaround to assign a random gate, but I would like to create a pull request with a proper fix. How is the connection of order_id - gaze implemented in the real world? Should the MPS handle that (listening to the orders), or is there a new message that the refbox sends to the MPS (which contains the correct order)? IMHO the MPS should not be aware of "Orders" since a order is an object that exits layers above the MPS.

Thanks a lot,
Peter

message PrepareInstructionDS {
  reserved "gate";
  reserved 1;
  required uint32 order_id = 2;
}

cannot find /opc/ua/client/client.h

the info shows that

but i did install the third_patry

robocup-logistics / gazebo-rcll Goto Github PK

gazebo-rcll's Introduction

RoboCup-Logistics Gazebo Simulation

Setup Instructions

gazebo-rcll's People

Contributors

Stargazers

Watchers

Forkers

gazebo-rcll's Issues

Recommend Projects

Recommend Topics

Recommend Org