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Merge pull request #2 from UbiquityRobotics/indigo-devel
Take updates from original Ubiquity repo
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| Original file line number | Diff line number | Diff line change |
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| analyzers: | ||
| Raspicam: | ||
| type: GenericAnalyzer | ||
| path: Motors | ||
| startswith: 'motor_node:' | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,76 @@ | ||
| <?xml version="1.0" encoding="utf-8"?> | ||
| <robot xmlns:xacro="http://wiki.ros.org/xacro"> | ||
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| <xacro:macro name="raspi_camera" params="name:='' connected_to:='' *origin"> | ||
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| <xacro:unless value="${connected_to == ''}"> | ||
| <joint name="${name}_joint" type="fixed"> | ||
| <parent link="${connected_to}"/> | ||
| <child link="${name}"/> | ||
| <xacro:insert_block name="origin"/> | ||
| </joint> | ||
| </xacro:unless> | ||
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| <link name="${name}"> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="${pi/2} 0 0" /> | ||
| <geometry> | ||
| <mesh filename="package://magni_description/meshes/sensors/raspi_camera.dae" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 ${pi/2}" /> | ||
| <geometry> | ||
| <box size="0.03 0.026 0.016"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <!-- Additional link for camera sensor to orient camera direction --> | ||
| <link name="${name}_sensor"/> | ||
| <joint name="${name}_sensor_joint" type="fixed"> | ||
| <parent link="${name}"/> | ||
| <child link="${name}_sensor"/> | ||
| <origin xyz="0 0 0.012" rpy="${pi/2} ${-pi/2} 0" /> | ||
| </joint> | ||
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| <!-- Gazebo sensor plugin --> | ||
| <gazebo reference="${name}_sensor"> | ||
| <sensor type="camera" name="camera1"> | ||
| <visualize>false</visualize> | ||
| <update_rate>30.0</update_rate> | ||
| <camera name="raspi_camera"> | ||
| <horizontal_fov>1.086</horizontal_fov> | ||
| <image> | ||
| <width>640</width> | ||
| <height>480</height> | ||
| <format>R8G8B8</format> | ||
| </image> | ||
| <clip> | ||
| <near>0.02</near> | ||
| <far>300</far> | ||
| </clip> | ||
| </camera> | ||
| <!-- Gazebo-ROS interface plugin --> | ||
| <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> | ||
| <alwaysOn>true</alwaysOn> | ||
| <updateRate>0.0</updateRate> | ||
| <cameraName>${name}</cameraName> | ||
| <imageTopicName>/${name}_node/image/compressed</imageTopicName> | ||
| <cameraInfoTopicName>/${name}_node/camera_info</cameraInfoTopicName> | ||
| <frameName>${name}</frameName> | ||
| <hackBaseline>0.07</hackBaseline> | ||
| <distortionK1>0.0</distortionK1> | ||
| <distortionK2>0.0</distortionK2> | ||
| <distortionK3>0.0</distortionK3> | ||
| <distortionT1>0.0</distortionT1> | ||
| <distortionT2>0.0</distortionT2> | ||
| </plugin> | ||
| </sensor> | ||
| </gazebo> | ||
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| </xacro:macro> | ||
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| </robot> |
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| <?xml version="1.0" encoding="utf-8"?> | ||
| <robot xmlns:xacro="http://wiki.ros.org/xacro"> | ||
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| <xacro:macro name="sonar_hc-sr04" params="name:='' connected_to:='' *origin"> | ||
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| <xacro:unless value="${connected_to == ''}"> | ||
| <joint name="${name}_joint" type="fixed"> | ||
| <parent link="${connected_to}"/> | ||
| <child link="${name}"/> | ||
| <xacro:insert_block name="origin"/> | ||
| </joint> | ||
| </xacro:unless> | ||
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| <link name="${name}"> | ||
| <visual> | ||
| <origin xyz="-0.006 0 0" rpy="${pi/2} 0 ${pi/2}" /> | ||
| <geometry> | ||
| <mesh filename="package://magni_description/meshes/sensors/sonar_hc-sr04.dae" /> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0" /> | ||
| <geometry> | ||
| <box size="0.02 0.044 0.021"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
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| <!-- Gazebo sensor plugin --> | ||
| <gazebo reference="${name}"> | ||
| <sensor type="ray" name="${name}_sensor"> | ||
| <visualize>false</visualize> | ||
| <update_rate>5</update_rate> | ||
| <ray> | ||
| <scan> | ||
| <horizontal> | ||
| <samples>5</samples> | ||
| <resolution>1.0</resolution> | ||
| <min_angle>-0.24</min_angle> | ||
| <max_angle>0.24</max_angle> | ||
| </horizontal> | ||
| <vertical> | ||
| <samples>5</samples> | ||
| <resolution>1.0</resolution> | ||
| <min_angle>-0.24</min_angle> | ||
| <max_angle>0.24</max_angle> | ||
| </vertical> | ||
| </scan> | ||
| <range> | ||
| <min>0.02</min> | ||
| <max>3.2</max> | ||
| <resolution>0.01</resolution> | ||
| </range> | ||
| </ray> | ||
| <!-- Gazebo-ROS interface plugin --> | ||
| <plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range"> | ||
| <gaussianNoise>0.015</gaussianNoise> | ||
| <alwaysOn>true</alwaysOn> | ||
| <updateRate>5</updateRate> | ||
| <topicName>/ubiquity_sonar/${name}</topicName> | ||
| <frameName>${name}</frameName> | ||
| <fov>0.5</fov> | ||
| <radiation>ultrasound</radiation> | ||
| </plugin> | ||
| </sensor> | ||
| </gazebo> | ||
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| </xacro:macro> | ||
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| </robot> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,4 @@ | ||
| cmake_minimum_required(VERSION 2.8.3) | ||
| project(magni_desktop) | ||
| find_package(catkin REQUIRED) | ||
| catkin_metapackage() |
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| Original file line number | Diff line number | Diff line change |
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| # magni_desktop | ||
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| This is a metapackage that has everything needed for a workstation to control magni. | ||
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| Install with `sudo apt install ros-kinetic-magni-desktop`. |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,21 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="2"> | ||
| <name>magni_desktop</name> | ||
| <version>0.4.3</version> | ||
| <description>Meta package for all the desktop side utilities for magni</description> | ||
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| <maintainer email="send2arohan@gmail.com">Rohan Agrawal</maintainer> | ||
| <license>BSD</license> | ||
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| <buildtool_depend>catkin</buildtool_depend> | ||
| <exec_depend>magni_description</exec_depend> | ||
| <exec_depend>magni_teleop</exec_depend> | ||
| <exec_depend>magni_gazebo</exec_depend> | ||
| <exec_depend>magni_viz</exec_depend> | ||
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| <!-- The export tag contains other, unspecified, tags --> | ||
| <export> | ||
| <!-- Other tools can request additional information be placed here --> | ||
| <metapackage /> | ||
| </export> | ||
| </package> |
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