Add lunar_pole_exploration_rover demo (#36).

This commit adds a lunar pole exploration rover demo modelled on NASA's VIPER
mission, including a simulated rover model, and world and ground models to
simulate the Mons Mouton.

The commit also adds Gazebo plugins to simulate power generation and
consumption in space robotics, which the simulation above uses. Plugins
include:

- A solar panel plugin to simulate power generation from the sun according to
  occlusion and angle between the sun and the panel.

- A radioisotope thermal generator plugin to simulate the constant power from a
  radioisotope thermal generator.

- A modified version of the linear battery plugin that is able to take as
  charge input the power outputs of the two previous plugins.

- A sensor power load system plugin to simulate the power drawn by sensors

Documentation, as well as a dockerfile to help build and try this demo, are
included.

Co-authored-by: stevedan <[email protected]>

Author: 2 people

lunar_pole_exploration_rover/CMakeLists.txt

@@ -0,0 +1,51 @@
+cmake_minimum_required(VERSION 3.8)
+project(lunar_pole_exploration_rover)
+
+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(ament_cmake_python REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(simulation REQUIRED)
+find_package(std_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+install(DIRECTORY
+  config
+  launch
+  worlds
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(PROGRAMS
+  nodes/move_mast
+  nodes/move_wheel
+  nodes/run_demo
+  nodes/odom_tf_publisher
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

lunar_pole_exploration_rover/Dockerfile

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+# Copyright 2021 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:humble-2024.10.0
+
+# Define arguments used in the metadata definition
+ARG VCS_REF
+ARG VERSION="preview"
+ARG ROSDISTRO="humble"
+
+# Specify the docker image metadata
+LABEL org.label-schema.schema-version="1.0"
+LABEL org.label-schema.name="Lunar Pole Exploration Rover"
+LABEL org.label-schema.description="Lunar Pole Exploration Rover entry for the NASA Space ROS Sim Summer Sprint Challenge"
+LABEL org.label-schema.vendor="Open Robotics"
+LABEL org.label-schema.version=${VERSION}
+LABEL org.label-schema.url="https://github.com/space-ros"
+LABEL org.label-schema.vcs-url="https://github.com/space-ros/demos"
+LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Update the ROS package keys
+ADD --chmod=644 https://raw.githubusercontent.com/ros/rosdistro/master/ros.key /usr/share/keyrings/ros-archive-keyring.gpg
+
+# 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
+
+# Install the various build and test tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
+  build-essential \
+  clang-format \
+  cmake \
+  git \
+  git-lfs \
+  libbullet-dev \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-pip \
+  python3-pytest-cov \
+  python3-rosdep \
+  python3-rosinstall-generator \
+  python3-setuptools \
+  python3-vcstool \
+  wget
+
+# Install some pip packages needed for testing
+RUN python3 -m pip install -U \
+  argcomplete \
+  flake8-blind-except \
+  flake8-builtins \
+  flake8-class-newline \
+  flake8-comprehensions \
+  flake8-deprecated \
+  flake8-docstrings \
+  flake8-import-order \
+  flake8-quotes \
+  pytest-repeat \
+  pytest-rerunfailures \
+  pytest
+
+# Define a few key variables
+ENV DEMO_DIR=${HOME_DIR}/demos_ws
+ENV IGNITION_VERSION=fortress
+ENV GZ_VERSION=fortress
+
+# Clone all space-ros sources. We use lfs specifically to pull resources
+# from the simulation repo.
+RUN mkdir ${SPACEROS_DIR}/src \
+  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos \
+  && vcs custom ${SPACEROS_DIR}/src --args lfs pull
+
+# Define key locations
+RUN mkdir -p ${DEMO_DIR}/src
+WORKDIR ${DEMO_DIR}
+
+COPY . src/lunar_pole_exploration_rover
+RUN rosdep update
+
+# Generate repos file for dependencies, excluding packages from Space ROS core.
+COPY --chown=${USERNAME}:${USERNAME} demo-pkgs.txt /tmp/
+COPY --chown=${USERNAME}:${USERNAME} excluded-pkgs.txt /tmp/
+RUN rosinstall_generator \
+  --upstream \
+  --rosdistro ${ROSDISTRO} \
+  --deps \
+  --exclude-path ${SPACEROS_DIR}/src \
+  --exclude $(cat /tmp/excluded-pkgs.txt) -- \
+  -- $(cat /tmp/demo-pkgs.txt) \
+  > /tmp/demo_generated_pkgs.repos
+
+RUN vcs import src < /tmp/demo_generated_pkgs.repos \
+  && vcs custom ${SPACEROS_DIR}/src --args lfs pull
+
+# Get the source for the dependencies
+COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
+RUN vcs import src < /tmp/demo_manual_pkgs.repos \
+  && vcs custom ${SPACEROS_DIR}/src --args lfs pull \
+  && /bin/bash -c 'source "${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 src --ignore-src -r -y --rosdistro ${ROSDISTRO}
+
+ENV MAKEFLAGS="-j1"
+
+# build demo
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
+
+# 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"]