NASA Challenge_[@utkrishtjain]_[Custom Models & Gazebo Plugins for Realistic Simulations] (Ref Issue: #46)

.vscode/c_cpp_properties.json

@@ -0,0 +1,23 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/nxfrst/x-storage/atom_robotics/space_ros_submissions/space_ros_ws/install/canadarm/include/**",
+        "/home/nxfrst/x-storage/combat_robotics/arista_test_ws/install/arista_interfaces/include/**",
+        "/home/nxfrst/x-storage/combat_robotics/arista_test_ws/install/arista_control_stream/include/**",
+        "/opt/ros/humble/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

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+{
+    "python.autoComplete.extraPaths": [
+        "/home/nxfrst/x-storage/atom_robotics/space_ros_submissions/space_ros_ws/install/mars_rover/local/lib/python3.10/dist-packages",
+        "/home/nxfrst/x-storage/atom_robotics/space_ros_submissions/space_ros_ws/install/canadarm/local/lib/python3.10/dist-packages",
+        "/home/nxfrst/x-storage/combat_robotics/arista_test_ws/install/arista_interfaces/local/lib/python3.10/dist-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/nxfrst/x-storage/atom_robotics/space_ros_submissions/space_ros_ws/install/mars_rover/local/lib/python3.10/dist-packages",
+        "/home/nxfrst/x-storage/atom_robotics/space_ros_submissions/space_ros_ws/install/canadarm/local/lib/python3.10/dist-packages",
+        "/home/nxfrst/x-storage/combat_robotics/arista_test_ws/install/arista_interfaces/local/lib/python3.10/dist-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
+}

custom_gz_plugins/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(custom_gz_plugins)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_subdirectory(src/DayLightManager)
+add_subdirectory(src/DustManager)
+add_subdirectory(src/VehicleDust)
+add_subdirectory(src/DroneDustPlugin)
+
+add_executable(inguenity_control nodes/inguenity_control.cpp)
+ament_target_dependencies(inguenity_control rclcpp std_msgs)
+
+install(TARGETS
+inguenity_control
+DESTINATION lib/${PROJECT_NAME})
+
+## Install the launch directory
+install(
+  DIRECTORY launch worlds config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env_hooks/${PROJECT_NAME}.dsv.in")
+
+ament_package()

custom_gz_plugins/Dockerfile

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+# Copyright 2024 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.
+#
+# A Docker configuration script to build the Space ROS image.
+#
+# The script provides the following build arguments:
+#
+#   VCS_REF     - The git revision of the Space ROS source code (no default value).
+#   VERSION     - The version of Space ROS (default: "preview")
+
+FROM osrf/space-ros:latest
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="Real World Extraterrestrial Simulations"
+LABEL org.label-schema.description="Realistic Extraterrestrial Simulations demos using custom GZ plugins & data from NASA PDS"
+LABEL org.label-schema.vendor="Open Robotics"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV GZ_VERSION=harmonic
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Clone all space-ros sources
+RUN mkdir ${SPACEROS_DIR}/src \
+  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
+
+# Make sure the latest versions of packages are installed
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# Get rosinstall_generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+# Install libmongoc for development
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
+
+# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
+RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
+RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
+
+# Add osrf packages repository and manually install gz sim harmonic dependecies as they haven't been added to the rosdep index as of yet
+RUN sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN sudo apt-get update && sudo apt-get install -y libgz-math7-dev libgz-transport13-dev libgz-sim8-dev libgz-msgs10-dev libgz-plugin2-dev
+
+# Get the source for the dependencies
+COPY --chown=${USERNAME}:${USERNAME} dependencies_source_pkgs.repos /tmp/
+RUN vcs import src < /tmp/dependencies_source_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+--mount=type=cache,target=/var/lib/apt,sharing=locked \
+sudo apt-get update -y \
+&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
+&& rosdep install --from-paths ${SPACEROS_DIR}/src src --ignore-src -r -y --rosdistro ${ROSDISTRO} --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
+
+# Build the demo
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
+
+# Add the user to the render group so that the user can access /dev/dri/renderD128
+RUN sudo usermod -aG render $USERNAME
+
+# Setup the entrypoint
+COPY ./entrypoint.sh /
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["bash"]

custom_gz_plugins/README.md

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+# NASA Space ROS Sim Summer Sprint Challenge
+
+Team Lead Freelancer Username: @utkrishtjain
+
+Submission Title: Custom Models & Gazebo Plugins for Realistic Simulations
+
+## Description and Features
+
+### Day Light Manager Plugin
+The Sun is a crucial factor in driving most planetary processes, affecting nearly every environmental aspect either directly or indirectly. For realistic environmental simulations, accurately modeling the Sun's movement is vital, particularly in complex scenarios. The Daylight Manager plugin in Gazebo simulates the Sun's path based on the time of day and the observer's latitude, offering a dynamic and lifelike portrayal of sunlight. As the Sun's position changes, the shadows cast by objects and the background color also shift, as illustrated below.
+> For detailed description of the plugin and it's usage, click [here](src/DayLightManager/README.md).
+
+![Day Light Manager](assets/time_of_day.gif)
+
+
+### Dust Manager Plugin
+The Dust Manager plugin enables the simulation of realistic dust behavior in Martian or space environments by managing particle emitters. Dust plays a critical role in extraterrestrial settings, especially on Mars, where it can impact visibility, equipment functionality, and the overall success of missions. This plugin allows for precise simulation of dust clouds, supporting the development and testing of vehicles and systems intended for planetary exploration. By replicating how dust interacts with moving objects, it helps create more authentic and challenging scenarios for space missions. Additionally, the Dust Manager Plugin offers the ability to control wind conditions based on the parameters of dust storms incorporated into the simulation.
+> For detailed description of the plugin and it's usage, click [here](src/DustManager/README.md).
+
+![Dust Manager Gui](assets/dust_gui.gif)
+
+### Car Dust Plugin
+The Dust Emission Plugin simulates dust clouds generated by heavy vehicles moving across dusty terrains, such as the surfaces of Mars or the Moon. As vehicles traverse these environments, the plugin dynamically controls particle emitters to mimic realistic dust behavior, taking into account vehicle speed, surface texture, and atmospheric conditions. This enhances the accuracy of simulations for planetary exploration by providing lifelike interactions between vehicles and dust, aiding in the design and testing of exploration systems.
+
+> For detailed description of the plugin and it's usage, click [here](src/VehicleDust/README.md)
+
+![Car Dust](assets/car_dust.gif)
+
+### Drone Dust Plugin
+The Drone Dust plugin simulates the dust clouds dispersed by a drone's thrusters during takeoff and landing in dusty environments, such as on Mars or the Moon. It dynamically controls particle emitters based on the drone's movement and thruster activity, creating realistic dust dispersion effects. This plugin helps in evaluating how dust affects the drone's performance and surrounding environment, enabling more accurate simulations for planetary exploration and vehicle testing.
+
+> For detailed description of the plugin and it's usage, click [here](src/DroneDustPlugin/README.md)
+
+![Drone Dust](assets/drone_dust.gif)
+
+
+
+### Real Surface Models
+Custom models made from real elevation data (From NASA's Planetary Data System) of celestial bodies like Moon and Mars is also added.
+
+- Model of Lunar Terrain made from elevation data LOLA on board the Lunar Reconnaissance Orbiter (LRO)
+
+- Models of Martian Terrain made from elevation data from HiRISE Images on board the Mars Reconnaissance Orbiter (MRO)
+
+<img src="assets/mars_world.png" alt="Mars" width="45%">
+<img src="assets/moon_world.png" alt="Moon" width="45%">
+
+## Build and Run
+
+- Build the Custom Docker image with all the custom dependencies using the following command
+
+```shell
+./build.sh
+```
+
+- Once the Image has been build, use the following command to run the container
+
+```shell
+./run.sh
+```
+This will run the container where you can launch the simulation.
+> If the container is running, you can use the same script/command in another terminal instance to attach a terminal into the docker.
+
+### GUI PLUGINS
+- Once the docker container is up, you can use the demo launch file to launch the simualtion using the following command.
+
+```shell
+ros2 launch custom_gz_plugins demo_world.launch.py
+```
+> In order to user the GUI Plugin: DustManger or DayLightManger, use to menu option in the simulation (Top Right Corner) to load the plugin
+
+### System Plugins
+
+#### Vehicle Dust
+- Inside the docker container, navigate to the worlds directory using the following command
+```bash
+cd /home/spaceros-user/demos_ws/src/demos/custom_gz_plugins/worlds
+```
+- Use the follwing command to launch the world in GZ SIM
+
+```bash
+gz sim -r  vehicle_dust_demo.sdf
+```
+- Use the teleop GUI plugin in GZ SIM to drive the robot im order to see the dust effect in the simulation
+
+#### Drone Dust
+- Inside the docker container, navigate to the worlds directory using the following command
+```bash
+cd /home/spaceros-user/demos_ws/src/demos/custom_gz_plugins/worlds
+```
+- Use the follwing command to launch the world in GZ SIM
+
+```bash
+gz sim -r  vehicle_dust_demo.sdf
+```
+
+- Run the follwoing command to launch the ros-gz bridges
+```bash
+ros2 launch custom_gz_plugins ingenuity.launch.py
+```
+
+- Run the following command to start the teleop node of ingenuity.
+```bash
+ros2 run custom_gz_plugins inguenity_control
+```
+- Use the teleop node to fly the ingenuity robot im order to see the dust effect in the simulation
+
+
+> Note: These simulations are just to demonstate the plugins features so the dynamics and physics of the models might not be accurate.

custom_gz_plugins/build.sh

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+#!/usr/bin/env bash
+
+ORG=spaceros
+IMAGE=custom_sim_custom_plugins_demo
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building Docker Image #####"
+echo ""
+
+docker build -t $ORG/$IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"

custom_gz_plugins/config/ingenuity_bridge.yaml

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+
+- ros_topic_name: "/thrust"
+  gz_topic_name: "/model/ingenuity/joint/bottomblade_joint/cmd_thrust"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/ang_vel"
+  gz_topic_name: "/model/ingenuity/joint/bottomblade_joint/ang_vel"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/upper_blade"
+  gz_topic_name: "/plate1_joint/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ
+
+- ros_topic_name: "/lower_blade"
+  gz_topic_name: "/plate2_joint/cmd_pos"
+  ros_type_name: "std_msgs/msg/Float64"
+  gz_type_name: "gz.msgs.Double"
+  direction: ROS_TO_GZ