RobotLocomotion · sloretz · Nov 4, 2022 · Nov 4, 2022 · Nov 9, 2022 · Nov 9, 2022
diff --git a/drake_ros_examples/CMakeLists.txt b/drake_ros_examples/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(gflags REQUIRED COMPONENTS shared)
 add_subdirectory(examples/iiwa_manipulator)
 add_subdirectory(examples/multirobot)
 add_subdirectory(examples/rs_flip_flop)
+add_subdirectory(examples/ufo)
 
 if(BUILD_TESTING)
   find_package(ament_cmake_clang_format REQUIRED)

diff --git a/drake_ros_examples/README.md b/drake_ros_examples/README.md
@@ -1,6 +1,7 @@
 # Drake ROS Examples
 
-This is a collection of examples built around `drake_ros` libraries' C++ and Python APIs.
+This is a collection of examples built around `drake_ros` libraries' C++ and
+Python APIs.
 
 ## Building with Colcon
 
@@ -117,3 +118,5 @@ tooling per the list below.
 - [IIWA manipulator](./examples/iiwa_manipulator): an RViz visualization of a static IIWA arm.
 - [Multi-Robot Simulation](./examples/multirobot): Simulates multiple robots
   using Drake and visualizes them with RViz using a single marker display topic.
+- [UFO](./examples/multirobot): an RViz visualization of a flying object
+controlled with the Drake systems framework and commanded using RViz.
diff --git a/drake_ros_examples/examples/ufo/CMakeLists.txt b/drake_ros_examples/examples/ufo/CMakeLists.txt
@@ -0,0 +1,27 @@
+find_package(ament_index_cpp REQUIRED)
+find_package(drake REQUIRED)
+find_package(drake_ros REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+add_executable(ufo ufo.cc)
+target_link_libraries(ufo PRIVATE
+  ament_index_cpp::ament_index_cpp
+  drake::drake
+  drake_ros::drake_ros_core
+  drake_ros::drake_ros_tf2
+  drake_ros::drake_ros_viz
+  ${geometry_msgs_TARGETS}
+)
+target_compile_features(ufo PRIVATE cxx_std_17)
+
+install(
+  TARGETS
+    ufo
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY
+    models/
+  DESTINATION share/${PROJECT_NAME}/models/
+)
diff --git a/drake_ros_examples/examples/ufo/README.md b/drake_ros_examples/examples/ufo/README.md
@@ -0,0 +1,34 @@
+# UFO
+
+## Overview
+
+The UFO example shows how to use Drake ROS and the Drake systems framework to
+enable controlling a flying object with RViz.
+
+It publishes the following topics:
+
+* `/tf` (all scene frames)
+* `/scene_markers/collision` (all collision geometries)
+* `/scene_markers/visual` (all visual geometries)
+
+It subscribes to the following topic
+
+* `/goal_pose` (commands where the object should fly to)
+
+## How to run the example
+
+Run the `ufo` executable.
+
+```
+ros2 run drake_ros_examples ufo
+```
+
+Run RViz in a different terminal with your ROS installation sourced to visualize
+the station.
+
+```
+ros2 run rviz2 rviz2 -d ufo.rviz
+```
+
+Use the `2D Goal Pose` button in RViz to set the location to which the object
+should fly to.
diff --git a/drake_ros_examples/examples/ufo/models/ground.sdf b/drake_ros_examples/examples/ufo/models/ground.sdf
@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <model name="ground">
+    <static>true</static>
+    <link name="ground">
+      <visual name="visual">
+        <geometry>
+          <plane>
+            <size>50 50</size>
+          </plane>
+        </geometry>
+        <material>
+          <diffuse>0.0 0.5 0.0 1.0</diffuse>
+        </material>
+      </visual>
+      <collision name="collision">
+        <geometry>
+          <plane>
+            <size>50 50</size>
+          </plane>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>
diff --git a/drake_ros_examples/examples/ufo/models/ufo.sdf b/drake_ros_examples/examples/ufo/models/ufo.sdf
@@ -0,0 +1,79 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <model name="flying_saucer">
+    <!-- A great place to put a tractor beam -->
+    <frame name="bottom_center"/>
+
+    <!-- Ellipsoid body of the craft -->
+    <link name="spacecraft">
+      <pose relative_to="bottom_center">0 0 0.5 0 0 0</pose>
+      <visual name="visual">
+        <geometry>
+          <ellipsoid>
+            <radii>2.5 2.5 0.5</radii>
+          </ellipsoid>
+        </geometry>
+        <material>
+          <diffuse>0.5 0.5 0.5 1.0</diffuse>
+        </material>
+      </visual>
+      <collision name="collision">
+        <geometry>
+          <ellipsoid>
+            <radii>2.5 2.5 0.5</radii>
+          </ellipsoid>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass>1000</mass>
+        <inertia>
+          <ixx>1300</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1300</iyy>
+          <iyz>0</iyz>
+          <izz>2500</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <!-- Spherical translucent shell for pilot to peer out of -->
+    <link name="lookout">
+      <pose relative_to="spacecraft">0 0 0.49 0 0 0</pose>
+      <visual name="visual">
+        <geometry>
+          <sphere>
+            <radius>0.98</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <diffuse>1.0 0.55 0.0 0.35</diffuse>
+        </material>
+      </visual>
+      <collision name="collision">
+        <geometry>
+          <sphere>
+            <radius>0.98</radius>
+          </sphere>
+        </geometry>
+      </collision>
+      <inertial>
+        <mass>100</mass>
+        <inertia>
+          <ixx>65.34</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>65.34</iyy>
+          <iyz>0</iyz>
+          <izz>65.34</izz>
+        </inertia>
+      </inertial>
+    </link>
+
+    <!-- Combine links -->
+    <joint name="weld" type="fixed">
+      <parent>spacecraft</parent>
+      <child>lookout</child>
+    </joint>
+  </model>
+</sdf>
diff --git a/drake_ros_examples/examples/ufo/models/ufo_scene.sdf b/drake_ros_examples/examples/ufo/models/ufo_scene.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0" ?>
+<sdf version="1.9">
+  <world name="ufo_scene">
+    <model name="spacecraft">
+      <include merge="true">
+        <uri>package://drake_ros_examples/models/ufo.sdf</uri>
+      </include>
+    </model>
+    <model name="ground">
+      <include merge="true">
+        <uri>package://drake_ros_examples/models/ground.sdf</uri>
+      </include>
+      <static>true</static>
+    </model>
+  </world>
+</sdf>