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Publish IR Opcodes #66

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merged 9 commits into from
Oct 15, 2021
Merged

Publish IR Opcodes #66

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f3a159e
IR opcode
rjcausarano Sep 29, 2021
f85688a
Luis' comments
rjcausarano Oct 14, 2021
e528ecb
Another review address round
rjcausarano Oct 14, 2021
27b6129
Rename functions
rjcausarano Oct 14, 2021
f4fb1c4
modify SensorParams
rjcausarano Oct 14, 2021
668012c
Fix lint
rjcausarano Oct 14, 2021
05ebf85
rename variable
rjcausarano Oct 14, 2021
5141062
Address comments
rjcausarano Oct 15, 2021
bb3b995
Fix collision offset
rjcausarano Oct 15, 2021
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23 changes: 17 additions & 6 deletions irobot_create_description/urdf/create3.urdf.xacro
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Expand Up @@ -7,28 +7,29 @@
<xacro:include filename="$(find irobot_create_description)/urdf/sensors/cliff_sensor.urdf.xacro"/>
<xacro:include filename="$(find irobot_create_description)/urdf/sensors/imu.urdf.xacro" />
<xacro:include filename="$(find irobot_create_description)/urdf/sensors/ir_intensity.urdf.xacro" />
<xacro:include filename="$(find irobot_create_description)/urdf/sensors/ir_opcode_receivers.urdf.xacro" />
<xacro:include filename="$(find irobot_create_description)/urdf/sensors/optical_mouse.urdf.xacro"/>
<xacro:include filename="$(find irobot_create_description)/urdf/wheel_with_wheeldrop.urdf.xacro" />

<!-- MECHANICAL PROPERTIES -->
<xacro:property name="body_z_offset" value="${4.1*cm2m}" />
<xacro:property name="body_collision_z_offset" value="${1*cm2m}" />
<xacro:property name="body_z_offset" value="${-2.5*cm2m}" />
<xacro:property name="body_collision_z_offset" value="${-1*cm2m}" />
<xacro:property name="body_mass" value="2.300" />
<xacro:property name="body_radius" value="${16.4*cm2m}" />
<xacro:property name="body_length" value="${6*cm2m}" />

<xacro:property name="bumper_mass" value="0.1" />
<xacro:property name="bumper_offset_z" value="${4.1*cm2m}" />
<xacro:property name="bumper_offset_z" value="${-2.5*cm2m}" />
<xacro:property name="bumber_inertial_x" value="${8*cm2m}" />
<xacro:property name="bumper_inertial_z" value="${2*cm2m}"/>

<xacro:property name="wheel_height" value="${3.85*cm2m}" />
<xacro:property name="wheel_height" value="${-2.75*cm2m}" />
<xacro:property name="distance_between_wheels" value="${23.3*cm2m}" />

<xacro:property name="caster_position_x" value="${12.5*cm2m}" />
<xacro:property name="caster_position_z" value="${1.2*cm2m}" />
<xacro:property name="caster_position_z" value="${-5.4*cm2m}" />

<xacro:property name="wheel_drop_offset_z" value="${3.1*mm2m}"/>
<xacro:property name="wheel_drop_offset_z" value="${3.5*mm2m}"/>
<xacro:property name="wheel_drop_z" value="${wheel_height + wheel_drop_offset_z}"/>

<!-- Create 3 base definition-->
Expand Down Expand Up @@ -179,4 +180,14 @@
<origin xyz="0.06 0 0.08" rpy="0 ${-pi/2} 0"/>
</xacro:button>


<!-- Omni IR receiver (sensor 0) parameters and Front-facing IR receiver (sensor 1) parameters -->
<xacro:property name="ir_omni_fov_rad" value="${360*deg2rad}"/>
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<xacro:property name="ir_front_facing_fov_rad" value="${90*deg2rad}"/>
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<xacro:property name="ir_samples" value="72"/>
<xacro:ir_opcode_receivers sensor_0_range="1" sensor_0_fov="${ir_omni_fov_rad}"
sensor_1_range="5" sensor_1_fov="${ir_front_facing_fov_rad}" samples="${ir_samples}" visualize="true" >
<origin xyz="0.153 0 0.035"/>
</xacro:ir_opcode_receivers>

</robot>
25 changes: 6 additions & 19 deletions irobot_create_description/urdf/dock/ir_emitter.urdf.xacro
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@@ -1,9 +1,10 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="ir_emitter" params="name parent:=base_link *origin
range code aperture
update_rate:=20 broadcast_rate:=64
ros_topic:=ir_emitter min_range:=0.50
range
aperture
update_rate:=1
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min_range:=${7*cm2m}
visualize:=false" >

<!-- Physical link properties -->
Expand All @@ -30,7 +31,6 @@
</link>

<gazebo reference="${name}_link">
<preserveFixedJoint>true</preserveFixedJoint>
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<sensor type="ray" name="${name}">
<always_on>true</always_on>
<update_rate>${update_rate}</update_rate>
Expand All @@ -51,23 +51,10 @@
</range>
</ray>
</sensor>
<material>Gazebo/Red</material>
<static>true</static>
</gazebo>

<gazebo>
<static>true</static>
<!-- MOVE TO SENSOR PLUGIN -->
<!-- <plugin name="${name}_ir_emitter" filename="libgazebo_ros_irobot_ir_emitter.so">
<link>${name}_link</link>
<topicName>${ros_topic}</topicName>
<emitterName>${name}</emitterName>
<emitterCode>${code}</emitterCode>
<rayAperture>${aperture}</rayAperture>
<rayRange>${range}</rayRange>
<updateRate>${update_rate}</updateRate>
<broadcastRate>${broadcast_rate}</broadcastRate>
</plugin> -->
<gazebo reference="${name}_joint" >
<preserveFixedJoint>true</preserveFixedJoint>
</gazebo>

</xacro:macro>
Expand Down
54 changes: 19 additions & 35 deletions irobot_create_description/urdf/dock/standard.urdf.xacro
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Expand Up @@ -3,12 +3,12 @@
<xacro:include filename="$(find irobot_create_description)/urdf/common_properties.urdf.xacro"/>
<xacro:include filename="$(find irobot_create_description)/urdf/dock/ir_emitter.urdf.xacro"/>

<xacro:property name="z_offset_mm" value="4.6"/>
<xacro:property name="link_name" value="std_dock_link"/>
<xacro:property name="z_offset" value="${4.6*mm2m}"/>
<xacro:property name="link_name" value="std_dock_link"/>
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<link name="${link_name}">
<visual>
<origin xyz="0 0 ${z_offset_mm*mm2m}"/>
<origin xyz="0 0 ${z_offset}"/>
<geometry>
<mesh filename="file://$(find irobot_create_description)/meshes/dock/visual.dae"/>
</geometry>
Expand All @@ -20,19 +20,12 @@
<box size="0.04 0.13 0.1"/>
</geometry>
</collision>
<xacro:inertial_dummy />
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</link>

<gazebo reference="${link_name}">
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<kp>1000000.0</kp>
<kd>1.0</kd>
</gazebo>

<!-- Parameters for IR emitters -->
<xacro:property name="buoy_x" value="-0.037"/>
<xacro:property name="buoy_y" value="0.005"/>
<xacro:property name="buoy_z" value="${0.065 - (z_offset_mm*mm2m)}"/>
<xacro:property name="buoy_x" value="${-6*cm2m}"/>
<xacro:property name="buoy_z" value="${0.065 - z_offset}"/>

<xacro:property name="halo_name" value="halo"/>
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<xacro:property name="green_buoy_name" value="green_buoy"/>
Expand All @@ -45,51 +38,42 @@
<!-- Green IR emitter -->
<xacro:ir_emitter name="${green_buoy_name}"
parent="${link_name}"
code="164"
aperture="${buoy_lateral_aperture}"
range="1.524">
<origin xyz="${buoy_x} ${- buoy_y} ${buoy_z}"
range="1.524"
visualize="true">
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<origin xyz="${buoy_x} 0 ${buoy_z}"
rpy="0 0 ${- buoy_lateral_angle_yaw}"/>
</xacro:ir_emitter>

<!-- Red IR emitter -->
<xacro:ir_emitter name="${red_buoy_name}"
parent="${link_name}"
code="168"
aperture="${buoy_lateral_aperture}"
range="1.524">
<origin xyz="${buoy_x} ${buoy_y} ${buoy_z}"
range="1.524"
visualize="true">
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<origin xyz="${buoy_x} 0 ${buoy_z}"
rpy="0 0 ${buoy_lateral_angle_yaw}"/>
</xacro:ir_emitter>

<!-- Yellow IR emitter -->
<xacro:ir_emitter name="${yellow_buoy_name}"
parent="${link_name}"
code="172"
aperture="${10*deg2rad}"
range="1.2192">
range="1.2192"
visualize="true">
<origin xyz="${buoy_x} 0 ${buoy_z}"/>
</xacro:ir_emitter>

<!-- Halo IR emitter -->
<xacro:ir_emitter name="${halo_name}"
parent="${link_name}"
code="161"
aperture="360"
range="0.6096">
<origin xyz="-0.052 0 ${0.095 - (z_offset_mm*mm2m)}"/>
range="0.6096"
visualize="true">
<origin xyz="${buoy_x} 0 ${0.095 - z_offset}"/>
</xacro:ir_emitter>

<xacro:property name="real_behavior" value="$(arg real_behavior)"/>
<gazebo>
<static>true</static>
<!-- <plugin name="gazebo_ros_dock_manager" filename="libgazebo_ros_irobot_dock_manager.so">
<halo>${halo_name}</halo>
<greenBuoy>${green_buoy_name}</greenBuoy>
<redBuoy>${red_buoy_name}</redBuoy>
<yellowBuoy>${yellow_buoy_name}</yellowBuoy>
<realBehavior>${real_behavior}</realBehavior>
</plugin> -->
</gazebo>

<static>true</static>
</gazebo>
</robot>
98 changes: 98 additions & 0 deletions irobot_create_description/urdf/sensors/ir_opcode_receivers.urdf.xacro
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@@ -0,0 +1,98 @@
<?xml version="1.0"?>

<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="ir_opcode_receivers" params="name:=ir_omni
parent:=base_link
sensor_0_fov
sensor_0_range
sensor_1_fov
sensor_1_range
samples
min_range:=0.015
update_rate:=31
visualize:=false
*origin" >

<xacro:property name="joint_name" value="${name}_joint" />
<xacro:property name="link_name" value="${name}" />

<joint name="${joint_name}" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${link_name}"/>
</joint>

<link name="${link_name}">
<xacro:inertial_dummy />
</link>

<!-- Sensor 0 visualization -->
<gazebo reference="${link_name}">
<sensor type="ray" name="sensor_0">
<always_on>true</always_on>
<update_rate>1</update_rate>
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<visualize>${visualize}</visualize>
<ray>
<scan>
<horizontal>
<samples>${samples}</samples>
<resolution>1</resolution>
<min_angle>${-sensor_0_fov/2}</min_angle>
<max_angle>${sensor_0_fov/2}</max_angle>
</horizontal>
</scan>
<range>
<min>${min_range}</min>
<max>${sensor_0_range}</max>
<resolution>0.01</resolution>
</range>
</ray>
</sensor>
</gazebo>

<!-- Sensor 1 visualization -->
<gazebo reference="${link_name}">
<sensor type="ray" name="sensor_1">
<always_on>true</always_on>
<update_rate>1</update_rate>
<visualize>${visualize}</visualize>
<ray>
<scan>
<horizontal>
<samples>${samples}</samples>
<resolution>1</resolution>
<min_angle>${-sensor_1_fov/2}</min_angle>
<max_angle>${sensor_1_fov/2}</max_angle>
</horizontal>
</scan>
<range>
<min>${min_range}</min>
<max>${sensor_1_range}</max>
<resolution>0.01</resolution>
</range>
</ray>
</sensor>
</gazebo>

<gazebo>
<plugin name="${name}_plugin" filename="libgazebo_ros_create_ir_opcodes.so">
<ros>
<namespace>/</namespace>
<remapping>~/out:=ir_opcode</remapping>
</ros>
<update_rate>${update_rate}</update_rate>
<link_name>${link_name}</link_name>
<sensor_0_fov>${sensor_0_fov}</sensor_0_fov>
<sensor_0_range>${sensor_0_range}</sensor_0_range>
<sensor_1_fov>${sensor_1_fov}</sensor_1_fov>
<sensor_1_range>${sensor_1_range}</sensor_1_range>
</plugin>
</gazebo>

<gazebo reference="${joint_name}" >
<preserveFixedJoint>true</preserveFixedJoint>
</gazebo>

</xacro:macro>
</robot>
31 changes: 31 additions & 0 deletions irobot_create_gazebo_plugins/CMakeLists.txt
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Expand Up @@ -45,6 +45,14 @@ add_library(gazebo_ros_create_optical_mouse SHARED
src/gazebo_ros_optical_mouse.cpp
)

add_library(gazebo_ros_create_ir_opcodes SHARED
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src/gazebo_ros_ir_opcode.cpp
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)

add_library(docking_manager SHARED
src/docking_manager.cpp
)

add_library(gazebo_ros_create_wheel_drop SHARED
src/gazebo_ros_wheel_drop.cpp
)
Expand Down Expand Up @@ -114,6 +122,27 @@ ament_target_dependencies(gazebo_ros_create_optical_mouse
ament_export_libraries(gazebo_ros_create_optical_mouse)
target_link_libraries(gazebo_ros_create_optical_mouse gazebo_ros_create_helpers)

## gazebo_ros_create_ir_opcodes
target_include_directories(gazebo_ros_create_ir_opcodes PUBLIC include)
ament_target_dependencies(gazebo_ros_create_ir_opcodes
"gazebo_dev"
"gazebo_ros"
"irobot_create_msgs"
"rclcpp"
)
ament_export_libraries(gazebo_ros_create_ir_opcodes)
target_link_libraries(gazebo_ros_create_ir_opcodes gazebo_ros_create_helpers docking_manager)

## docking_manager
target_include_directories(docking_manager PUBLIC include)
ament_target_dependencies(docking_manager
"gazebo_dev"
"gazebo_ros"
"rclcpp"
)
ament_export_libraries(docking_manager)
target_link_libraries(docking_manager gazebo_ros_create_helpers)

## gazebo_ros_create_wheel_drop
target_include_directories(gazebo_ros_create_wheel_drop PUBLIC include)
ament_target_dependencies(gazebo_ros_create_wheel_drop
Expand Down Expand Up @@ -141,6 +170,8 @@ install(TARGETS
gazebo_ros_create_imu
gazebo_ros_create_ir_intensity_sensor
gazebo_ros_create_optical_mouse
gazebo_ros_create_ir_opcodes
docking_manager
gazebo_ros_create_wheel_drop
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
Expand Down
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