diff --git a/magni_bringup/launch/core.launch b/magni_bringup/launch/core.launch index 12cf4471..ae577b4c 100644 --- a/magni_bringup/launch/core.launch +++ b/magni_bringup/launch/core.launch @@ -48,6 +48,11 @@ + + + + + diff --git a/magni_bringup/param/base.yaml b/magni_bringup/param/base.yaml index 460c774e..81e13ae0 100644 --- a/magni_bringup/param/base.yaml +++ b/magni_bringup/param/base.yaml @@ -27,7 +27,7 @@ ubiquity_velocity_controller: wheel_radius : 0.1015 - base_frame_id: base_link + base_frame_id: base_footprint # Wheel separation and radius multipliers wheel_separation_multiplier: 1.0 # default: 1.0 diff --git a/magni_bringup/param/diagnostics_agg.yaml b/magni_bringup/param/diagnostics_agg.yaml new file mode 100644 index 00000000..8742ff49 --- /dev/null +++ b/magni_bringup/param/diagnostics_agg.yaml @@ -0,0 +1,6 @@ +analyzers: + Raspicam: + type: GenericAnalyzer + path: Motors + startswith: 'motor_node:' + diff --git a/magni_description/meshes/sensors/raspi_camera.dae b/magni_description/meshes/sensors/raspi_camera.dae new file mode 100644 index 00000000..d7f671df --- /dev/null +++ b/magni_description/meshes/sensors/raspi_camera.dae @@ -0,0 +1,590 @@ + + + + + SimLab Soft http://www.simLab-soft.com + SimLab Collada Exporter for SolidWorks + + 2019-02-18T15:00:11 + 2019-02-18T15:00:11 + + Z_UP + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 0 -1 -0.0996268 0 1 0 0.0025 0 0 0 1 + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + 1 0 0 0 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+ + + + + + + 0.02271 0.01017 0 0.02271 0.00906 0 0.02271 0.01017 -0.0016 0.02271 -0.000885114 0 0.02271 -0.01017 -0.0016 0.02271 -0.01017 0 0.02271 -0.01017 0 0.02271 -0.01017 -0.0016 0.013205 -0.01017 0 0.004805 -0.01017 0 0.00254 -0.01017 0 0 -0.01017 0 -0.00254 -0.01017 0 -0.02271 -0.01017 0 -0.02271 -0.01017 -0.0016 -0.02271 0.01017 0 -0.02271 0.01017 -0.0016 -0.02271 0.00906 0 -0.02271 -0.000885114 0 -0.02271 -0.01017 0 -0.02271 -0.01017 -0.0016 0.02271 0.01017 0 0.02271 0.01017 -0.0016 0.013205 0.01017 0 0.004805 0.01017 0 0.00254 0.01017 0 0 0.01017 0 -0.00254 0.01017 0 -0.02271 0.01017 0 -0.02271 0.01017 -0.0016 + + + + + + + + + + 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 + + + + + + + + + + + + + + +

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+ + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 1 + 0 0 0 1 + + 0.0713725 0.0713725 0.0713725 1 + + 0.00509804 0.00509804 0.00509804 1 + 1.0 1.0 1.0 1.0 + 1 + + + + + + + + + 0 0 0 1 + 0 0 0 1 + + 0.894118 0.913725 0.929412 1 + + 0.447059 0.456863 0.464706 1 + 1.0 1.0 1.0 1.0 + 1 + + + + + + + + + 0 0 0 1 + 0 0 0 1 + + 0 0 0.501961 1 + + 0 0 0.501961 1 + 1.0 1.0 1.0 1.0 + 1 + + + + + + + + + 0 0 0 1 + 0 0 0 1 + + 0.666667 0.698039 0.768627 1 + + 0.333333 0.34902 0.384314 1 + 1.0 1.0 1.0 1.0 + 1 + + + + + + + + + 0 0 0 1 + 0 0 0 1 + + 0.137255 0.294118 0.74902 1 + + 0.0960784 0.205882 0.524314 1 + 1.0 1.0 1.0 1.0 + 1 + + + + + + + + + diff --git a/magni_description/urdf/magni.urdf.xacro b/magni_description/urdf/magni.urdf.xacro index b1a204fb..f91bd364 100755 --- a/magni_description/urdf/magni.urdf.xacro +++ b/magni_description/urdf/magni.urdf.xacro @@ -14,6 +14,8 @@ + + @@ -132,55 +134,36 @@ - - - - - - - - - - - + - - + + - - + + - - + + - - + + - + - - - - - - - - - - + - + - + - + diff --git a/magni_description/urdf/sensors/raspi_camera.xacro b/magni_description/urdf/sensors/raspi_camera.xacro new file mode 100755 index 00000000..ef130579 --- /dev/null +++ b/magni_description/urdf/sensors/raspi_camera.xacro @@ -0,0 +1,76 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + 30.0 + + 1.086 + + 640 + 480 + R8G8B8 + + + 0.02 + 300 + + + + + true + 0.0 + ${name} + /${name}_node/image/compressed + /${name}_node/camera_info + ${name} + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + diff --git a/magni_description/urdf/sensors/sonar_hc-sr04.xacro b/magni_description/urdf/sensors/sonar_hc-sr04.xacro new file mode 100755 index 00000000..bdd19ea0 --- /dev/null +++ b/magni_description/urdf/sensors/sonar_hc-sr04.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + 5 + + + + 5 + 1.0 + -0.24 + 0.24 + + + 5 + 1.0 + -0.24 + 0.24 + + + + 0.02 + 3.2 + 0.01 + + + + + 0.015 + true + 5 + /ubiquity_sonar/${name} + ${name} + 0.5 + ultrasound + + + + + + + + diff --git a/magni_desktop/CMakeLists.txt b/magni_desktop/CMakeLists.txt new file mode 100644 index 00000000..2ce55b9c --- /dev/null +++ b/magni_desktop/CMakeLists.txt @@ -0,0 +1,4 @@ +cmake_minimum_required(VERSION 2.8.3) +project(magni_desktop) +find_package(catkin REQUIRED) +catkin_metapackage() diff --git a/magni_desktop/README.md b/magni_desktop/README.md new file mode 100644 index 00000000..16c86603 --- /dev/null +++ b/magni_desktop/README.md @@ -0,0 +1,5 @@ +# magni_desktop + +This is a metapackage that has everything needed for a workstation to control magni. + +Install with `sudo apt install ros-kinetic-magni-desktop`. diff --git a/magni_desktop/package.xml b/magni_desktop/package.xml new file mode 100644 index 00000000..b93aec19 --- /dev/null +++ b/magni_desktop/package.xml @@ -0,0 +1,21 @@ + + + magni_desktop + 0.4.3 + Meta package for all the desktop side utilities for magni + + Rohan Agrawal + BSD + + catkin + magni_description + magni_teleop + magni_gazebo + magni_viz + + + + + + + diff --git a/magni_gazebo/config/magni_controllers.yaml b/magni_gazebo/config/magni_controllers.yaml index 38f5e17c..db2c076d 100755 --- a/magni_gazebo/config/magni_controllers.yaml +++ b/magni_gazebo/config/magni_controllers.yaml @@ -29,15 +29,3 @@ ubiquity_velocity_controller: max_velocity : 2.0 # rad/s has_acceleration_limits: true max_acceleration : 5.0 # rad/s^2 - - -#/gazebo_ros_control: -# pid_gains: -# left_wheel_joint: -# p: 100.0 -# i: 0.01 -# d: 10.0 -# right_wheel_joint: -# p: 100.0 -# i: 0.01 -# d: 10.0 \ No newline at end of file diff --git a/magni_gazebo/launch/empty_world.launch b/magni_gazebo/launch/empty_world.launch index 94367344..3d3b88ea 100755 --- a/magni_gazebo/launch/empty_world.launch +++ b/magni_gazebo/launch/empty_world.launch @@ -1,6 +1,9 @@ - + + + + @@ -18,7 +21,11 @@ - + + + + + diff --git a/magni_gazebo/launch/rviz_config.rviz b/magni_gazebo/launch/rviz_config.rviz index 8e7c2c85..0411c44e 100644 --- a/magni_gazebo/launch/rviz_config.rviz +++ b/magni_gazebo/launch/rviz_config.rviz @@ -8,6 +8,7 @@ Panels: - /Status1 - /Grid1 - /RobotModel1 + - /TF1 - /TF1/Frames1 Splitter Ratio: 0.5 Tree Height: 1179 @@ -86,6 +87,11 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true + raspicam_sensor: + Alpha: 1 + Show Axes: false + Show Trail: false right_caster_wheel: Alpha: 1 Show Axes: false @@ -100,22 +106,27 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false + Value: true sonar_1: Alpha: 1 Show Axes: false Show Trail: false + Value: true sonar_2: Alpha: 1 Show Axes: false Show Trail: false + Value: true sonar_3: Alpha: 1 Show Axes: false Show Trail: false + Value: true sonar_4: Alpha: 1 Show Axes: false Show Trail: false + Value: true Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -123,18 +134,131 @@ Visualization Manager: Value: true Visual Enabled: true - Class: rviz/TF - Enabled: false + Enabled: true Frame Timeout: 15 Frames: All Enabled: true - Marker Scale: 1 + base_footprint: + Value: true + base_link: + Value: true + left_caster_wheel: + Value: true + left_wheel: + Value: true + odom: + Value: true + raspicam: + Value: true + raspicam_sensor: + Value: true + right_caster_wheel: + Value: true + right_wheel: + Value: true + sonar_0: + Value: true + sonar_1: + Value: true + sonar_2: + Value: true + sonar_3: + Value: true + sonar_4: + Value: true + Marker Scale: 0.30000001192092896 Name: TF Show Arrows: false Show Axes: true Show Names: false Tree: - {} + odom: + base_footprint: + base_link: + left_caster_wheel: + {} + left_wheel: + {} + raspicam: + raspicam_sensor: + {} + right_caster_wheel: + {} + right_wheel: + {} + sonar_0: + {} + sonar_1: + {} + sonar_2: + {} + sonar_3: + {} + sonar_4: + {} Update Interval: 0 + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Sonar_0 + Queue Size: 100 + Topic: /ubiquity_sonar/sonar_0 + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Sonar_1 + Queue Size: 100 + Topic: /ubiquity_sonar/sonar_1 + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Sonar_2 + Queue Size: 100 + Topic: /ubiquity_sonar/sonar_2 + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Sonar_3 + Queue Size: 100 + Topic: /ubiquity_sonar/sonar_3 + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Sonar_5 + Queue Size: 100 + Topic: /ubiquity_sonar/sonar_4 + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /raspicam_node/image/compressed + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: compressed + Unreliable: false Value: false Enabled: true Global Options: @@ -161,25 +285,25 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 3.357055187225342 + Distance: 0.4767020344734192 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 2.0887227058410645 - Y: 0.4060455560684204 - Z: 0.3944712281227112 + X: -0.006741150747984648 + Y: 0.14449401199817657 + Z: 0.2124275118112564 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.3247963786125183 + Pitch: -0.03520524501800537 Target Frame: Value: Orbit (rviz) - Yaw: 4.870406627655029 + Yaw: 1.187220573425293 Saved: ~ Window Geometry: Displays: @@ -187,7 +311,9 @@ Window Geometry: Height: 1685 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000001f700000593fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000005930000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f00000597fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006e000005970000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000075a0000005afc0100000002fb0000000800540069006d006501000000000000075a0000057100fffffffb0000000800540069006d00650100000000000004500000000000000000000005570000059300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Image: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000002d700000593fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000005930000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000004870000017a0000002600ffffff000000010000015f00000597fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000006e000005970000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000075a0000005afc0100000002fb0000000800540069006d006501000000000000075a0000057100fffffffb0000000800540069006d00650100000000000004500000000000000000000004770000059300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -197,5 +323,5 @@ Window Geometry: Views: collapsed: true Width: 1882 - X: 134 + X: 150 Y: 55 diff --git a/magni_nav/launch/aruco.launch b/magni_nav/launch/aruco.launch index 8af36f45..f9af2a5f 100644 --- a/magni_nav/launch/aruco.launch +++ b/magni_nav/launch/aruco.launch @@ -21,7 +21,7 @@ - + diff --git a/magni_nav/launch/move_basic.launch b/magni_nav/launch/move_basic.launch index 3317bdf7..56628d12 100644 --- a/magni_nav/launch/move_basic.launch +++ b/magni_nav/launch/move_basic.launch @@ -4,5 +4,14 @@ + + + + + + + + + diff --git a/magni_nav/param/global_costmap_param.yaml b/magni_nav/param/global_costmap_param.yaml index 1e0f9358..16771d88 100644 --- a/magni_nav/param/global_costmap_param.yaml +++ b/magni_nav/param/global_costmap_param.yaml @@ -1,6 +1,6 @@ global_costmap: global_frame: map - robot_base_frame: base_link + robot_base_frame: base_footprint static_map: true inflation_radius: 0.5 plugins: diff --git a/magni_nav/param/local_costmap_param.yaml b/magni_nav/param/local_costmap_param.yaml index 544e1b32..7e7efb7e 100644 --- a/magni_nav/param/local_costmap_param.yaml +++ b/magni_nav/param/local_costmap_param.yaml @@ -1,6 +1,6 @@ local_costmap: global_frame: odom - robot_base_frame: base_link + robot_base_frame: base_footprint update_frequency: 5.0 publish_frequency: 2.0 static_map: false