Merge branch 'master' into ros-tooling-update

docs/software/gazebo_guide.md

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+# Gazebo Guide
+
+This is a guide on how to use Gazebo, including launching the sub and
+viewing it inside Gazebo, how Gazebo can be controlled and manipulated, how to
+use Gazebo to make world files, and where you can find more info on Gazebo.
+
+## Brief Introduction
+
+Gazebo is an open-source 3D dynamic simulator, that allows us to design, model,
+and test robots and their behavior in a virtual world. Similar to game engines
+like Unity, Gazebo takes in scripts and models and performs physics simulations
+on them. While it is similar, Gazebo offers physics simulations at a higher level
+of fidelity, a suite of sensors, and interfaces for both users and programs.
+
+There are many versions of Gazebo, but this guide was written for **Gazebo
+Classic 11** as this is the version of Gazebo currently being used at MIL.
+
+### Running Gazebo
+
+There are many ways run Gazebo.
+
+* Click the "Show Applications" button on Ubuntu (the apps button located in
+  the bottom left corner). Then search for the Gazebo Icon and press that icon
+  to open Gazebo.
+
+* You can press Alt + F2 (or Alt+Fn+F2) to bring up the "Run a Command" window.
+  Then type "gazebo" and press Enter to open Gazebo.
+
+* You can also open a terminal and type "gazebo" and it will open Gazebo.
+
+To launch Gazebo will all the necessary files for simulating Subjugator,
+follow these steps:
+
+1. Open a terminal window and execute the following command. This command uses
+   ROS to start all the relevant ROS nodes and to load the world file for
+   subjugator. This also starts a Gazebo Sever.
+
+    ```bash
+    roslaunch subjugator_launch gazebo.launch --screen
+    ```
+
+    :::{note}
+    `--screen` forces all ROS node output to the screen. It is used for debugging.
+    :::
+
+1. Then in another terminal window run this command to start the Gazebo
+   graphical client, which connects to the Gazebo Sever.
+
+    ```bash
+    gazebogui
+    ```
+
+1. Then in another terminal window run this command and then press Shift-C to
+   unkill the sub to allow movement.
+
+    ```bash
+    amonitor kill
+    ```
+
+1. Execute the following command to start a specific mission, replacing
+   "StartGate2022" with the name of the desired mission:
+
+    ```bash
+    mission run StartGate2022
+    ```
+
+## How to use Gazebo
+
+### User Interface
+
+When you launch Gazebo you will be greeted by its user interface.
+
+![Gazebo Interface](/images/gazebo/Interface.png)
+
+The Gazebo interface consists of three main sections: The **Left Panel**, the
+**Scene**, and the **Right Panel**. By default the Right Panel is hidden. This
+is because we do not have anything selected. To show the right panel you can
+always Click and drag the bar on the right to open it.
+
+![Gazebo Labeled Interface](/images/gazebo/Labeled_Interface.png)
+
+#### Left Panel
+
+The Left Panel has three tabs, each with different features. You can see
+these tabs at the top of the Left Panel. You can click on them to switch
+between them. The tabs are:
+
+##### World Tab
+
+The World Tab displays the models that are currently in the scene. Within this
+tab, you can view and modify various model parameters, like their pose (their
+position and rotation). Additionally, you can expand the GUI option to adjust
+the camera view angle by modifying the camera pose.
+
+##### Insert Tab
+
+The Insert Tab allows you to add new models (objects) to the Gazebo simulation.
+Here, you will find a list of file paths where your models are saved. To view
+the model list, click on the arrow located on the left side of each path to
+expand the folder. Select the desired model and click again in the scene to
+place it.
+
+##### Layers Tab
+
+The Layers tab organizes and displays different visualization groups within
+the simulation. Layers can contain one or more models, and enabling or disabling
+a layer will show or hide all the models within it. While not mandatory, layers
+can be helpful for organizing your simulation. Note that this tab may be empty
+if no layers are defined.
+
+To define a layer, you will need to edit a model's SDF file. To add an
+object's visuals to a layer you will need to add a `<meta>` tag for information
+and then a `<layer>` tag with the layer number under each `<visual>` tag. Below
+is an example:
+
+```xml
+<visual name='visual_0'>
+  <meta>
+    <layer>0</layer>
+  </meta>
+  ...
+</visual>
+```
+
+#### Scene
+
+The Scene is the main window where objects are animated, and you interact with
+the environment. Two toolbars are available:
+
+##### The Upper Toolbar
+
+The Upper Toolbar consists of various buttons that allow you to select, move,
+rotate, and scale objects. It also provides options to create simple shapes,
+as well as copy and paste objects.
+
+![Gazebo Upper Toolbar](/images/gazebo/Upper_Toolbar.png)
+
+##### The Bottom Toolbar
+
+The Bottom Toolbar displays information about the simulation time and its
+relationship to real time. It helps you track the progress of your simulation.
+
+![Gazebo Bottom Toolbar](/images/gazebo/Bottom_Toolbar.png)
+
+#### Right Panel
+
+The Right Panel is used to interact with the mobile parts (joints) of a
+selected model. It provides controls and settings specific to manipulating
+the joints of a model.
+
+#### Menus (File, Edit, Camera, View, Window, Help)
+
+Most Linux apps have menus. These menus are usually tabs (file, edit, ...) at
+the top left of an application. If you don't see it move your cursor to the
+top of the application window and the menus should appear. Below describes
+the features of each menu that Gazebo has.
+
+![Gazebo Menus](/images/gazebo/Menus.png)
+
+#### Mouse
+
+It is recommended that you use a mouse when using Gazebo. Below is a diagram
+showing all the mouse controls.
+
+![Gazebo Mouse Controls](/images/gazebo/Mouse.png)
+
+However, if you want to use a trackpad you can. Below are the controls for
+the trackpad:
+
+![Gazebo Mouse Controls](/images/gazebo/TrackPad.png)
+
+## How to Create Models
+
+The structure for most models in Gazebo is that the model is a folder that
+contains a .config file, .SDF file(s), and .dae or .stl file(s). The config
+file contains meta information about the model. The .SDF file contains
+important simulation information like model definitions, the model's
+positioning, its physical properties, etc. The .dae or .stl files contain 3D
+mesh information. When creating a model it's recommended that you have all
+these components.
+
+### Model Editor
+
+You can use the **Model Editor** to create simple models all within Gazebo,
+but for more complex models you will want to create/write your own SDF files
+and .dae files.
+
+To enter the **Model Editor**, click on Edit in the menu bar and select Model Editor.
+
+The Model Editor Interface looks similar to the regular Gazebo UI with some
+slight changes. The left panel and the top toolbar have been changed to
+contain only buttons and features for editing and creating parts of a model.
+The bottom toolbar is now hidden as the simulation is paused.
+
+![Gazebo Model Editor](/images/gazebo/Model_Editor.png)
+
+When entering the Model Editor all other models will turn white. This can make
+it hard to see the model you are currently working on if you have a lot of
+models in your scene. So it may be easier to open a blank Gazebo world and
+create the model using the Model Editor there. Then when you exit the Model
+Editor it will ask you to save the model. This will save the model as a folder
+on your computer. Then you can go back to the original world and insert
+this model, by going to the insert tab (note this is the regular insert tab,
+not the one in the model editor) and adding that model folder's file path.
+
+:::{note}
+When inserting a model, make sure that the file path you pick is the path to
+the parent directory. This directory contains the model folder you want to
+insert. Do not put the path to the model folder. Often this parent
+directory will contain all the models you want to use. The file hierarchy
+might look like this: where models is the parent directory and contains the
+models model1 and buoys.
+
+```
+	models/
+          ├── model_1/
+          │     ├── model.config
+          │     ├── model1.sdf
+          │     ├── model1.dae
+          │     └── ...
+          ├── buoys/
+          │     ├── model.config
+          │     ├── green.sdf
+          │     ├── red.sdf
+          │     └── ...
+```
+
+:::
+
+#### Insert Tab
+
+The Insert Tab allows you to add new parts, including links and models, to
+your model. You have two options for inserting shapes (links):
+
+* Simple Shapes: Click on the desired shape in the left panel and then click
+  again in the scene to place it.
+
+* Custom Shapes: You can add COLLADA (.dae), 3D Systems (.stl), Wavefront
+  (.obj), and W3C SVG (.svg) files as custom shapes. Create these shapes
+  using 3D modeling software like Blender.
+
+You can also insert other models into your model as nested models. These
+models can be obtained from the Gazebo Model Database
+(http://gazebosim.org/models/), which should be listed as one of your file
+paths under Model Databases. For example, if you need a depth sensor, you can
+add a depth sensor model from the database to your model.
+
+#### Model Tab
+
+The Model Tab displays the settings for the model you are creating. Here, you
+can change the model's name and modify its basic parameters. Additionally, you
+can add plugins to give your model functionality here as well.
+
+#### Placing Shapes
+
+Once you insert a shape, you can use the toolbar to move, rotate, and scale
+it. For finer control, you can double-click the shape or right-click and
+select "Open Link Inspector" to access the link inspector. In the link
+inspector, you can modify the shape's position, rotation, and scale to
+achieve the desired configuration. Make sure to adjust the scale in both the
+Visual and Collision tabs.
+
+#### Adding Joints
+
+To constrain the motion between shapes, you can add joints. Follow these steps:
+
+* Click on the joint icon in the toolbar (a line connecting two points).
+
+* In the Joint Creation Window, select the parent and child links (shapes)
+  of the joint.
+
+* Select the type of joint you need in the Joint Types section near the top
+  of the window.
+
+* Select the joint axis. Some joints do not have an axis.
+
+* Align the link (shape). Use the align links section to align the parent
+  and the child with each other.
+
+#### Adding a Plugin
+
+To control your model, you need to create a plugin. You can do this in the
+Model Tab by specifying the necessary details for the plugin.
+
+You can find more information on how to create your own custom plugins [here](https://classic.gazebosim.org/tutorials?tut=ros_gzplugins).
+
+#### Model Creation Workflow Example
+
+To illustrate the model creation process, let's consider creating a car model
+using Blender:
+
+* Create .dae files for the wheels, chassis, and other parts in Blender.
+
+* Insert these shapes into the Model Editor.
+
+* Use the toolbar and link inspector to position each shape precisely.
+
+* Add joints between the shapes to enable motion constraints.
+
+* Finally, create a plugin to control the model's behavior.
+
+### World File
+
+A World in Gazebo is used to describe the collection of robots and objects,
+and global parameters like the sky, ambient light, and physics properties.
+A World is the entire virtual environment that you have been
+working in. The World stores important information like where all the models
+are, their properties, and important global properties.
+
+You can save the World file by selecting File and Save World As.
+
+:::{note}
+When using roslaunch to start Gazebo, it is crucial to update the World file
+if you make any changes to the simulation environment. At MIL, there is a
+dedicated `worlds` folder where Gazebo World files are saved. When you update
+a World file, ensure that you replace the old file in this folder. Failing
+to do so will result in the continued use of the old World file when
+launching Gazebo using roslaunch.
+:::
+
+## More Info
+
+If you ever need more information on how any aspect of Gazebo works or how to
+use ROS with Gazebo you can check out the official Gazebo Documentation [here](https://classic.gazebosim.org/tutorials).
+Some of the images used in this guide are sourced from here and we are grateful
+to the creators for their exceptional work, which has been instrumental in
+writing this guide.

docs/software/index.rst

@@ -17,6 +17,7 @@ Various documentation related to practices followed by the MIL Software team.
    Bash Style Guide <bash_style.md>
    C++ Style Guide <cpp_style.md>
    Python Style Guide <python_style.md>
+   Gazebo Guide <gazebo_guide.md>
    Migrating to ROS Noetic <noetic_migration.md>
    Installing NVIDIA Drivers for RTX 2080 <rtx_2080_drivers.md>
    Installing Ubuntu 18.04 on an M-series Apple computer <apple_mseries_ubuntu_setup.md>