Simulation Lights

7/1/24

Propopsed simulator improvements

1. Camera Icons Issue:

   • Green icons indicating light positions are visible in simulated cameras, adjustment needed to prevent interference.

2. Lighting Improvements:

   • Simulation lighting is dim with a single overhead light causing objects to appear black. May add stronger, shadow-less lights for even illumination and weaker lights for shadows

3. Robot Sensor Placement:

   • Collaborate with mechanical team to get precise data for sensor and thruster placement

4. Water Emulation and Fog:

   • Current water emulation (blue background) doesn’t overlay objects effectively (to make them bluer/hazier). Gz sim’s fog feature didn’t work with Gazebo Garden

5. Preparing for Robosub 2024:

   • As tasks for Robosub 2024 are released, 3D models of tasks are needed to integrate into the simulation

Simulation gate vs actual gate

From robosub_tdr

Check camera feed

• Start running-the-simulation
• Launch rqt to show camera_o (forward camera) view
  • From the menu, choose Plugins → Visualizations → Image View and choose the camera

rqt

Toggle Lighting

No light

Gate lights

<light name='gate_light_1' type='point'>
<pose>0.7927309311409738 -2.4711442661574994 2 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<intensity>1</intensity>
<direction>0 0 -1</direction>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.5 0.5 0.5 1</specular>
<attenuation>
   <range>4</range>
   <linear>0.5</linear>
   <constant>0.20000000000000001</constant>
   <quadratic>0.01</quadratic>
</attenuation>
<spot>
   <inner_angle>0</inner_angle>
   <outer_angle>0</outer_angle>
   <falloff>0</falloff>
</spot>
</light>

Sun 1 (Directional Light)

<light name='sun1' type='directional'>
<pose>0 0 10 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<intensity>2</intensity>
<direction>-0.5 0.10000000000000001 -0.90000000000000002</direction>
<diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
<specular>0.200000003 0.200000003 0.200000003 1</specular>
<attenuation>
   <range>1000</range>
   <linear>0.01</linear>
   <constant>0.90000000000000002</constant>
   <quadratic>0.001</quadratic>
</attenuation>
<spot>
   <inner_angle>0</inner_angle>
   <outer_angle>0</outer_angle>
   <falloff>0</falloff>
</spot>
</light>

Sun 2 (Point light)

<light name='sun2' type='point'>
<pose>0 0 10 0 0 0</pose>
<cast_shadows>false</cast_shadows>
<intensity>2</intensity>
<direction>-0.5 0.10000000000000001 -0.90000000000000002</direction>
<diffuse>0.800000012 0.800000012 0.800000012 1</diffuse>
<specular>0.200000003 0.200000003 0.200000003 1</specular>
<attenuation>
   <range>1000</range>
   <linear>0.01</linear>
   <constant>0.90000000000000002</constant>
   <quadratic>0.001</quadratic>
</attenuation>
<spot>
   <inner_angle>0</inner_angle>
   <outer_angle>0</outer_angle>
   <falloff>0</falloff>
</spot>
</light>