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Vehicle model description and configuration files for the ECA A9 AUV.

Home Page: https://uuvsimulator.github.io/

License: Apache License 2.0

CMake 12.26% Python 24.75% Shell 62.99%

gazebo ros auv uuv swarms-project uuv-simulator underwater-vehicles

eca_a9's Introduction

ECA A9 AUV

Link to the eca_a9 repository here

Link to the documentation page

Chat on Discord

This repository contains the robot description and necessary launch files to simulate the ECA A9 autonomous underwater vehicle. This repository is complementary to the Unmanned Underwater Vehicle Simulator (UUV Simulator), an open-source project extending the simulation capabilities of the robotics simulator Gazebo to underwater vehicles and environments. For installation and usage instructions, please refer to the documentation pages.

Purpose of the project

This software is a research prototype, originally developed for the EU ECSEL Project 662107 SWARMs.

The software is not ready for production use. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).

Requirements

To simulate the ECA A9 AUV, please refer to the UUV Simulator repository and follow the installation instructions of the package. Then you can clone this package in the src folder of you catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/uuvsimulator/eca_a9.git

and then build your catkin workspace

cd ~/catkin_ws
catkin_make # or <catkin build>, if you are using catkin_tools

Example of usage

To run a demonstration with the vehicle with teleoperation, you can run a UUV simulator Gazebo scenario, such as

roslaunch uuv_gazebo_worlds ocean_waves.launch

and then

roslaunch eca_a9_gazebo start_demo_teleop.launch joy_id:=0

The teleoperation nodes are pre-configured per default for the XBox 360 controller.

Configuration of the Gazebo world

The simulation with the fin plugins have shown better results by configuring the Gazebo's .world file with the following parameters for the physics engine:

<physics name="default_physics" default="true" type="ode">
  <max_step_size>0.01</max_step_size>
  <real_time_factor>1</real_time_factor>
  <real_time_update_rate>100</real_time_update_rate>
  <ode>
    <solver>
      <type>quick</type>
      <iters>50</iters>
      <sor>1.2</sor>
    </solver>
  </ode>
</physics>

Check the Mangalia world file to see an example.

License

ECA A9 package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

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eca_a9's Issues

Add Travis CI configuration for ECA A9 repository

start_demo_nmb_sm.launch - AUV just float up

Hi, launch the following files:
roslaunch uuv_descriptions auv_underwater_world.launch
roslaunch eca_a9_gazebo start_demo_nmb_sm.launch

every things look OK on screen, but the AUV doesn't start to moved as expected he just float up:

roslaunch eca_a9_gazebo start_demo_nmb_sm.launch
... logging to /home/gal/.ros/log/1b4ddc78-8a7d-11e8-888c-9cb6d0f2f06b/roslaunch-gal-XPS-15-9560-3655.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

redefining global property: gamma
when processing file: /home/gal/catkin/src/eca_a9/eca_a9_description/urdf/eca_a9_sensors.xacro
included from: /home/gal/catkin/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro
started roslaunch server http://gal-XPS-15-9560:40195/

SUMMARY

PARAMETERS

/eca_a9/control_allocator/base_link: base_link
/eca_a9/control_allocator/fin_config/fin_area: 0.04155
/eca_a9/control_allocator/fin_config/fluid_density: 1028.0
/eca_a9/control_allocator/fin_config/frame_base: fin
/eca_a9/control_allocator/fin_config/lift_coefficient: 3.0
/eca_a9/control_allocator/fin_config/lower_limit: -1.4
/eca_a9/control_allocator/fin_config/topic_prefix: fins
/eca_a9/control_allocator/fin_config/topic_suffix: input
/eca_a9/control_allocator/fin_config/upper_limit: 1.4
/eca_a9/control_allocator/output_dir: /home/gal/catkin/...
/eca_a9/control_allocator/thruster_config/conversion_fcn: proportional
/eca_a9/control_allocator/thruster_config/conversion_fcn_params/gain: 4.9e-05
/eca_a9/control_allocator/thruster_config/conversion_fcn_params/input: [0, 1, 2, 3]
/eca_a9/control_allocator/thruster_config/conversion_fcn_params/output: [0, 1, 2, 3]
/eca_a9/control_allocator/thruster_config/frame_base: thruster_
/eca_a9/control_allocator/thruster_config/max_thrust: 700
/eca_a9/control_allocator/thruster_config/topic_prefix: thrusters
/eca_a9/control_allocator/thruster_config/topic_suffix: input
/eca_a9/control_allocator/timeout: -1
/eca_a9/control_allocator/update_rate: 10
/eca_a9/robot_description: <?xml version="1....
/eca_a9/robot_state_publisher/publish_frequency: 5
/eca_a9/robot_state_publisher/robot_description: /eca_a9/robot_des...
/eca_a9/rov_nmb_sm_controller/Kd: [24.3289994058185...
/eca_a9/rov_nmb_sm_controller/Ki: [0.00102327681525...
/eca_a9/rov_nmb_sm_controller/dubins/max_pitch: 0.09
/eca_a9/rov_nmb_sm_controller/dubins/radius: 25
/eca_a9/rov_nmb_sm_controller/inertial_frame_id: world
/eca_a9/rov_nmb_sm_controller/look_ahead_delay: 2.0
/eca_a9/rov_nmb_sm_controller/max_forward_speed: 3.0
/eca_a9/rov_nmb_sm_controller/min_thrust: 40
/eca_a9/rov_nmb_sm_controller/saturation: 200
/eca_a9/rov_nmb_sm_controller/slope: [0.99038586689920...
/eca_a9/rov_nmb_sm_controller/thrusters_only: False
/eca_a9/rov_nmb_sm_controller/use_stamped_poses_only: False
/eca_a9/send_waypoint_file/filename: /home/gal/catkin/...
/eca_a9/send_waypoint_file/interpolator: dubins
/eca_a9/send_waypoint_file/start_time: -1
/ground_truth_to_tf_eca_a9/child_frame_id: /eca_a9/base_link
/ground_truth_to_tf_eca_a9/footprint_frame_id: /eca_a9/base_foot...
/ground_truth_to_tf_eca_a9/frame_id: /world
/ground_truth_to_tf_eca_a9/odometry_topic: /eca_a9/pose_gt
/ground_truth_to_tf_eca_a9/stabilized_frame_id: /eca_a9/base_stab...
/rosdistro: kinetic
/rosversion: 1.12.13

NODES
/eca_a9/
control_allocator (uuv_auv_control_allocator/control_allocator)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rov_nmb_sm_controller (uuv_trajectory_control/rov_nmb_sm_controller.py)
send_waypoint_file (uuv_control_utils/send_waypoint_file.py)
trajectory_marker_publisher (uuv_control_utils/trajectory_marker_publisher.py)
urdf_spawner (uuv_descriptions/spawn_model)
/
ground_truth_to_tf_eca_a9 (message_to_tf/message_to_tf)
rviz (rviz/rviz)

ROS_MASTER_URI=http://localhost:11311

process[eca_a9/urdf_spawner-1]: started with pid [3676]
process[eca_a9/robot_state_publisher-2]: started with pid [3677]
process[ground_truth_to_tf_eca_a9-3]: started with pid [3678]
process[eca_a9/trajectory_marker_publisher-4]: started with pid [3684]
process[eca_a9/control_allocator-5]: started with pid [3702]
[ WARN] [1531913067.577716817]: The root link eca_a9/base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
process[eca_a9/rov_nmb_sm_controller-6]: started with pid [3717]
process[rviz-7]: started with pid [3731]
process[eca_a9/send_waypoint_file-8]: started with pid [3738]
[ INFO] [1531913067.802023902]: rviz version 1.12.16
[ INFO] [1531913067.802071269]: compiled against Qt version 5.5.1
[ INFO] [1531913067.802096208]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1531913068.018864454]: Stereo is NOT SUPPORTED
[ INFO] [1531913068.018940320]: OpenGl version: 3 (GLSL 1.3).
[INFO] [1531913068.063954, 0.000000]: Send a waypoint file, namespace=/eca_a9/
[ERROR] [1531913068.071306, 0.000000]: Negative start time, setting it to 0.0
Starting trajectory and waypoint marker publisher
Starting Non-model-based Sliding Mode Controller
Package pymap3d is not available, WGS84 coordinates cannot be used
Download pymap3d for Python 2.7 as

sudo pip install pymap3d==1.5.2
or for Python 3.x as
sudo pip install pymap3d
spawn_model script started
ECA_A9 -- 2018-07-18 12:24:28,757 | INFO | dp_controller_base | Setting controller as non-model-based
ECA_A9 -- 2018-07-18 12:24:28,765 | INFO | wp_trajectory_generator | Waypoint interpolators available:
ECA_A9 -- 2018-07-18 12:24:28,766 | INFO | wp_trajectory_generator | - cubic
ECA_A9 -- 2018-07-18 12:24:28,766 | INFO | wp_trajectory_generator | - lipb
ECA_A9 -- 2018-07-18 12:24:28,767 | INFO | wp_trajectory_generator | - dubins
ECA_A9 -- 2018-07-18 12:24:28,767 | INFO | wp_trajectory_generator | - linear
ECA_A9 -- 2018-07-18 12:24:28,769 | INFO | dp_controller_local_planner | Max. forward speed [m/s]=3.00
ECA_A9 -- 2018-07-18 12:24:28,771 | INFO | dp_controller_local_planner | Idle circle radius [m] = 10.00
ECA_A9 -- 2018-07-18 12:24:28,778 | INFO | dp_controller_local_planner | Inertial frame ID=world
[INFO] [1531913068.811194, 0.000000]: Loading model xml from ros parameter
[INFO] [1531913068.829972, 0.000000]: Using the ENU coordinates to spawn the model
[INFO] [1531913068.830475, 0.000000]: Initial position wrt the world frame: (0.00, 0.00, -20.00)
[INFO] [1531913068.830919, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1531913068.833761, 0.000000]: Calling service /gazebo/spawn_urdf_model
[INFO] [1531913068.834791, 0.000000]: Initialize control allocator for vehicle <eca_a9>
[INFO] [1531913068.851621, 0.000000]: Lookup transfrom from eca_a9/base_link_ned to eca_a9/base_link
ECA_A9 -- 2018-07-18 12:24:28,882 | INFO | dp_controller_local_planner | Transform world_ned (NED) to world (ENU)=
[[ -3.74939946e-33 1.00000000e+00 1.22464680e-16]
[ 1.00000000e+00 -4.44089210e-16 -2.46519033e-32]
[ 0.00000000e+00 1.22464680e-16 -1.00000000e+00]]
ECA_A9 -- 2018-07-18 12:24:28,883 | INFO | dp_controller_local_planner | Inertial frame ID=world
ECA_A9 -- 2018-07-18 12:24:28,883 | INFO | dp_controller_local_planner | Max. forward speed = 3.0
ECA_A9 -- 2018-07-18 12:24:28,886 | INFO | dp_controller_local_planner | No parameters for interpolation method found
ECA_A9 -- 2018-07-18 12:24:28,887 | INFO | dp_controller_local_planner | No parameters for interpolation method found
ECA_A9 -- 2018-07-18 12:24:28,889 | INFO | dp_controller_local_planner | Parameters for interpolation method found
ECA_A9 -- 2018-07-18 12:24:28,892 | INFO | dp_controller_local_planner | {'radius': 25, 'max_pitch': 0.09}
ECA_A9 -- 2018-07-18 12:24:28,896 | INFO | dp_controller_local_planner | No parameters for interpolation method found
No transform found between base_link and base_link_ned for vehicle eca_a9
"eca_a9/base_link" passed to lookupTransform argument target_frame does not exist.
Transform world_ned (NED) to world (ENU)=
[[ -3.74939946e-33 1.00000000e+00 1.22464680e-16]
[ 1.00000000e+00 -4.44089210e-16 -2.46519033e-32]
[ 0.00000000e+00 1.22464680e-16 -1.00000000e+00]]
[INFO] [1531913068.978925, 11.070000]: ControlAllocator: updating thruster poses
[INFO] [1531913068.979361, 11.070000]: Lookup: Thruster transform found eca_a9/base_link -> eca_a9/thruster_0
ECA_A9 -- 2018-07-18 12:24:28,995 | INFO | dp_controller_local_planner | Start waypoint trajectory now!
ECA_A9 -- 2018-07-18 12:24:28,995 | INFO | dp_controller_local_planner | STATION KEEPING MODE = ON
ECA_A9 -- 2018-07-18 12:24:28,996 | INFO | wp_trajectory_generator | Interpolation method set: dubins
ECA_A9 -- 2018-07-18 12:24:29,018 | INFO | dp_controller_base | DP controller successfully initialized
ECA_A9 -- 2018-07-18 12:24:29,018 | INFO | rov_nmb_sm_controller | Initializing: Model-free Sliding Mode Controller
ECA_A9 -- 2018-07-18 12:24:29,020 | INFO | rov_nmb_sm_controller | K=[ 0. 0. 0. 0. 0. 0.]
ECA_A9 -- 2018-07-18 12:24:29,025 | INFO | rov_nmb_sm_controller | Kd=[ 24.32899941 95.16574837 25.94337741 0. 6.38837136
79.28449769]
ECA_A9 -- 2018-07-18 12:24:29,030 | INFO | rov_nmb_sm_controller | Ki=[ 0.00102328 0.00102328 0.00102328 0. 0.11901644 0.11901644]
ECA_A9 -- 2018-07-18 12:24:29,032 | INFO | rov_nmb_sm_controller | slope=[ 0.99038587 0.99038587 0.99038587 0. 0.20796466 0.20796466]
ECA_A9 -- 2018-07-18 12:24:29,033 | INFO | rov_nmb_sm_controller | Saturation limits=0.8
ECA_A9 -- 2018-07-18 12:24:29,035 | INFO | rov_nmb_sm_controller | Model-free Sliding Mode Controller ready
[INFO] [1531913069.501274, 11.070000]: Spawn status: SpawnModel: Successfully spawned entity
[eca_a9/urdf_spawner-1] process has finished cleanly
log file: /home/gal/.ros/log/1b4ddc78-8a7d-11e8-888c-9cb6d0f2f06b/eca_a9-urdf_spawner-1*.log
ECA_A9 -- 2018-07-18 12:24:29,883 | INFO | wp_trajectory_generator | Setting new starting time, t=11.12 s
ECA_A9 -- 2018-07-18 12:24:29,883 | ERROR | dp_controller_local_planner | Error generating trajectory message
ECA_A9 -- 2018-07-18 12:24:29,883 | INFO | dp_controller_local_planner | STATION KEEPING MODE = OFF
ECA_A9 -- 2018-07-18 12:24:29,883 | INFO | dp_controller_local_planner | AUTOMATIC MODE = ON
ECA_A9 -- 2018-07-18 12:24:29,883 | INFO | dp_controller_local_planner | TRAJECTORY TRACKING = ON
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | ============================
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | IMPORT WAYPOINTS FROM FILE
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | ============================
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | Filename = /home/gal/catkin/src/eca_a9/eca_a9_gazebo/config/waypoint_set.yaml
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | Interpolator = dubins
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | # waypoints = 4
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | Starting time = 11.12
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | Inertial frame ID = world
ECA_A9 -- 2018-07-18 12:24:29,884 | INFO | dp_controller_local_planner | ============================
ECA_A9 -- 2018-07-18 12:24:29,885 | INFO | dp_controller_local_planner | Adding waypoints to approach the first position in the given waypoint set
[INFO] [1531913069.885240, 11.120000]: Waypoints file successfully received, filename=/home/gal/catkin/src/eca_a9/eca_a9_gazebo/config/waypoint_set.yaml
[INFO] [1531913070.087089, 11.320000]: Thruster transform found eca_a9/base_link -> eca_a9/thruster_0
[eca_a9/send_waypoint_file-8] process has finished cleanly
log file: /home/gal/.ros/log/1b4ddc78-8a7d-11e8-888c-9cb6d0f2f06b/eca_a9-send_waypoint_file-8*.log
[INFO] [1531913070.088895, 11.320000]: pos=[-0.9676 0. 0. ]
[INFO] [1531913070.089788, 11.320000]: rot=[ 0.00000000e+00 0.00000000e+00 1.00000000e+00 -1.03411554e-13]
Thruster #0 - proportional - /eca_a9/thrusters/0/input
[INFO] [1531913070.092585, 11.320000]: Thruster model:
[INFO] [1531913070.093600, 11.320000]: Gain=4.9e-05
[INFO] [1531913070.094148, 11.330000]: Lookup: Fin transform found eca_a9/base_link -> eca_a9/fin0
[INFO] [1531913070.094685, 11.330000]: Fin transform found eca_a9/base_link -> eca_a9/fin0
[INFO] [1531913070.095373, 11.330000]: pos=[-0.70777 -0.07876 0.078586]
[INFO] [1531913070.096675, 11.330000]: quat=[ 0.38172247 -0.06525197 -0.02702841 0.92157452]
[INFO] [1531913070.098257, 11.330000]: Lookup: Fin transform found eca_a9/base_link -> eca_a9/fin1
[INFO] [1531913070.098644, 11.330000]: Fin transform found eca_a9/base_link -> eca_a9/fin1
[INFO] [1531913070.099059, 11.330000]: pos=[-0.70777 -0.07876 -0.078586]
[INFO] [1531913070.099460, 11.330000]: quat=[ 0.92157593 -0.02702865 -0.06525187 0.38171908]
[INFO] [1531913070.101010, 11.330000]: Lookup: Fin transform found eca_a9/base_link -> eca_a9/fin2
[INFO] [1531913070.102257, 11.330000]: Fin transform found eca_a9/base_link -> eca_a9/fin2
[INFO] [1531913070.106140, 11.340000]: pos=[-0.70777 0.07876 -0.078586]
[INFO] [1531913070.107032, 11.340000]: quat=[ 0.92157593 0.02702865 -0.06525187 -0.38171908]
[INFO] [1531913070.109317, 11.340000]: Lookup: Fin transform found eca_a9/base_link -> eca_a9/fin3
[INFO] [1531913070.110180, 11.340000]: Fin transform found eca_a9/base_link -> eca_a9/fin3
[INFO] [1531913070.110971, 11.340000]: pos=[-0.70777 0.07876 0.078586]
[INFO] [1531913070.111751, 11.340000]: quat=[-0.38172247 -0.06525197 0.02702841 0.92157452]
[INFO] [1531913070.114363, 11.350000]: # fins found: 4
[INFO] [1531913070.114660, 11.350000]: 0
[INFO] [1531913070.115078, 11.350000]: [-0.70777 -0.07876 0.078586]
[INFO] [1531913070.116143, 11.350000]: [[ 9.90023291e-01 1.09102575e-06 -1.40903812e-01]
[ -9.96336682e-02 7.07114847e-01 -7.00044088e-01]
[ 9.96344138e-02 7.07098715e-01 7.00060277e-01]]
[INFO] [1531913070.117171, 11.350000]: 1
[INFO] [1531913070.117590, 11.350000]: [-0.70777 -0.07876 -0.078586]
[INFO] [1531913070.123459, 11.350000]: [[ 9.90023291e-01 -2.12616973e-06 -1.40903812e-01]
[ -9.96336682e-02 -7.07119990e-01 -7.00038893e-01]
[ -9.96344138e-02 7.07093572e-01 -7.00065471e-01]]
[INFO] [1531913070.127670, 11.360000]: 2
[INFO] [1531913070.130530, 11.360000]: [-0.70777 0.07876 -0.078586]
[INFO] [1531913070.131931, 11.360000]: [[ 9.90023291e-01 2.12616973e-06 -1.40903812e-01]
[ 9.96336682e-02 -7.07119990e-01 7.00038893e-01]
[ -9.96344138e-02 -7.07093572e-01 -7.00065471e-01]]
[INFO] [1531913070.133051, 11.360000]: 3
[INFO] [1531913070.133445, 11.360000]: [-0.70777 0.07876 0.078586]
[INFO] [1531913070.135068, 11.370000]: [[ 9.90023291e-01 -1.09103253e-06 -1.40903812e-01]
[ 9.96336682e-02 7.07114847e-01 7.00044088e-01]
[ 9.96344138e-02 -7.07098715e-01 7.00060277e-01]]
[INFO] [1531913070.137413, 11.370000]: output_dir=/home/gal/catkin/src/eca_a9/eca_a9_control/eca_a9_control/config
ECA_A9 -- 2018-07-18 12:24:30,383 | INFO | dp_controller_local_planner | Updating the trajectory information
ECA_A9 -- 2018-07-18 12:24:30,890 | INFO | dp_controller_local_planner | Updating the trajectory information
ECA_A9 -- 2018-07-18 12:24:31,390 | INFO | dp_controller_local_planner | Adding waypoints to approach the given waypoint trajectory
ECA_A9 -- 2018-07-18 12:24:31,457 | INFO | wp_trajectory_generator | Setting new starting time, t=11.19 s
ECA_A9 -- 2018-07-18 12:24:31,457 | INFO | wp_trajectory_generator | Waypoint interpolator initialized! Start time: 11.19 s

start_demo_teleop.launch InvalidLaunchFileError

Hi, launch the following files:
ros2 launch uuv_gazebo_worlds ocean_waves.launch
ros2 launch eca_a9_gazebo start_demo_teleop.launch joy_id:=0

Refer: https://github.com/GSO-soslab/eca_a9_plankton

but getting the below error:

Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:274> exception=InvalidLaunchFileError('')>
Traceback (most recent call last):
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 276, in _process_one_event
    await self.__process_event(next_event)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 296, in __process_event
    visit_all_entities_and_collect_futures(entity, self.__context))
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
    futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
    sub_entities = entity.visit(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
    return self.execute(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 125, in execute
    launch_description = self.__launch_description_source.get_launch_description(context)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
    self._get_launch_description(self.__expanded_location)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
    return get_launch_description_from_any_launch_file(location)
  File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
    raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: The launch file may have a syntax error, or its format is unknown

namespace error

Got an error when running the below command. @musamarcusso

roslaunch eca_a9_gazebo start_demo_teleop.launch joy_id:=0


... logging to /home/ubuntu/.ros/log/27f5cb12-a5c1-11ec-bb15-2cf05d113d72/roslaunch-ubuntu-ThinkStation-P330-11008.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
**name 'namespace' is not defined 
when evaluating expression 'namespace'**
when processing file: /home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/urdf/eca_a9_snippets.xacro
included from: /home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/urdf/eca_a9_base.xacro
included from: /home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro
RLException: while processing /home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/launch/upload_eca_a9.launch:
Invalid <param> tag: Cannot load command parameter [robot_description]: command [['/opt/ros/melodic/lib/xacro/xacro', '/home/ubuntu/catkin_ws/src/eca_a9/eca_a9_description/robots/eca_a9_default.urdf.xacro', '--inorder', 'debug:=0', 'namespace:=eca_a9', 'inertial_reference_frame:=world_ned']] returned with code [2]. 

Param xml is <param command="$(find xacro)/xacro '$(find eca_a9_description)/robots/eca_a9_$(arg mode).urdf.xacro' --inorder                       debug:=$(arg debug)                       namespace:=$(arg namespace)                       inertial_reference_frame:=world_ned" name="robot_description"/>
The traceback for the exception was written to the log file

ros2(humble) use eca_a9

Hello, thank you very much for the development of this project. Now I want to use this model to develop with the humble version of ros2. How should I combine the two?

eca_a9_gazebo start_demo_teleop.launch does not launch

Actually, no launch files launch except for the upload_eca_a9.launch

This is the error for start_demo_teleop.launch:

[INFO] [launch]: All log files can be found below /home/andrey/.ros/log/2022-11-08-17-23-48-860103-LeeNeptune-28112
[INFO] [launch]: Default logging verbosity is set to INFO
Task exception was never retrieved
future: <Task finished name='Task-2' coro=<LaunchService._process_one_event() done, defined at /opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py:226> exception=InvalidLaunchFileError('')>
Traceback (most recent call last):
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 228, in _process_one_event
await self.__process_event(next_event)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_service.py", line 248, in __process_event
visit_all_entities_and_collect_futures(entity, self.__context))
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 45, in visit_all_entities_and_collect_futures
futures_to_return += visit_all_entities_and_collect_futures(sub_entity, context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/utilities/visit_all_entities_and_collect_futures_impl.py", line 38, in visit_all_entities_and_collect_futures
sub_entities = entity.visit(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/action.py", line 108, in visit
return self.execute(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/actions/include_launch_description.py", line 130, in execute
launch_description = self.__launch_description_source.get_launch_description(context)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_source.py", line 84, in get_launch_description
self._get_launch_description(self.__expanded_location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_description_source.py", line 53, in _get_launch_description
return get_launch_description_from_any_launch_file(location)
File "/opt/ros/foxy/lib/python3.8/site-packages/launch/launch_description_sources/any_launch_file_utilities.py", line 56, in get_launch_description_from_any_launch_file
raise InvalidLaunchFileError(extension, likely_errors=exceptions)
launch.invalid_launch_file_error.InvalidLaunchFileError: The launch file may have a syntax error, or its format is unknown

start_demo_auv_control.launch control data record

Hi,
I'm working on my master thesis and I found the simulation very interesting .
I'm running the following launch file :
start_demo_auv_control.launch
Gazebo and rviz are running smoothly

I'm trying to record the following actors only:
/eca_a9/thrusters/0/thrust
/eca_a9/thrusters/0/input
/eca_a9/fins/0/input
/eca_a9/fins/0/output

Should I able to see in the bag file the angle of fin or values of the thrust per time ?

I'm open the file in MATLAB and I'm only get Time, Topic, MessageType, Fileoffeset

What is required in order to analysis the control data for the fines angles and the propeller thrust from the running simulation?

Thank

Gal

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