diff --git a/libraries/SITL/SIM_Webots_Python.cpp b/libraries/SITL/SIM_Webots_Python.cpp new file mode 100644 index 0000000000..e5676d73ab --- /dev/null +++ b/libraries/SITL/SIM_Webots_Python.cpp @@ -0,0 +1,172 @@ +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ +/* + simulator connection for Webots 2023a +*/ + +#include "SIM_Webots_Python.h" + +#if HAL_SIM_WEBOTSPYTHON_ENABLED + +#include +#include + +namespace SITL { + +WebotsPython::WebotsPython(const char *frame_str) : + Aircraft(frame_str), + last_timestamp(0), + socket_sitl{true}{ + + // disable time sync and sensor smoothing to allow for faster than realtime simulation + use_time_sync = false; + use_smoothing = false; + + printf("Starting SITL Webots\n"); +} + +/* + Create and set in/out socket +*/ +void WebotsPython::set_interface_ports(const char* address, const int port_in, const int port_out) +{ + // try to bind to a specific port so that if we restart ArduPilot + // Webots keeps sending us packets. Not strictly necessary but + // useful for debugging + if (!socket_sitl.bind("0.0.0.0", port_in)) { + fprintf(stderr, "SITL: socket in bind failed on sim in : %d - %s\n", port_in, strerror(errno)); + fprintf(stderr, "Aborting launch...\n"); + exit(1); + } + printf("Bind %s:%d for SITL in\n", "127.0.0.1", port_in); + socket_sitl.reuseaddress(); + socket_sitl.set_blocking(false); + + _webots_address = address; + _webots_port = port_out; + printf("Setting Webots interface to %s:%d \n", _webots_address, _webots_port); +} + +/* + Decode and send SITL outputs to FDM aka Webots (scaled to be 0-1 instead of 1000-2000) +*/ +void WebotsPython::send_servos(const struct sitl_input &input) +{ + servo_packet pkt; + for (unsigned i = 0; i < 16; ++i){ + pkt.motor_speed[i] = (input.servos[i]-1000) / 1000.0f; + } + socket_sitl.sendto(&pkt, sizeof(pkt), _webots_address, _webots_port); +} + +/* + Receive sensor data from Webots (the Flight Dynamics Model) +*/ +void WebotsPython::recv_fdm(const struct sitl_input &input) +{ + fdm_packet pkt; + + /* + we re-send the servo packet every 0.1 seconds until we get a + reply. This allows us to cope with some packet loss to the FDM + */ + while (socket_sitl.recv(&pkt, sizeof(pkt), 100) != sizeof(pkt)) { + send_servos(input); + // Reset the timestamp after a long disconnection, also catch webots reset + if (get_wall_time_us() > last_wall_time_us + WEBOTS_TIMEOUT_US) { + last_timestamp = 0; + } + } + + const double deltat = pkt.timestamp - last_timestamp; // in seconds + if (deltat < 0) { // don't use old packet + time_now_us += 1; + return; + } + // get imu stuff + accel_body = Vector3f(static_cast(pkt.imu_linear_acceleration_xyz[0]), + static_cast(pkt.imu_linear_acceleration_xyz[1]), + static_cast(pkt.imu_linear_acceleration_xyz[2])); + + gyro = Vector3f(static_cast(pkt.imu_angular_velocity_rpy[0]), + static_cast(pkt.imu_angular_velocity_rpy[1]), + static_cast(pkt.imu_angular_velocity_rpy[2])); + + // compute dcm from imu orientation + dcm.from_euler(static_cast(pkt.imu_orientation_rpy[0]), + static_cast(pkt.imu_orientation_rpy[1]), + static_cast(pkt.imu_orientation_rpy[2])); + + velocity_ef = Vector3f(static_cast(pkt.velocity_xyz[0]), + static_cast(pkt.velocity_xyz[1]), + static_cast(pkt.velocity_xyz[2])); + + position = Vector3d(pkt.position_xyz[0], + pkt.position_xyz[1], + pkt.position_xyz[2]); + position.xy() += origin.get_distance_NE_double(home); + + // auto-adjust to simulation frame rate + time_now_us += static_cast(deltat * 1.0e6); + + if (deltat < 0.01 && deltat > 0) { + adjust_frame_time(static_cast(1.0/deltat)); + } + last_timestamp = pkt.timestamp; + +} + +/* + Drain remaining data on the socket to prevent phase lag + */ +void WebotsPython::drain_sockets() +{ + const uint16_t buflen = 1024; + char buf[buflen]; + ssize_t received; + errno = 0; + do { + received = socket_sitl.recv(buf, buflen, 0); + if (received < 0) { + if (errno != EAGAIN && errno != EWOULDBLOCK && errno != 0) { + fprintf(stderr, "error recv on socket in: %s \n", + strerror(errno)); + } + } else { + // fprintf(stderr, "received from control socket: %s\n", buf); + } + } while (received > 0); + +} + +/* + Update the Webots simulation by one time step + */ +void WebotsPython::update(const struct sitl_input &input) +{ + send_servos(input); + recv_fdm(input); + update_position(); + + time_advance(); + // update magnetic field + update_mag_field_bf(); + drain_sockets(); +} + +} // namespace SITL + + +#endif // HAL_SIM_WEBOTSPYTHON_ENABLED diff --git a/libraries/SITL/SIM_Webots_Python.h b/libraries/SITL/SIM_Webots_Python.h new file mode 100644 index 0000000000..194d8cd648 --- /dev/null +++ b/libraries/SITL/SIM_Webots_Python.h @@ -0,0 +1,90 @@ +/* + This program is free software: you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation, either version 3 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program. If not, see . + */ +/* + simulator connection for Webots 2023a +*/ + +#pragma once + +#include + +#ifndef HAL_SIM_WEBOTSPYTHON_ENABLED +#define HAL_SIM_WEBOTSPYTHON_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL) +#endif + +#if HAL_SIM_WEBOTSPYTHON_ENABLED + +#include "SIM_Aircraft.h" +#include + +namespace SITL { + +/* + WebotsPython simulator + */ +class WebotsPython : public Aircraft { +public: + WebotsPython(const char *frame_str); + + /* update model by one time step */ + void update(const struct sitl_input &input) override; + + /* static object creator */ + static Aircraft *create(const char *frame_str) { + return new WebotsPython(frame_str); + } + + /* Create and set in/out socket for Webots simulator */ + void set_interface_ports(const char* address, const int port_in, const int port_out) override; + +private: + /// @brief packet to send to Webots + /// python struct code 'f'*16 + struct servo_packet { + float motor_speed[16]; + }; + + /// @brief packet from Webots (the Flight Dynamics Model) + /// python struct code 'd'*(1+3+3+3+3+3) + struct fdm_packet { + double timestamp; // in seconds + double imu_angular_velocity_rpy[3]; + double imu_linear_acceleration_xyz[3]; + double imu_orientation_rpy[3]; + double velocity_xyz[3]; + double position_xyz[3]; + }; + + /// @brief receive sensor packet from Webots + void recv_fdm(const struct sitl_input &input); + + /// @brief send servo packet to Webots + void send_servos(const struct sitl_input &input); + + /// @brief drain all pending packets from Webots + void drain_sockets(); + + double last_timestamp; + + SocketAPM socket_sitl; + const char* _webots_address = "127.0.0.1"; + int _webots_port = 9002; + static const uint64_t WEBOTS_TIMEOUT_US = 5000000; +}; + +} // namespace SITL + + +#endif // HAL_SIM_WEBOTSPYTHON_ENABLED diff --git a/libraries/SITL/examples/Webots_Python/.gitignore b/libraries/SITL/examples/Webots_Python/.gitignore new file mode 100644 index 0000000000..f09cdcb4c9 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/.gitignore @@ -0,0 +1,3 @@ +*.wbproj +__pycache__ +worlds/.* diff --git a/libraries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/ardupilot_vehicle_controller.py b/libraries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/ardupilot_vehicle_controller.py new file mode 100755 index 0000000000..1903966166 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/ardupilot_vehicle_controller.py @@ -0,0 +1,127 @@ +#!/usr/bin/env python3 +''' +General ardupilot vehicle controller for Webots 2023a + +AP_FLAKE8_CLEAN +''' + + +import time +import argparse +from webots_vehicle import WebotsArduVehicle + + +def get_args(): + parser = argparse.ArgumentParser() + + parser.add_argument("--motors", "-m", + type=str, + default="m1_motor, m2_motor, m3_motor, m4_motor", + help="Comma spaced list of motor names in ardupilot numerical order (ex --motors \"m1,m2,m3, m4\")") + parser.add_argument("--reversed-motors", "-r", + type=str, + default=None, + help="Comma spaced list of motors to reverse (starting from 1, in ardupilot order)") + parser.add_argument("--bidirectional-motors", + type=bool, + default=False, + help="If the motors are bidirectional (as is the case for Rovers usually)") + parser.add_argument("--uses-propellers", + type=bool, + default=True, + help="Whether the vehicle uses propellers. This is important as we need to linearize thrust if so") + parser.add_argument("--motor-cap", + type=float, + default=float('inf'), + help="Motor velocity cap. This is useful for the crazyflie which default has way too much power") + + parser.add_argument("--accel", + type=str, + default="accelerometer", + help="Webots accelerometer name") + parser.add_argument("--imu", + type=str, + default="inertial unit", + help="Webots IMU name") + parser.add_argument("--gyro", + type=str, + default="gyro", + help="Webots gyro name") + parser.add_argument("--gps", + type=str, + default="gps", + help="Webots GPS name") + + parser.add_argument("--camera", + type=str, + default=None, + help="Webots Camera name (optional)") + parser.add_argument("--camera-fps", + type=int, + default=10, + help="Camera FPS. Note lower FPS is faster") + parser.add_argument("--camera-port", + type=int, + default=None, + help="Port to stream grayscale camera images to. " + "If no port is supplied the camera will not be streamed.") + + parser.add_argument("--rangefinder", + type=str, + default=None, + help="Webots RangeFinder name (optional)") + parser.add_argument("--rangefinder-fps", + type=int, + default=10, + help="rangefinder FPS. Note lower FPS is faster") + parser.add_argument("--rangefinder-port", + type=int, + default=None, + help="Port to stream grayscale rangefinder images to. " + "If no port is supplied the rangefinder will not be streamed.") + + parser.add_argument("--instance", "-i", + type=int, + default=0, + help="Drone instance to match the SITL. This allows multiple vehicles") + parser.add_argument("--sitl-address", + type=str, + default="127.0.0.1", + help="IP address of the SITL (useful with WSL2 eg \"172.24.220.98\")") + + return parser.parse_args() + + +if __name__ == "__main__": + args = get_args() + + # parse string arguments into lists + motors = [x.strip() for x in args.motors.split(',')] + if args.reversed_motors: + reversed_motors = [int(x) for x in args.reversed_motors.split(",")] + else: + reversed_motors = [] + + vehicle = WebotsArduVehicle(motor_names=motors, + reversed_motors=reversed_motors, + accel_name=args.accel, + imu_name=args.imu, + gyro_name=args.gyro, + gps_name=args.gps, + camera_name=args.camera, + camera_fps=args.camera_fps, + camera_stream_port=args.camera_port, + rangefinder_name=args.rangefinder, + rangefinder_fps=args.rangefinder_fps, + rangefinder_stream_port=args.rangefinder_port, + instance=args.instance, + motor_velocity_cap=args.motor_cap, + bidirectional_motors=args.bidirectional_motors, + uses_propellers=args.uses_propellers, + sitl_address=args.sitl_address) + + # User code (ex: connect via drone kit and take off) + # ... + + while vehicle.webots_connected(): + time.sleep(1) diff --git a/libraries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/webots_vehicle.py b/libraries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/webots_vehicle.py new file mode 100644 index 0000000000..3de1197bcb --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/controllers/ardupilot_vehicle_controller/webots_vehicle.py @@ -0,0 +1,392 @@ +#!/usr/bin/env python3 +''' +This file implements a class that acts as a bridge between ArduPilot SITL and Webots + +AP_FLAKE8_CLEAN +''' + +# Imports +import os +import sys +import time +import socket +import select +import struct +import numpy as np +from threading import Thread +from typing import List, Union + +# Here we set up environment variables so we can run this script +# as an external controller outside of Webots (useful for debugging) +# https://cyberbotics.com/doc/guide/running-extern-robot-controllers +if sys.platform.startswith("win"): + WEBOTS_HOME = "C:\\Program Files\\Webots" +elif sys.platform.startswith("darwin"): + WEBOTS_HOME = "/Applications/Webots.app" +elif sys.platform.startswith("linux"): + WEBOTS_HOME = "/usr/local/webots" +else: + raise Exception("Unsupported OS") + +if os.environ.get("WEBOTS_HOME") is None: + os.environ["WEBOTS_HOME"] = WEBOTS_HOME +else: + WEBOTS_HOME = os.environ.get("WEBOTS_HOME") + +os.environ["PYTHONIOENCODING"] = "UTF-8" +sys.path.append(f"{WEBOTS_HOME}/lib/controller/python") + +from controller import Robot, Camera, RangeFinder # noqa: E401, E402 + + +class WebotsArduVehicle(): + """Class representing an ArduPilot controlled Webots Vehicle""" + + controls_struct_format = 'f'*16 + controls_struct_size = struct.calcsize(controls_struct_format) + fdm_struct_format = 'd'*(1+3+3+3+3+3) + fdm_struct_size = struct.calcsize(fdm_struct_format) + + def __init__(self, + motor_names: List[str], + accel_name: str = "accelerometer", + imu_name: str = "inertial unit", + gyro_name: str = "gyro", + gps_name: str = "gps", + camera_name: str = None, + camera_fps: int = 10, + camera_stream_port: int = None, + rangefinder_name: str = None, + rangefinder_fps: int = 10, + rangefinder_stream_port: int = None, + instance: int = 0, + motor_velocity_cap: float = float('inf'), + reversed_motors: List[int] = None, + bidirectional_motors: bool = False, + uses_propellers: bool = True, + sitl_address: str = "127.0.0.1"): + """WebotsArduVehicle constructor + + Args: + motor_names (List[str]): Motor names in ArduPilot numerical order (first motor is SERVO1 etc). + accel_name (str, optional): Webots accelerometer name. Defaults to "accelerometer". + imu_name (str, optional): Webots imu name. Defaults to "inertial unit". + gyro_name (str, optional): Webots gyro name. Defaults to "gyro". + gps_name (str, optional): Webots GPS name. Defaults to "gps". + camera_name (str, optional): Webots camera name. Defaults to None. + camera_fps (int, optional): Camera FPS. Lower FPS runs better in sim. Defaults to 10. + camera_stream_port (int, optional): Port to stream grayscale camera images to. + If no port is supplied the camera will not be streamed. Defaults to None. + rangefinder_name (str, optional): Webots RangeFinder name. Defaults to None. + rangefinder_fps (int, optional): RangeFinder FPS. Lower FPS runs better in sim. Defaults to 10. + rangefinder_stream_port (int, optional): Port to stream rangefinder images to. + If no port is supplied the camera will not be streamed. Defaults to None. + instance (int, optional): Vehicle instance number to match the SITL. This allows multiple vehicles. Defaults to 0. + motor_velocity_cap (float, optional): Motor velocity cap. This is useful for the crazyflie + which default has way too much power. Defaults to float('inf'). + reversed_motors (list[int], optional): Reverse the motors (indexed from 1). Defaults to None. + bidirectional_motors (bool, optional): Enable bidirectional motors. Defaults to False. + uses_propellers (bool, optional): Whether the vehicle uses propellers. + This is important as we need to linearize thrust if so. Defaults to True. + sitl_address (str, optional): IP address of the SITL (useful with WSL2 eg \"172.24.220.98\"). + Defaults to "127.0.0.1". + """ + # init class variables + self.motor_velocity_cap = motor_velocity_cap + self._instance = instance + self._reversed_motors = reversed_motors + self._bidirectional_motors = bidirectional_motors + self._uses_propellers = uses_propellers + self._webots_connected = True + + # setup Webots robot instance + self.robot = Robot() + + # set robot time step relative to sim time step + self._timestep = int(self.robot.getBasicTimeStep()) + + # init sensors + self.accel = self.robot.getDevice(accel_name) + self.imu = self.robot.getDevice(imu_name) + self.gyro = self.robot.getDevice(gyro_name) + self.gps = self.robot.getDevice(gps_name) + + self.accel.enable(self._timestep) + self.imu.enable(self._timestep) + self.gyro.enable(self._timestep) + self.gps.enable(self._timestep) + + # init camera + if camera_name is not None: + self.camera = self.robot.getDevice(camera_name) + self.camera.enable(1000//camera_fps) # takes frame period in ms + + # start camera streaming thread if requested + if camera_stream_port is not None: + self._camera_thread = Thread(daemon=True, + target=self._handle_image_stream, + args=[self.camera, camera_stream_port]) + self._camera_thread.start() + + # init rangefinder + if rangefinder_name is not None: + self.rangefinder = self.robot.getDevice(rangefinder_name) + self.rangefinder.enable(1000//rangefinder_fps) # takes frame period in ms + + # start rangefinder streaming thread if requested + if rangefinder_stream_port is not None: + self._rangefinder_thread = Thread(daemon=True, + target=self._handle_image_stream, + args=[self.rangefinder, rangefinder_stream_port]) + self._rangefinder_thread.start() + + # init motors (and setup velocity control) + self._motors = [self.robot.getDevice(n) for n in motor_names] + for m in self._motors: + m.setPosition(float('inf')) + m.setVelocity(0) + + # start ArduPilot SITL communication thread + self._sitl_thread = Thread(daemon=True, target=self._handle_sitl, args=[sitl_address, 9002+10*instance]) + self._sitl_thread.start() + + def _handle_sitl(self, sitl_address: str = "127.0.0.1", port: int = 9002): + """Handles all communications with the ArduPilot SITL + + Args: + port (int, optional): Port to listen for SITL on. Defaults to 9002. + """ + + # create a local UDP socket server to listen for SITL + s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # SOCK_STREAM + s.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + s.bind(('0.0.0.0', port)) + + # wait for SITL to connect + print(f"Listening for ardupilot SITL (I{self._instance}) at 127.0.0.1:{port}") + self.robot.step(self._timestep) # flush print in webots console + + while not select.select([s], [], [], 0)[0]: # wait for socket to be readable + # if webots is closed, close the socket and exit + if self.robot.step(self._timestep) == -1: + s.close() + self._webots_connected = False + return + + print(f"Connected to ardupilot SITL (I{self._instance})") + + # main loop handling communications + while True: + # check if the socket is ready to send/receive + readable, writable, _ = select.select([s], [s], [], 0) + + # send data to SITL port (one lower than its output port as seen in SITL_cmdline.cpp) + if writable: + fdm_struct = self._get_fdm_struct() + s.sendto(fdm_struct, (sitl_address, port+1)) + + # receive data from SITL port + if readable: + data = s.recv(512) + if not data or len(data) < self.controls_struct_size: + continue + + # parse a single struct + command = struct.unpack(self.controls_struct_format, data[:self.controls_struct_size]) + self._handle_controls(command) + + # wait until the next Webots time step as no new sensor data will be available until then + step_success = self.robot.step(self._timestep) + if step_success == -1: # webots closed + break + + # if we leave the main loop then Webots must have closed + s.close() + self._webots_connected = False + print(f"Lost connection to Webots (I{self._instance})") + + def _get_fdm_struct(self) -> bytes: + """Form the Flight Dynamics Model struct (aka sensor data) to send to the SITL + + Returns: + bytes: bytes representing the struct to send to SITL + """ + # get data from Webots + i = self.imu.getRollPitchYaw() + g = self.gyro.getValues() + a = self.accel.getValues() + gps_pos = self.gps.getValues() + gps_vel = self.gps.getSpeedVector() + + # pack the struct, converting ENU to NED (ish) + # https://discuss.ardupilot.org/t/copter-x-y-z-which-is-which/6823/3 + # struct fdm_packet { + # double timestamp; + # double imu_angular_velocity_rpy[3]; + # double imu_linear_acceleration_xyz[3]; + # double imu_orientation_rpy[3]; + # double velocity_xyz[3]; + # double position_xyz[3]; + # }; + return struct.pack(self.fdm_struct_format, + self.robot.getTime(), + g[0], -g[1], -g[2], + a[0], -a[1], -a[2], + i[0], -i[1], -i[2], + gps_vel[0], -gps_vel[1], -gps_vel[2], + gps_pos[0], -gps_pos[1], -gps_pos[2]) + + def _handle_controls(self, command: tuple): + """Set the motor speeds based on the SITL command + + Args: + command (tuple): tuple of motor speeds 0.0-1.0 where -1.0 is unused + """ + + # get only the number of motors we have + command_motors = command[:len(self._motors)] + if -1 in command_motors: + print(f"Warning: SITL provided {command.index(-1)} motors " + f"but model specifies {len(self._motors)} (I{self._instance})") + + # scale commands to -1.0-1.0 if the motors are bidirectional (ex rover wheels) + if self._bidirectional_motors: + command_motors = [v*2-1 for v in command_motors] + + # linearize propeller thrust for `MOT_THST_EXPO=0` + if self._uses_propellers: + # `Thrust = thrust_constant * |omega| * omega` (ref https://cyberbotics.com/doc/reference/propeller) + # if we set `omega = sqrt(input_thottle)` then `Thrust = thrust_constant * input_thottle` + linearized_motor_commands = [np.sqrt(np.abs(v))*np.sign(v) for v in command_motors] + + # reverse motors if desired + if self._reversed_motors: + for m in self._reversed_motors: + linearized_motor_commands[m-1] *= -1 + + # set velocities of the motors in Webots + for i, m in enumerate(self._motors): + m.setVelocity(linearized_motor_commands[i] * min(m.getMaxVelocity(), self.motor_velocity_cap)) + + def _handle_image_stream(self, camera: Union[Camera, RangeFinder], port: int): + """Stream grayscale images over TCP + + Args: + camera (Camera or RangeFinder): the camera to get images from + port (int): port to send images over + """ + + # get camera info + # https://cyberbotics.com/doc/reference/camera + if isinstance(camera, Camera): + cam_sample_period = self.camera.getSamplingPeriod() + cam_width = self.camera.getWidth() + cam_height = self.camera.getHeight() + print(f"Camera stream started at 127.0.0.1:{port} (I{self._instance}) " + f"({cam_width}x{cam_height} @ {1000/cam_sample_period:0.2f}fps)") + elif isinstance(camera, RangeFinder): + cam_sample_period = self.rangefinder.getSamplingPeriod() + cam_width = self.rangefinder.getWidth() + cam_height = self.rangefinder.getHeight() + print(f"RangeFinder stream started at 127.0.0.1:{port} (I{self._instance}) " + f"({cam_width}x{cam_height} @ {1000/cam_sample_period:0.2f}fps)") + else: + print(sys.stderr, f"Error: camera passed to _handle_image_stream is of invalid type " + f"'{type(camera)}' (I{self._instance})") + return + + # create a local TCP socket server + server = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + server.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) + server.bind(('127.0.0.1', port)) + server.listen(1) + + # continuously send images + while self._webots_connected: + # wait for incoming connection + conn, _ = server.accept() + print(f"Connected to camera client (I{self._instance})") + + # send images to client + try: + while self._webots_connected: + # delay at sample rate + start_time = self.robot.getTime() + + # get image + if isinstance(camera, Camera): + img = self.get_camera_gray_image() + elif isinstance(camera, RangeFinder): + img = self.get_rangefinder_image() + + if img is None: + print(f"No image received (I{self._instance})") + time.sleep(cam_sample_period/1000) + continue + + # create a header struct with image size + header = struct.pack("=HH", cam_width, cam_height) + + # pack header and image and send + data = header + img.tobytes() + conn.sendall(data) + + # delay at sample rate + while self.robot.getTime() - start_time < cam_sample_period/1000: + time.sleep(0.001) + + except ConnectionResetError: + pass + except BrokenPipeError: + pass + finally: + conn.close() + print(f"Camera client disconnected (I{self._instance})") + + def get_camera_gray_image(self) -> np.ndarray: + """Get the grayscale image from the camera as a numpy array of bytes""" + img = self.get_camera_image() + img_gray = np.average(img, axis=2).astype(np.uint8) + return img_gray + + def get_camera_image(self) -> np.ndarray: + """Get the RGB image from the camera as a numpy array of bytes""" + img = self.camera.getImage() + img = np.frombuffer(img, np.uint8).reshape((self.camera.getHeight(), self.camera.getWidth(), 4)) + return img[:, :, :3] # RGB only, no Alpha + + def get_rangefinder_image(self, use_int16: bool = False) -> np.ndarray: + """Get the rangefinder depth image as a numpy array of int8 or int16"""\ + + # get range image size + height = self.rangefinder.getHeight() + width = self.rangefinder.getWidth() + + # get image, and convert raw ctypes array to numpy array + # https://cyberbotics.com/doc/reference/rangefinder + image_c_ptr = self.rangefinder.getRangeImage(data_type="buffer") + img_arr = np.ctypeslib.as_array(image_c_ptr, (width*height,)) + img_floats = img_arr.reshape((height, width)) + + # normalize and set unknown values to max range + range_range = self.rangefinder.getMaxRange() - self.rangefinder.getMinRange() + img_normalized = (img_floats - self.rangefinder.getMinRange()) / range_range + img_normalized[img_normalized == float('inf')] = 1 + + # convert to int8 or int16, allowing for the option of higher precision if desired + if use_int16: + img = (img_normalized * 65535).astype(np.uint16) + else: + img = (img_normalized * 255).astype(np.uint8) + + return img + + def stop_motors(self): + """Set all motors to zero velocity""" + for m in self._motors: + m.setPosition(float('inf')) + m.setVelocity(0) + + def webots_connected(self) -> bool: + """Check if Webots client is connected""" + return self._webots_connected diff --git a/libraries/SITL/examples/Webots_Python/params/crazyflie.parm b/libraries/SITL/examples/Webots_Python/params/crazyflie.parm new file mode 100644 index 0000000000..e2431c1c9e --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/params/crazyflie.parm @@ -0,0 +1,23 @@ +FRAME_CLASS 1 # Multirotor +FRAME_TYPE 3 # H class + +ATC_ANG_PIT_P 0.5 +ATC_ANG_RLL_P 0.5 +ATC_ANG_YAW_P 0.50000 + +ATC_RAT_PIT_P 0.05 +ATC_RAT_RLL_P 0.05 +ATC_RAT_YAW_P 0.02 + +ATC_RAT_PIT_I 0 +ATC_RAT_RLL_I 0 + +ATC_RAT_PIT_D 0.0003 +ATC_RAT_RLL_D 0.0003 +ATC_RAT_YAW_D 0.000001 + +AHRS_EKF_TYPE 10 # Use sim AHRS +ARMING_CHECK 1045534 # No RC requirements +MOT_THST_EXPO 0 # No motor exponential +SCHED_LOOP_RATE 300 +INS_GYR_CAL 0 \ No newline at end of file diff --git a/libraries/SITL/examples/Webots_Python/params/iris.parm b/libraries/SITL/examples/Webots_Python/params/iris.parm new file mode 100644 index 0000000000..f6abd7ff15 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/params/iris.parm @@ -0,0 +1,23 @@ +FRAME_CLASS 1 # Multirotor +FRAME_TYPE 1 # X class + +ATC_ANG_PIT_P 0.5 +ATC_ANG_RLL_P 0.5 +ATC_ANG_YAW_P 0.5 + +ATC_RAT_PIT_P 0.05 +ATC_RAT_RLL_P 0.05 +ATC_RAT_YAW_P 0.02 + +ATC_RAT_PIT_I 0 +ATC_RAT_RLL_I 0 + +ATC_RAT_PIT_D 0.0003 +ATC_RAT_RLL_D 0.0003 +ATC_RAT_YAW_D 0.000001 + +AHRS_EKF_TYPE 10 # Use sim AHRS +ARMING_CHECK 1045534 # No RC requirements +MOT_THST_EXPO 0 # No motor exponential +SCHED_LOOP_RATE 300 +INS_GYR_CAL 0 \ No newline at end of file diff --git a/libraries/SITL/examples/Webots_Python/params/pioneer3at.parm b/libraries/SITL/examples/Webots_Python/params/pioneer3at.parm new file mode 100644 index 0000000000..558722f945 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/params/pioneer3at.parm @@ -0,0 +1,12 @@ +FRAME_CLASS 1 # Rover + +SERVO1_FUNCTION 73 # (Throttle Left) +SERVO2_FUNCTION 73 +SERVO3_FUNCTION 74 # (Throttle Right) +SERVO4_FUNCTION 74 + +AHRS_EKF_TYPE 10 # Use sim AHRS +ARMING_CHECK 1045534 # No RC requirements +MOT_THST_EXPO 0 # No motor exponential +SCHED_LOOP_RATE 300 +INS_GYR_CAL 0 \ No newline at end of file diff --git a/libraries/SITL/examples/Webots_Python/protos/ArucoMarker.proto b/libraries/SITL/examples/Webots_Python/protos/ArucoMarker.proto new file mode 100644 index 0000000000..edd90ab2b4 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/protos/ArucoMarker.proto @@ -0,0 +1,57 @@ +# VRML_SIM R2022b utf8 +# template language: javascript + +PROTO ArucoMarker [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 0 1 0 + field SFString name "aruco" # Defines the name of the aruco board. + field SFFloat size 0.1 # Defines size of the markers. + field SFString{"0", "1", "2", "3", "4", "5", "6", "7", "8"} + markerId "0" # Defines the marker id. +] +{ +Solid { + translation IS translation + rotation IS rotation + name IS name + children [ + # marker slightly in front of the border + Transform { + translation 0 0 1e-3 + children [ + Shape { + appearance PBRAppearance { + baseColor 1 1 1 + metalness 0 + roughness 0.6 + + %< let markerTexture = "textures/aruco_" + fields.markerId.value + ".png"; >% + baseColorMap ImageTexture { + url "%<= markerTexture >%" + } + + } + + geometry Plane { + size %<= fields.size.value >% %<= fields.size.value >% + } + } + ] + } + + + # while boarder + Shape { + appearance PBRAppearance { + baseColor 1 1 1 + metalness 0 + roughness 0.6 + } + geometry Plane { + size %<= fields.size.value * 8/6 >% %<= fields.size.value * 8/6 >% + } + } + + ] +} +} \ No newline at end of file diff --git a/libraries/SITL/examples/Webots_Python/protos/Iris.proto b/libraries/SITL/examples/Webots_Python/protos/Iris.proto new file mode 100644 index 0000000000..229946dd79 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/protos/Iris.proto @@ -0,0 +1,161 @@ +# VRML_SIM R2022b utf8 +# Iris drone model. Note that the model is not 1-to-1 with the +# real drone as motor/propeller constants were empirically determined. + +PROTO Iris [ + field SFVec3f translation 0 0 0 + field SFRotation rotation 0 0 1 0 + field SFString name "Iris" # Is `Robot.name`. + field SFString controller "void" # Is `Robot.controller`. + field MFString controllerArgs [] # Is `Robot.controllerArgs`. + field SFString customData "" # Is `Robot.customData`. + field SFBool supervisor FALSE # Is `Robot.supervisor`. + field SFBool synchronization TRUE # Is `Robot.synchronization`. + field MFNode extensionSlot [] # Extends the robot with new nodes in the extension slot. +] +{ + Robot { + translation IS translation + rotation IS rotation + controller IS controller + controllerArgs IS controllerArgs + customData IS customData + supervisor IS supervisor + synchronization IS synchronization + name IS name + children [ + Group { + children IS extensionSlot + } + DEF IRIS_MESH Shape { + appearance PBRAppearance { + baseColor 0.05 0.05 0.05 + roughness 1.000000 + metalness 0.2 + } + geometry Mesh { + url "meshes/iris.dae" + } + castShadows FALSE + } + Propeller { + shaftAxis 0 0 1 + centerOfThrust 0.130000 -0.220000 0.023000 + thrustConstants 0.0012 0 + torqueConstants 5.0e-04 0 + device RotationalMotor { + name "m1_motor" + maxVelocity 100 + maxTorque 30 + multiplier 1 + } + slowHelix Solid { + translation 0.130000 -0.220000 0.023000 + children [ + Shape { + appearance DEF PROP_BLUE PBRAppearance { + baseColor 0 0 0.75 + metalness 0.3 + } + geometry DEF CCW_PROP Mesh { + url [ + "meshes/iris_prop_ccw.dae" + ] + } + } + ] + } + } + Propeller { + shaftAxis 0 0 1 + centerOfThrust -0.130000 0.200000 0.023000 + thrustConstants 0.0012 0 + torqueConstants 5.0e-04 0 + device RotationalMotor { + name "m2_motor" + maxVelocity 100 + maxTorque 30 + multiplier 1 + } + slowHelix Solid { + translation -0.130000 0.200000 0.023000 + children [ + Shape { + appearance DEF PROP_BLACK PBRAppearance { + baseColor 0 0 0 + metalness 0.3 + } + geometry USE CCW_PROP + } + ] + } + } + Propeller { + shaftAxis 0 0 1 + centerOfThrust 00.130000 0.220000 0.023000 + thrustConstants -0.0012 0 + torqueConstants 5.0e-04 0 + device RotationalMotor { + name "m3_motor" + maxVelocity 100 + maxTorque 30 + multiplier -1 + } + slowHelix Solid { + translation 0.130000 0.220000 0.023000 + children [ + Shape { + appearance USE PROP_BLUE + geometry DEF CW_PROP Mesh { + url [ + "meshes/iris_prop_cw.dae" + ] + } + } + ] + } + } + Propeller { + shaftAxis 0 0 1 + centerOfThrust -0.130000 -0.200000 0.023000 + thrustConstants -0.0012 0 + torqueConstants 5.0e-04 0 + device RotationalMotor { + name "m4_motor" + maxVelocity 100 + maxTorque 30 + multiplier -1 + } + slowHelix Solid { + translation -0.130000 -0.200000 0.023000 + children [ + Shape { + appearance USE PROP_BLACK + geometry USE CW_PROP + } + ] + } + } + Accelerometer { + } + GPS { + } + Gyro { + } + InertialUnit { + } + ] + boundingObject Box { + size 0.470000 0.470000 0.110000 + } + physics Physics { + density -1 + mass 1.500000 + centerOfMass [ 0.000000 0.000000 0.000000 ] + inertiaMatrix [ + 2.912500e-02 2.912500e-02 5.522500e-02 + 0.000000e+00 0.000000e+00 0.000000e+00 + ] + } + } +} diff --git a/libraries/SITL/examples/Webots_Python/protos/meshes/iris.dae b/libraries/SITL/examples/Webots_Python/protos/meshes/iris.dae new file mode 100644 index 0000000000..6a9d9cd339 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/protos/meshes/iris.dae @@ -0,0 +1,59 @@ + + + + + Blender User + Blender 3.3.1 commit date:2022-10-04, commit time:18:35, hash:b292cfe5a936 + + 2023-01-12T14:06:40 + 2023-01-12T14:06:40 + + Z_UP + + + + + + + -0.1369961 0.208801 0.03249406 -0.1369961 0.208801 0.02049422 -0.1382977 0.2090982 0.03249406 -0.1359522 0.2079687 0.02049422 -0.1359522 0.2079687 0.03249406 -0.1369961 0.2033953 0.03249406 -0.1382977 0.2030982 0.03249406 -0.1382977 0.2030982 0.02049422 -0.1395994 0.2033953 0.02049422 -0.1395994 0.2033953 0.03249406 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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0000000000..27bc5243d2 Binary files /dev/null and b/libraries/SITL/examples/Webots_Python/protos/textures/aruco_8.png differ diff --git a/libraries/SITL/examples/Webots_Python/scripts/example_aruco_detection.py b/libraries/SITL/examples/Webots_Python/scripts/example_aruco_detection.py new file mode 100755 index 0000000000..a3e1046998 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/scripts/example_aruco_detection.py @@ -0,0 +1,84 @@ +#!/usr/bin/env python3 + +# +# An example script that receives images from a WebotsArduVehicle on port 5599 +# and displays them overlayed with any ArUco markers using OpenCV. +# Requires opencv-python (`pip3 install opencv-python`) +# + +import cv2 +import socket +import struct +import numpy as np + +# connect to WebotsArduVehicle +s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) +s.connect(("127.0.0.1", 5599)) + +# ArUco setup +aruco_dict = cv2.aruco.Dictionary_get(cv2.aruco.DICT_4X4_50) +aruco_params = cv2.aruco.DetectorParameters_create() + +header_size = struct.calcsize("=HH") +while True: + # receive header + header = s.recv(header_size) + if len(header) != header_size: + print("Header size mismatch") + break + + # parse header + width, height = struct.unpack("=HH", header) + + # for CV applications we may want camera intrinsics such as focal length: + # https://stackoverflow.com/questions/61555182/webot-camera-default-parameters-like-pixel-size-and-focus + # cam_focal_length = 2 * np.arctan(np.tan(cam_fov * 0.5) / (cam_width / cam_height)) + + # receive image + bytes_to_read = width * height + img = bytes() + while len(img) < bytes_to_read: + img += s.recv(min(bytes_to_read - len(img), 4096)) + + # convert to numpy array + img = np.frombuffer(img, np.uint8).reshape((height, width)) + img = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR) + + # detect ArUco markers + (corners, ids, rejected) = cv2.aruco.detectMarkers(img, aruco_dict, parameters=aruco_params) + if len(corners) > 0: + # flatten the ArUco IDs list + ids = ids.flatten() + # loop over the detected ArUCo corners + for (markerCorner, markerID) in zip(corners, ids): + # extract the marker corners (which are always returned in + # top-left, top-right, bottom-right, and bottom-left order) + corners = markerCorner.reshape((4, 2)) + (topLeft, topRight, bottomRight, bottomLeft) = corners + # convert each of the (x, y)-coordinate pairs to integers + topRight = (int(topRight[0]), int(topRight[1])) + bottomRight = (int(bottomRight[0]), int(bottomRight[1])) + bottomLeft = (int(bottomLeft[0]), int(bottomLeft[1])) + topLeft = (int(topLeft[0]), int(topLeft[1])) + + # draw the bounding box of the ArUCo detection + cv2.line(img, topLeft, topRight, (0, 255, 0), 2) + cv2.line(img, topRight, bottomRight, (0, 255, 0), 2) + cv2.line(img, bottomRight, bottomLeft, (0, 255, 0), 2) + cv2.line(img, bottomLeft, topLeft, (0, 255, 0), 2) + # compute and draw the center (x, y)-coordinates of the ArUco + # marker + cX = int((topLeft[0] + bottomRight[0]) / 2.0) + cY = int((topLeft[1] + bottomRight[1]) / 2.0) + cv2.circle(img, (cX, cY), 4, (0, 0, 255), -1) + # draw the ArUco marker ID on the image + cv2.putText(img, str(markerID), + (topLeft[0], topLeft[1] - 15), cv2.FONT_HERSHEY_SIMPLEX, + 0.5, (0, 255, 0), 2) + + # display image + cv2.imshow("image", img) + if cv2.waitKey(1) == ord("q"): + break + +s.close() \ No newline at end of file diff --git a/libraries/SITL/examples/Webots_Python/scripts/example_camera_receive.py b/libraries/SITL/examples/Webots_Python/scripts/example_camera_receive.py new file mode 100755 index 0000000000..c7e33a9d96 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/scripts/example_camera_receive.py @@ -0,0 +1,46 @@ +#!/usr/bin/env python3 + +# +# An example script that receives images from a WebotsArduVehicle +# on port 5599 and displays using OpenCV. +# Requires opencv-python (`pip3 install opencv-python`) +# + +import cv2 +import socket +import struct +import numpy as np + +# connect to WebotsArduVehicle +s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) +s.connect(("127.0.0.1", 5599)) + +header_size = struct.calcsize("=HH") +while True: + # receive header + header = s.recv(header_size) + if len(header) != header_size: + print("Header size mismatch") + break + + # parse header + width, height = struct.unpack("=HH", header) + + # receive image + bytes_to_read = width * height + img = bytes() + while len(img) < bytes_to_read: + img += s.recv(min(bytes_to_read - len(img), 4096)) + + # convert incoming bytes to a numpy array (a grayscale image) + img = np.frombuffer(img, np.uint8).reshape((height, width)) + + # Do cool stuff with the image here + # ... + + # display image + cv2.imshow("image", img) + if cv2.waitKey(1) == ord("q"): + break + +s.close() \ No newline at end of file diff --git a/libraries/SITL/examples/Webots_Python/worlds/crazyflie.wbt b/libraries/SITL/examples/Webots_Python/worlds/crazyflie.wbt new file mode 100644 index 0000000000..24ea0a2daa --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/worlds/crazyflie.wbt @@ -0,0 +1,51 @@ +#VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/bitcraze/crazyflie/protos/Crazyflie.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto" + +WorldInfo { + title "Crazyflie Ardupilot" + basicTimeStep 2 + FPS 20 +} +Viewpoint { + orientation -0.16896949154992233 0.7737576492025086 0.6105312532753491 0.687001624474616 + position -0.398945807007221 -0.19824950788611448 0.29284320157231725 + follow "Crazyflie" + followSmoothness 0.01 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Floor { +} +Crazyflie { + controller "ardupilot_vehicle_controller" + controllerArgs [ + "--motors" + "m1_motor, m3_motor, m4_motor, m2_motor" + "--reversed-motors" + "1, 2" + "--camera-fps" + "10" + "--camera" + "camera" + "--accel" + "accelerometer" + "--imu" + "inertial unit" + "--gyro" + "gyro" + "--gps" + "gps" + "--motor-cap" + "100" + ] + extensionSlot [ + Accelerometer { + } + ] +} diff --git a/libraries/SITL/examples/Webots_Python/worlds/crazyflie_double.wbt b/libraries/SITL/examples/Webots_Python/worlds/crazyflie_double.wbt new file mode 100644 index 0000000000..d6843e9a0c --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/worlds/crazyflie_double.wbt @@ -0,0 +1,76 @@ +#VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/robots/bitcraze/crazyflie/protos/Crazyflie.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto" + +WorldInfo { + title "Crazyflie Ardupilot" + basicTimeStep 2 + FPS 30 +} +Viewpoint { + orientation -0.0593532354440745 0.9880332410323718 0.14236399845953884 0.798588127989691 + position -0.5248689288960577 0.1043842791985661 0.5678333324847978 + follow "Crazyflie 0" + followSmoothness 0.01 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Floor { +} +Crazyflie { + hidden linearVelocity_0 -4.637218965709596e-19 -4.196252875038606e-19 3.352873534367973e-16 + hidden angularVelocity_0 4.956352788505185e-17 6.199137112878587e-17 -7.59922590549506e-18 + translation -1.2560172892842563e-17 0.2 0.014998773749999996 + rotation 0.0006423841504381482 0.0009061380955760532 -0.9999993831279872 3.0862235845634213e-16 + name "Crazyflie 0" + controller "ardupilot_vehicle_controller" + controllerArgs [ + "--reversed-motors" + "1, 2" + "--camera" + "camera" + "--camera-fps" + "10" + "--motors" + "m1_motor, m3_motor, m4_motor, m2_motor" + "--motor-cap" + "100" + "--instance" + "0" + ] + extensionSlot [ + Accelerometer { + } + ] +} +Crazyflie { + hidden linearVelocity_0 1.1290302625479896e-18 -4.326730364482081e-19 3.352873534367973e-16 + hidden angularVelocity_0 5.546676845014852e-31 2.0628843433230186e-17 -7.9532317962812e-18 + translation -3.7742147020501796e-18 -1.921003416687696e-17 0.014998773749999996 + rotation -0.0017125758688741218 0.0002306643848911165 -0.9999985069378028 3.183501628356045e-16 + name "Crazyflie 1" + controller "ardupilot_vehicle_controller" + controllerArgs [ + "--reversed-motors" + "1, 2" + "--camera-fps" + "10" + "--camera" + "camera" + "--motors" + "m1_motor, m3_motor, m4_motor, m2_motor" + "--motor-cap" + "100" + "--instance" + "1" + ] + extensionSlot [ + Accelerometer { + } + ] +} diff --git a/libraries/SITL/examples/Webots_Python/worlds/iris.wbt b/libraries/SITL/examples/Webots_Python/worlds/iris.wbt new file mode 100644 index 0000000000..0f7e4d920b --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/worlds/iris.wbt @@ -0,0 +1,63 @@ +# VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/StraightRoadSegment.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Grass.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/advertising_board/protos/AdvertisingBoard.proto" +EXTERNPROTO "../protos/Iris.proto" + +WorldInfo { + title "Iris Ardupilot" + basicTimeStep 2 + FPS 20 +} +Viewpoint { + orientation 0.15554153350599548 -0.8879632385984604 -0.4328141844398555 5.514055516141922 + position -2.719806534182175 -0.9451744343683601 2.1727182111093915 + follow "Iris" + followSmoothness 0.01 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Floor { + size 300 100 + appearance Grass { + } +} +AdvertisingBoard { + translation 13.1012 17.8267 0 + rotation 0 0 1 -1.469 + frontTexture [ + "../../../../../Tools/autotest/web-firmware/images/logo.png" + ] + backTexture [ + "../../../../../Tools/autotest/web-firmware/images/logo.png" + ] + displayWidth 16.28 + displayHeight 6 + poleNumber 2 + poleType "H-shape" + poleHeight 10 +} +StraightRoadSegment { + translation -15 0.3 0.02 + rotation 0 0 1 0.105 + width 16.5 + rightBorder FALSE + leftBorder FALSE + length 140 +} +Iris { + translation 0 0 0.09 + controller "ardupilot_vehicle_controller" + controllerArgs [ + "--motors" + "m1_motor, m2_motor, m3_motor, m4_motor" + ] + extensionSlot [ + ] +} diff --git a/libraries/SITL/examples/Webots_Python/worlds/iris_camera.wbt b/libraries/SITL/examples/Webots_Python/worlds/iris_camera.wbt new file mode 100644 index 0000000000..f4abc5f171 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/worlds/iris_camera.wbt @@ -0,0 +1,118 @@ +#VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/StraightRoadSegment.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Grass.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/advertising_board/protos/AdvertisingBoard.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/obstacles/protos/OilBarrel.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/animals/protos/Dog.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/animals/protos/Rabbit.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/garden/protos/Gnome.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/factory/forklift/protos/Forklift.proto" +EXTERNPROTO "../protos/Iris.proto" +EXTERNPROTO "../protos/ArucoMarker.proto" + +WorldInfo { + title "Iris Ardupilot" + basicTimeStep 2 + FPS 20 +} +Viewpoint { + orientation 0.10264123808602478 -0.7648124131744727 -0.6360241732028804 5.867275660921915 + position -2.488925008027789 0.29237831017431365 2.067754838508868 + follow "Iris" + followSmoothness 0.01 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Floor { + size 300 100 + appearance Grass { + } +} +StraightRoadSegment { + translation -15 0.3 0.02 + rotation 0 0 1 0.105 + width 16.5 + rightBorder FALSE + leftBorder FALSE + length 140 +} +Rabbit { + translation 4.68362 1.88178 0.88 + rotation 0 0 1 2.61799 + name "nibbles" +} +Gnome { + translation 5.87588 0.590355 3.6788e-21 + rotation 0 0 1 2.61799 +} +Forklift { + translation 9.19827 2.56008 0.81 + rotation 0 0 1 -2.3561953071795863 + enablePhysics FALSE +} +Dog { + translation 5.97592 3.52 1.77636e-15 + rotation 0 0 1 -2.6179953071795863 + name "bentley" +} +OilBarrel { + translation 4.54625 1.79835 0.44 +} +AdvertisingBoard { + translation 13.1012 17.8267 0 + rotation 0 0 1 -1.469 + frontTexture [ + "../../../../../Tools/autotest/web-firmware/images/logo.png" + ] + backTexture [ + "../../../../../Tools/autotest/web-firmware/images/logo.png" + ] + displayWidth 16.28 + displayHeight 6 + poleNumber 2 + poleType "H-shape" + poleHeight 10 +} +Table { + translation 0 0.92 0 +} +Iris { + translation 0.0702495 1.45039 0.8 + controller "ardupilot_vehicle_controller" + controllerArgs [ + "--motors" + "m1_motor, m2_motor, m3_motor, m4_motor" + "--camera" + "camera" + "--camera-port" + "5599" + ] + extensionSlot [ + Camera { + translation 0.05 0 0.05 + rotation 0 1 0 0 + width 640 + height 480 + } + ] +} +ArucoMarker { + translation 4.23295 1.80428 0.72 + rotation 0 1 0 -1.5707953071795862 + name "aruco 0" + size 0.2 +} +ArucoMarker { + translation 4.39446 1.53182 0.44 + rotation 0.44721372362178063 -0.7745965212991105 0.44721372362178063 1.82348 + name "aruco 1" + size 0.2 + markerId "1" +} diff --git a/libraries/SITL/examples/Webots_Python/worlds/iris_depth_camera.wbt b/libraries/SITL/examples/Webots_Python/worlds/iris_depth_camera.wbt new file mode 100644 index 0000000000..0b4b2bac82 --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/worlds/iris_depth_camera.wbt @@ -0,0 +1,97 @@ +#VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/StraightRoadSegment.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Grass.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/humans/pedestrian/protos/Pedestrian.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/buildings/protos/Warehouse.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/advertising_board/protos/AdvertisingBoard.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/tables/protos/Table.proto" +EXTERNPROTO "../protos/Iris.proto" + +WorldInfo { + title "Iris Ardupilot" + basicTimeStep 2 + FPS 20 +} +Viewpoint { + orientation -0.08123827592100609 -0.8844702112073417 0.45947011656061265 5.888579928177443 + position -13.153423548832741 2.5290211453100055 6.931773501208396 + follow "Iris" + followSmoothness 0.01 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Floor { + size 300 100 + appearance Grass { + } +} +StraightRoadSegment { + translation -15 0.3 0.02 + rotation 0 0 1 0.105 + width 16.5 + rightBorder FALSE + leftBorder FALSE + length 140 +} +Warehouse { + translation 22.0473 -12.6792 0 + rotation 0 0 1 1.671 +} +Warehouse { + translation 61.8844 -8.67468 0 + rotation 0 0 1 1.671 + name "warehouse(1)" +} +Pedestrian { + translation 2.49 0 1.27 + controllerArgs [ + "--speed=0.75" + "--trajectory= 2.5 0, 5 2.5, 7.5 0, 5 -2.5" + ] +} +Table { + translation 0 0.92 0 +} +AdvertisingBoard { + translation 13.1012 17.8267 0 + rotation 0 0 1 -1.469 + frontTexture [ + "../../../../../Tools/autotest/web-firmware/images/logo.png" + ] + backTexture [ + "../../../../../Tools/autotest/web-firmware/images/logo.png" + ] + displayWidth 16.28 + displayHeight 6 + poleNumber 2 + poleType "H-shape" + poleHeight 10 +} +Iris { + translation 0.0702495 1.45039 0.8 + rotation 0 0 1 -0.523595307179586 + controller "ardupilot_vehicle_controller" + controllerArgs [ + "--motors" + "m1_motor, m2_motor, m3_motor, m4_motor" + "--rangefinder" + "range-finder" + "--rangefinder-port" + "5599" + ] + extensionSlot [ + RangeFinder { + translation 0.1 0 0 + fieldOfView 1.57 + width 640 + height 480 + maxRange 20 + } + ] +} \ No newline at end of file diff --git a/libraries/SITL/examples/Webots_Python/worlds/pioneer3at.wbt b/libraries/SITL/examples/Webots_Python/worlds/pioneer3at.wbt new file mode 100644 index 0000000000..af3ad3f3ed --- /dev/null +++ b/libraries/SITL/examples/Webots_Python/worlds/pioneer3at.wbt @@ -0,0 +1,62 @@ +#VRML_SIM R2023a utf8 + +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/released/projects/robots/adept/pioneer3/protos/Pioneer3at.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackground.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/backgrounds/protos/TexturedBackgroundLight.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/road/protos/StraightRoadSegment.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/objects/floors/protos/Floor.proto" +EXTERNPROTO "https://raw.githubusercontent.com/cyberbotics/webots/R2023a/projects/appearances/protos/Grass.proto" + +WorldInfo { + title "Pioneer3at Ardupilot" + basicTimeStep 2 + FPS 20 +} +Viewpoint { + orientation 0.12905547789670888 -0.9264705889754452 -0.353549050894418 5.532540449151996 + position -2.921033113316591 -0.8540816786630955 2.693602881281485 + follow "Pioneer 3-AT" + followSmoothness 0.01 +} +TexturedBackground { +} +TexturedBackgroundLight { +} +Floor { + size 300 100 + appearance Grass { + } +} +StraightRoadSegment { + translation -15 0.3 0.02 + rotation 0 0 1 0.105 + width 16.5 + rightBorder FALSE + leftBorder FALSE + length 140 +} +Pioneer3at { + controller "ardupilot_vehicle_controller" + controllerArgs [ + "--motors" + "front left wheel, back left wheel, front right wheel, back right wheel" + "--camera-fps" + "10" + "--motor-cap" + "100" + "--bidirectional-motors" + "true" + "--uses-propellers" + "false" + ] + extensionSlot [ + Accelerometer { + } + InertialUnit { + } + Gyro { + } + GPS { + } + ] +}