diff --git a/submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt b/submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt index 859f340f..48f705df 100644 --- a/submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt +++ b/submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt @@ -5,7 +5,7 @@ find_package(catkin REQUIRED) catkin_package() -install(DIRECTORY launch meshes materials urdf +install(DIRECTORY launch meshes materials urdf worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(FILES model.sdf model.config diff --git a/submitted_models/coro_hd2_sensor_config_1/launch/example.ign b/submitted_models/coro_hd2_sensor_config_1/launch/example.ign index 183e2b73..5a950369 100644 --- a/submitted_models/coro_hd2_sensor_config_1/launch/example.ign +++ b/submitted_models/coro_hd2_sensor_config_1/launch/example.ign @@ -6,16 +6,17 @@ --> <% - require_relative 'spawner' + #require_relative 'spawner' + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") # Modify these as needed $enableGroundTruth = true - $headless = false + $headless = local_variables.include?(:headless) ? :headless : false %> <% - unless local_variables.include?(:robotName) raise "missing parameters. robotName is a required parameter" end @@ -35,9 +36,11 @@ +<% if local_variables.include?(:ros) and ros %> roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> +<% end %> @@ -163,9 +166,13 @@ <%end%> - -<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> + + <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> -<%= rosExecutables(robotName, $worldName) %> +<% if local_variables.include?(:ros) and ros %> + <%= rosExecutables(robotName, $worldName) %> +<% end %> + diff --git a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb index 99404cee..b1b1be52 100644 --- a/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - front_left_wheel_joint - front_middle_left_wheel_joint - rear_middle_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - front_middle_right_wheel_joint - rear_middle_right_wheel_joint - rear_right_wheel_joint - #{0.525} - 0.129 + + + left_track + right_track + #{0.525} + 0.258 + 0.5 /model/#{_name}/cmd_vel_relay - -1 - 1 - -3 - 3 + + -1 + 1 + -3 + 3 + 1.9499 9.9 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel 10 gas - - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0.25 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - diff --git a/submitted_models/coro_hd2_sensor_config_1/model.sdf b/submitted_models/coro_hd2_sensor_config_1/model.sdf index 9c0b67b9..d4487009 100644 --- a/submitted_models/coro_hd2_sensor_config_1/model.sdf +++ b/submitted_models/coro_hd2_sensor_config_1/model.sdf @@ -856,137 +856,23 @@ - - - 0.360 0.26 0.00 0 -0 0 + + + 0 0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - front_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - 0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - front_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -1002,8 +888,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1011,39 +897,8 @@ - - - rear_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - 0 0 0 1.5707963267948966 -0 0 + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -1059,8 +914,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1068,45 +923,11 @@ - - - rear_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - - 0.360 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -1117,8 +938,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1127,38 +948,27 @@ - - front_right_wheel_link + + left_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - 0.120 -0.26 0.00 0 -0 0 + + + 0 -0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - - 0 0 0 1.5707963267948966 -0 0 + + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -1174,8 +984,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1183,39 +993,8 @@ - - - front_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -1231,8 +1010,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1240,44 +1019,11 @@ - - - rear_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 -0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -1288,8 +1034,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1298,21 +1044,24 @@ - - rear_right_wheel_link + + right_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - + + left_track + -1 + 1 + -3 + 3 + + + right_track + -1 + 1 + -3 + 3 + + 0 diff --git a/submitted_models/coro_hd2_sensor_config_1/specifications.md b/submitted_models/coro_hd2_sensor_config_1/specifications.md index a17a159f..53689e95 100644 --- a/submitted_models/coro_hd2_sensor_config_1/specifications.md +++ b/submitted_models/coro_hd2_sensor_config_1/specifications.md @@ -38,7 +38,7 @@ Sensor Config 2 adds 12 breadcrumbs: * 12 x Raspberry Pi Zero W ### Control -This HD2 is controlled by the DiffDrive plugin and accepts a linear x velocity and a rotational z velocity. +This HD2 is controlled by the TrackedVehicle plugin and accepts a linear x velocity and a rotational z velocity. Sensors are published on the standard topics. ### Motion Characteristics @@ -61,8 +61,6 @@ Endurance set to 1 hour until validation testing is completed. ### Diversions from Physical Hardware Fisheye cameras are not modeled, so 4 cameras were used for simulation in place of the two fisheye cameras on the physical robot. -Tank tracks are approximated by wheels. - ## Validation and Specification Links * Superdroid HD2 - https://www.superdroidrobots.com/shop/item.aspx/configurable-hd2-treaded-atr-tank-robot-platform/789/ diff --git a/submitted_models/coro_hd2_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/coro_hd2_sensor_config_1/urdf/robot_from_sdf.xacro index 8c01466f..a8b0ed20 100644 --- a/submitted_models/coro_hd2_sensor_config_1/urdf/robot_from_sdf.xacro +++ b/submitted_models/coro_hd2_sensor_config_1/urdf/robot_from_sdf.xacro @@ -241,172 +241,52 @@ - - - - - - + - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - - - - - - - + - - - - - - - - - + - + - - - - - - - - + + + - - - - - - - - - + + - - - - - - - - - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - - - - + - - + + - - - - + diff --git a/submitted_models/coro_hd2_sensor_config_1/worlds/example.sdf b/submitted_models/coro_hd2_sensor_config_1/worlds/example.sdf index 9ea5042c..5c46cff1 100644 --- a/submitted_models/coro_hd2_sensor_config_1/worlds/example.sdf +++ b/submitted_models/coro_hd2_sensor_config_1/worlds/example.sdf @@ -171,6 +171,13 @@ https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + pallet + 2 0 0.02 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet + 1 + + diff --git a/submitted_models/coro_hd2_sensor_config_2/launch/example.ign b/submitted_models/coro_hd2_sensor_config_2/launch/example.ign new file mode 100644 index 00000000..1dec42e1 --- /dev/null +++ b/submitted_models/coro_hd2_sensor_config_2/launch/example.ign @@ -0,0 +1,20 @@ + +<% + base_launch = `rospack find coro_hd2_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb index 66f4e1f5..a6fa3915 100644 --- a/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb +++ b/submitted_models/coro_hd2_sensor_config_2/launch/spawner.rb @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - front_left_wheel_joint - front_middle_left_wheel_joint - rear_middle_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - front_middle_right_wheel_joint - rear_middle_right_wheel_joint - rear_right_wheel_joint - #{0.525} - 0.129 + + + left_track + right_track + #{0.525} + 0.258 + 0.5 /model/#{_name}/cmd_vel_relay - -1 - 1 - -3 - 3 + + -1 + 1 + -3 + 3 + 1.9499 9.9 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel - - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0.25 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/CMakeLists.txt b/submitted_models/csiro_data61_dtr_sensor_config_1/CMakeLists.txt index 0079c544..2c3390b9 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_1/CMakeLists.txt +++ b/submitted_models/csiro_data61_dtr_sensor_config_1/CMakeLists.txt @@ -5,7 +5,7 @@ find_package(catkin REQUIRED) catkin_package() -install(DIRECTORY launch meshes urdf +install(DIRECTORY launch meshes urdf worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(FILES model.sdf model.config diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/example.ign b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/example.ign index ee2c3ced..33d5ee09 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/example.ign +++ b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/example.ign @@ -6,7 +6,9 @@ --> <% - require_relative 'spawner' + #require_relative 'spawner' + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") # Modify these as needed $enableGroundTruth = true @@ -35,9 +37,11 @@ - - roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> - + <% if local_variables.include?(:ros) and ros %> + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + + <% end %> @@ -168,7 +172,9 @@ <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> -<%= rosExecutables(robotName, $worldName) %> +<% if local_variables.include?(:ros) and ros %> + <%= rosExecutables(robotName, $worldName) %> +<% end %> diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb index e8e43eec..7a9ca48c 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb +++ b/submitted_models/csiro_data61_dtr_sensor_config_1/launch/spawner.rb @@ -11,161 +11,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - left_00_wheel_joint - right_00_wheel_joint - left_01_wheel_joint - right_01_wheel_joint - left_02_wheel_joint - right_02_wheel_joint - left_03_wheel_joint - right_03_wheel_joint - left_04_wheel_joint - right_04_wheel_joint - left_05_wheel_joint - right_05_wheel_joint - left_11_wheel_joint - right_11_wheel_joint - left_12_wheel_joint - right_12_wheel_joint - left_13_wheel_joint - right_13_wheel_joint - left_14_wheel_joint - right_14_wheel_joint - 0.416 - 0.064 - -3.0 - 3.0 - -10.0 - 10.0 + + + left_track + right_track + #{0.416} + 0.128 + 0.5 /model/#{_name}/cmd_vel_relay - - - - - - 7.424569e-4 - 0 - 21.0 - 0.064 - - - 7.424569e-4 - 0 - 21.0 - 0.064 - - - 1.856142e-4 - 0 - 21.0 - 0.064 - - - 1.856142e-4 - 0 - 21.0 - 0.064 - - - 7.424569e-4 - 0 - 21.0 - 0.064 - - - 7.424569e-4 - 0 - 21.0 - 0.064 - - - 0.001353 - 0 - 21.0 - 0.064 - - - 0.001353 - 0 - 21.0 - 0.064 - - - 0.001713 - 0 - 21.0 - 0.064 - - - 0.001713 - 0 - 21.0 - 0.064 - - - 0.002249 - 0 - 21.0 - 0.064 - - - 0.002249 - 0 - 21.0 - 0.064 - - - 0.001353 - 0 - 21.0 - 0.064 - - - 0.001353 - 0 - 21.0 - 0.064 - - - 0.001713 - 0 - 21.0 - 0.064 - - - 0.001713 - 0 - 21.0 - 0.064 - - - 0.002249 - 0 - 21.0 - 0.064 - - - 0.002249 - 0 - 21.0 - 0.064 - - - 0.002841 - 0 - 21.0 - 0.064 - - - 0.002841 - 0 - 21.0 - 0.064 - + + -3.0 + 3.0 + -10.0 + 10.0 + @@ -206,6 +65,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) 1.9499 4.432835822 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel " diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/model.sdf b/submitted_models/csiro_data61_dtr_sensor_config_1/model.sdf index 6bd749c0..f53b1d78 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_1/model.sdf +++ b/submitted_models/csiro_data61_dtr_sensor_config_1/model.sdf @@ -810,1066 +810,150 @@ 0 - - 0 0.2 -0.04 0 -0 0 + + 0 0.2 0 0 -0 0 0 0 0 0 -0 0 - 1 - - 0.00185733 + 10 + + 0.04167 0 0 - 0.00185733 + 0.3747 0 - 0.002048 + 0.3500 - - 0 0 0 1.5707963267948966 -0 0 + + 0.1975 0 -0.04 1.5707963267948966 -0 0 0.1 0.064 - - - - - - - - - 1 - - 0 - - - left_00_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.089375 0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.322 0 0.117 1.5707963267948966 -0 0 0.1 - 0.064 + 0.084 - - - - - - - - - 1 - - 0 - - - left_01_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.17875 0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.32 0 -0.02 1.5707963267948966 -0 0 0.1 - 0.064 + 0.084 - - - - - - - - - 1 - - 0 - - - left_02_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.251875 0.2 0.01 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.06175 0 -0.04 0 0 0 - - 0.1 - 0.064 - + + 0.5175 0.1 0.128 + - - - - - - - - - 1 - - 0 - - - left_03_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.296563 0.2 0.06 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.267 0 0.0322 0 -0.8011 0 - - 0.1 - 0.064 - + + 0.20 0.1 0.128 + - - - - - - - - 1 0 - - left_04_wheel + + left_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - 0.34125 0.2 0.11 0 -0 0 + + 0 -0.2 0 0 -0 0 0 0 0 0 -0 0 - 1 - - 0.00185733 + 10 + + 0.04167 0 0 - 0.00185733 + 0.3747 0 - 0.002048 + 0.3500 - - 0 0 0 1.5707963267948966 -0 0 + + 0.1975 0 -0.04 1.5707963267948966 -0 0 0.1 0.064 - - - - - - - - - 1 - - 0 - - - left_05_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - -0.08125 0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.322 0 0.117 1.5707963267948966 -0 0 0.1 - 0.064 + 0.084 - - - - - - - - - 1 - - 0 - - - left_11_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - -0.1625 0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.32 0 -0.02 1.5707963267948966 -0 0 0.1 - 0.064 + 0.084 - - - - - - - - + + + -0.06175 0 -0.04 0 0 0 + + + 0.5175 0.1 0.128 + + + + + 0.267 0 0.0322 0 -0.8011 0 + + + 0.20 0.1 0.128 + + 1 0 - - left_12_wheel + + right_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - -0.24375 0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - left_13_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - -0.325 0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - left_14_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0 -0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_00_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.089375 -0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_01_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.17875 -0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_02_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.251875 -0.2 0.01 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_03_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.296563 -0.2 0.06 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_04_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - 0.34125 -0.2 0.11 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_05_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - -0.08125 -0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_11_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - -0.1625 -0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_12_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - -0.24375 -0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_13_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - - - - -0.325 -0.2 -0.04 0 -0 0 - - 0 0 0 0 -0 0 - 1 - - 0.00185733 - 0 - 0 - 0.00185733 - 0 - 0.002048 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.064 - - - - - - - - - - - - 1 - - 0 - - - right_14_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0.5 - 0 - 0 - 0 - - 0 - + + left_track + -3 + 3 + -10 + 10 + + + right_track + -3 + 3 + -10 + 10 + 0 diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/specifications.md b/submitted_models/csiro_data61_dtr_sensor_config_1/specifications.md index 12ab5d76..becc0bf2 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_1/specifications.md +++ b/submitted_models/csiro_data61_dtr_sensor_config_1/specifications.md @@ -12,7 +12,7 @@ This robot configuration is based on the CSIRO DTR Tracked AGV. It has a standar The robot accepts standard twist commands on the cmd_vel topic. The gimbal for the lidar can be controlled on the following topic: lidar_gimbal/pan_rate_cmd_double (std_msgs/Double) -The position of the gimbal is accessed on the joint state topic. The joint state topic also contains the states of all the other joints on the robot (for the wheels used to simulate track drive), but the gimbal state is the first joint on the topic, e.g joint_states/position[0] +The position of the gimbal is accessed on the joint state topic as joint_states/position[0] ## Usage Rights This software is released under a [BSD 3-Clause license](LICENSE). @@ -30,7 +30,7 @@ The following specific sensors are declared payloads of this vehicle: * A Microstrain CV5-25 IMU, modeled by the standard imu plugin ### Control -The platform is controlled by the standard diff-drive plugin for ignition gazebo, with twist inputs on "//cmd_vel", The robot has the following motion characteristics. Note there is also a gimbal for spinning the lidar, which is controlled on "/"/lidar_gimbal/pan_rate_cmd_double" +The platform is controlled by TrackedVehicle plugin for ignition gazebo, with twist inputs on `//cmd_vel`. The robot has the following motion characteristics. Note there is also a gimbal for spinning the lidar, which is controlled on `//lidar_gimbal/pan_rate_cmd_double` ### Motion Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation @@ -49,7 +49,6 @@ this vehicle has the following motion constraint characteristics. Endurance of the platform is approximately 134 minutes ### Diversions from Physical Hardware of DTR -* Currently the model does not have an accurate collision body of the track system, as diff-drive control currently requires the use of simulated multi-wheel systems. The multi-wheel system on the sim model is intended to provide a reasonable approximation of the track contact geometry for driving. * The physical version of the robot features a complex suspension system for the tracks, this is not feasible to model in the simulation and thus in simulation the robot is completely rigid. ## DTR Validation and Specification Links diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/csiro_data61_dtr_sensor_config_1/urdf/robot_from_sdf.xacro index 286cef4b..55319483 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_1/urdf/robot_from_sdf.xacro +++ b/submitted_models/csiro_data61_dtr_sensor_config_1/urdf/robot_from_sdf.xacro @@ -209,266 +209,90 @@ - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - - - - - - - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - + - - - - - - - - - + + - + - - - - - - - - - + + - + - + + + + + + - - + + - - - - - - - - - - - - - - - - - - - - - - - - - - - + - - - - - - - - - - - - - - - - - - - - - + - + - - - - - - - - - + + - + - - - - - - - - - + + - + - - - - - - - - - + + - + + + + + + @@ -485,164 +309,4 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/submitted_models/csiro_data61_dtr_sensor_config_1/worlds/example.sdf b/submitted_models/csiro_data61_dtr_sensor_config_1/worlds/example.sdf index a63e4a74..6b388c18 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_1/worlds/example.sdf +++ b/submitted_models/csiro_data61_dtr_sensor_config_1/worlds/example.sdf @@ -171,6 +171,12 @@ https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + pallet + 2 0 0.02 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet + 1 + diff --git a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/example.ign b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/example.ign new file mode 100644 index 00000000..6295ad88 --- /dev/null +++ b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/example.ign @@ -0,0 +1,20 @@ + +<% + base_launch = `rospack find csiro_data61_dtr_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb index 5ef226d6..533c1b53 100644 --- a/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb +++ b/submitted_models/csiro_data61_dtr_sensor_config_2/launch/spawner.rb @@ -11,161 +11,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - left_00_wheel_joint - right_00_wheel_joint - left_01_wheel_joint - right_01_wheel_joint - left_02_wheel_joint - right_02_wheel_joint - left_03_wheel_joint - right_03_wheel_joint - left_04_wheel_joint - right_04_wheel_joint - left_05_wheel_joint - right_05_wheel_joint - left_11_wheel_joint - right_11_wheel_joint - left_12_wheel_joint - right_12_wheel_joint - left_13_wheel_joint - right_13_wheel_joint - left_14_wheel_joint - right_14_wheel_joint - 0.416 - 0.064 - -3.0 - 3.0 - -10.0 - 10.0 + + + left_track + right_track + #{0.416} + 0.128 + 0.5 /model/#{_name}/cmd_vel_relay - - - - - - 7.424569e-4 - 0 - 21.0 - 0.064 - - - 7.424569e-4 - 0 - 21.0 - 0.064 - - - 1.856142e-4 - 0 - 21.0 - 0.064 - - - 1.856142e-4 - 0 - 21.0 - 0.064 - - - 7.424569e-4 - 0 - 21.0 - 0.064 - - - 7.424569e-4 - 0 - 21.0 - 0.064 - - - 0.001353 - 0 - 21.0 - 0.064 - - - 0.001353 - 0 - 21.0 - 0.064 - - - 0.001713 - 0 - 21.0 - 0.064 - - - 0.001713 - 0 - 21.0 - 0.064 - - - 0.002249 - 0 - 21.0 - 0.064 - - - 0.002249 - 0 - 21.0 - 0.064 - - - 0.001353 - 0 - 21.0 - 0.064 - - - 0.001353 - 0 - 21.0 - 0.064 - - - 0.001713 - 0 - 21.0 - 0.064 - - - 0.001713 - 0 - 21.0 - 0.064 - - - 0.002249 - 0 - 21.0 - 0.064 - - - 0.002249 - 0 - 21.0 - 0.064 - - - 0.002841 - 0 - 21.0 - 0.064 - - - 0.002841 - 0 - 21.0 - 0.064 - + + -3.0 + 3.0 + -10.0 + 10.0 + @@ -206,6 +65,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) 1.9499 9.9 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel " diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/CMakeLists.txt b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/CMakeLists.txt index b5b4cffb..b732f4e9 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/CMakeLists.txt +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/CMakeLists.txt @@ -5,7 +5,7 @@ find_package(catkin REQUIRED) catkin_package() -install(DIRECTORY launch meshes urdf +install(DIRECTORY launch meshes urdf worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(FILES model.sdf model.config diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/example.ign b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/example.ign index 978ea32b..e5cbad64 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/example.ign +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/example.ign @@ -6,7 +6,9 @@ --> <% - require_relative 'spawner' + #require_relative 'spawner' + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") # Modify these as needed $enableGroundTruth = true @@ -35,9 +37,11 @@ - - roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> - + <% if local_variables.include?(:ros) and ros %> + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + + <% end %> @@ -168,7 +172,10 @@ <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> -<%= rosExecutables(robotName, $worldName) %> +<% if local_variables.include?(:ros) and ros %> + <%= rosExecutables(robotName, $worldName) %> +<% end %> + diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb index fbf01f14..956d7f19 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/launch/spawner.rb @@ -11,38 +11,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - left_1_wheel_joint - right_1_wheel_joint - left_2_wheel_joint - right_2_wheel_joint - left_3_wheel_joint - right_3_wheel_joint - left_4_wheel_joint - right_4_wheel_joint - left_5_wheel_joint - right_5_wheel_joint - left_6_wheel_joint - right_6_wheel_joint - left_7_wheel_joint - right_7_wheel_joint - left_8_wheel_joint - right_8_wheel_joint - left_9_wheel_joint - right_9_wheel_joint - left_10_wheel_joint - right_10_wheel_joint - left_11_wheel_joint - right_11_wheel_joint - 0.5 - 0.14 - -1.2 - 1.2 - -1.0 - 1.0 + + + left_track + right_track + #{0.5} + 0.28 + 0.5 /model/#{_name}/cmd_vel_relay + + -1.2 + 1.2 + -1.0 + 1.0 + @@ -83,6 +65,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) 1.9499 1.903846154 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel " @@ -93,142 +77,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) gas - - - - 00165 - 0 - 65.255 - 0.14 - - - 0.002249 - 0 - 65.255 - 0.14 - - - 0.002841 - 0 - 65.255 - 0.14 - - - 0.001713 - 0 - 65.255 - 0.14 - - - 0.001353 - 0 - 65.255 - 0.14 - - - 7.424569e-4 - 0 - 65.255 - 0.14 - - - 1.856142e-4 - 0 - 65.255 - 0.14 - - - 0.0 - 0 - 65.255 - 0.14 - - - 1.856142e-4 - 0 - 65.255 - 0.14 - - - 7.424569e-4 - 0 - 65.255 - 0.14 - - - 0.00131 - 0 - 65.255 - 0.14 - - - 0.00165 - 0 - 65.255 - 0.14 - - - 0.002249 - 0 - 65.255 - 0.14 - - - 0.002841 - 0 - 65.255 - 0.14 - - - 0.001713 - 0 - 65.255 - 0.14 - - - 0.001353 - 0 - 65.255 - 0.14 - - - 7.424569e-4 - 0 - 65.255 - 0.14 - - - 1.856142e-4 - 0 - 65.255 - 0.14 - - - 0 - 0 - 65.255 - 0.14 - - - 1.856142e-4 - 0 - 65.255 - 0.14 - - - 7.424569e-4 - 0 - 65.255 - 0.14 - - - 0.00131 - 0 - 65.255 - 0.14 - - diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf index 1b747cf6..cda7cdab 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/model.sdf @@ -746,22 +746,22 @@ 0 - - -0.569461 0.269 0.055908 0 -0 0 + + 0 0.269 0 0 0 0 0 0 0 0 -0 0 - 2 - - 0.0164667 + 22 + + 0.1467 0 0 - 0.0164667 + 2.0754 0 - 0.0196 + 2.0754 - - 0 0 0 1.5707963267948966 -0 0 + + -0.64 0 0.183 1.5707963267948966 -0 0 0.2 @@ -771,9 +771,9 @@ - 0.273 - 0.00165 - 0.75 + 1 + 0.002249 + 150 0 0 1 @@ -785,56 +785,20 @@ - 1 - - 0 - - - left_10_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.60323 0.269 0.194954 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.693 0 0.21 1.5707963267948966 -0 0 0.2 - 0.14 + 0.11 - 0.193 - 0.002249 - 0.75 + 1 + 0.002841 + 150 0 0 1 @@ -846,44 +810,8 @@ - 1 - - 0 - - - left_11_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.668074 0.269 0.188985 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.485 0 -0.037758 1.5707963267948966 -0 0 0.2 @@ -893,9 +821,9 @@ - 0.124 - 0.002841 - 0.75 + 1 + 0.001353 + 150 0 0 1 @@ -907,56 +835,20 @@ - 1 - - 0 - - - left_1_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.570147 0.269 0.04197 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.56 0 -0.07 1.5707963267948966 -0 0 0.2 - 0.14 + 0.11 - 0.264 - 0.001713 - 0.75 + 1 + 0.00131 + 150 0 0 1 @@ -968,56 +860,19 @@ - 1 - - 0 - - - left_2_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.479943 0.269 -0.037758 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.0375 0 -0.068 0 0 0 - - 0.2 - 0.14 - + + 1.045 0.2 0.22 + - 0.318 - 0.001353 - 0.75 + 1 + 0.00131 + 150 0 0 1 @@ -1029,56 +884,19 @@ - 1 - - 0 - - - left_3_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.32 0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.612 0 0.05114 0 1.15017 0 - - 0.2 - 0.14 - + + 0.285 0.2 0.22 + - 0.43 - 7.424569e-4 - 0.75 + 1 + 0.00131 + 150 0 0 1 @@ -1090,56 +908,19 @@ - 1 - - 0 - - - left_4_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.16 0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.6 0 0.07898 0 -0.96517 0 - - 0.2 - 0.14 - + + 0.35 0.2 0.22 + - 0.59 - 1.856142e-4 - 0.75 + 1 + 0.00131 + 150 0 0 1 @@ -1155,40 +936,26 @@ 0 - - left_5_wheel + + left_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - 0 0.269 -0.05 0 -0 0 + + 0 -0.269 0 0 0 0 0 0 0 0 -0 0 - 2 - - 0.0164667 + 22 + + 0.1467 0 0 - 0.0164667 + 2.0754 0 - 0.0196 + 2.0754 - - 0 0 0 1.5707963267948966 -0 0 + + -0.64 0 0.183 1.5707963267948966 -0 0 0.2 @@ -1198,9 +965,9 @@ - 0 - 0.0 - 0.75 + 1 + 0.002249 + 150 0 0 1 @@ -1212,56 +979,20 @@ - 1 - - 0 - - - left_6_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.16 0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.693 0 0.21 1.5707963267948966 -0 0 0.2 - 0.14 + 0.11 - 0.59 - 1.856142e-4 - 0.75 + 1 + 0.002841 + 150 0 0 1 @@ -1273,44 +1004,8 @@ - 1 - - 0 - - - left_7_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.32 0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.485 0 -0.037758 1.5707963267948966 -0 0 0.2 @@ -1320,9 +1015,9 @@ - 0.43 - 7.424569e-4 - 0.75 + 1 + 0.001353 + 150 0 0 1 @@ -1334,483 +1029,20 @@ - 1 - - 0 - - - left_8_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.480636 0.269 -0.033094 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.56 0 -0.07 1.5707963267948966 -0 0 0.2 - 0.14 + 0.11 - 0.325 + 1 0.00131 - 0.75 - 0 0 1 - - - - - 1e+07 - 1 - - - - - 1 - - 0 - - - left_9_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.569461 -0.269 0.055908 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.2 - 0.14 - - - - - - 0.273 - 0.00165 - 0.75 - 0 0 1 - - - - - 1e+07 - 1 - - - - - 1 - - 0 - - - right_10_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.60323 -0.269 0.194954 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.2 - 0.14 - - - - - - 0.193 - 0.002249 - 0.75 - 0 0 1 - - - - - 1e+07 - 1 - - - - - 1 - - 0 - - - right_11_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.668074 -0.269 0.188985 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.2 - 0.14 - - - - - - 0.124 - 0.002841 - 0.75 - 0 0 1 - - - - - 1e+07 - 1 - - - - - 1 - - 0 - - - right_1_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.570147 -0.269 0.04197 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.2 - 0.14 - - - - - - 0.264 - 0.001713 - 0.75 - 0 0 1 - - - - - 1e+07 - 1 - - - - - 1 - - 0 - - - right_2_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.479943 -0.269 -0.037758 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.2 - 0.14 - - - - - - 0.318 - 0.001353 - 0.75 - 0 0 1 - - - - - 1e+07 - 1 - - - - - 1 - - 0 - - - right_3_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.32 -0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.2 - 0.14 - - - - - - 0.43 - 7.424569e-4 - 0.75 - 0 0 1 - - - - - 1e+07 - 1 - - - - - 1 - - 0 - - - right_4_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0.16 -0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.2 - 0.14 - - - - - - 0.59 - 1.856142e-4 - 0.75 + 150 0 0 1 @@ -1822,117 +1054,19 @@ - 1 - - 0 - - - right_5_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - 0 -0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.0375 0 -0.068 0 0 0 - - 0.2 - 0.14 - - - - - - 0 - 0.0 - 0.75 - 0 0 1 - - - - - 1e+07 - 1 - - - - - 1 - - 0 - - - right_6_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.16 -0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.2 - 0.14 - + + 1.045 0.2 0.22 + - 0.59 - 1.856142e-4 - 0.75 + 1 + 0.00131 + 150 0 0 1 @@ -1944,56 +1078,19 @@ - 1 - - 0 - - - right_7_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.32 -0.269 -0.05 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.612 0 0.05114 0 1.15017 0 - - 0.2 - 0.14 - + + 0.285 0.2 0.22 + - 0.43 - 7.424569e-4 - 0.75 + 1 + 0.00131 + 150 0 0 1 @@ -2005,56 +1102,19 @@ - 1 - - 0 - - - right_8_wheel - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - - - - -0.480636 -0.269 -0.033094 0 -0 0 - - 0 0 0 0 -0 0 - 2 - - 0.0164667 - 0 - 0 - 0.0164667 - 0 - 0.0196 - - - - 0 0 0 1.5707963267948966 -0 0 + + 0.6 0 0.07898 0 -0.96517 0 - - 0.2 - 0.14 - + + 0.35 0.2 0.22 + - 0.325 + 1 0.00131 - 0.75 + 150 0 0 1 @@ -2070,24 +1130,24 @@ 0 - - right_9_wheel + + right_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - 0 - 0 - - 0 - + + left_track + -1.2 + 1.2 + -1 + 1 + + + right_track + -1.2 + 1.2 + -1 + 1 + 0 diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/specifications.md b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/specifications.md index 53a20cfe..692d899d 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/specifications.md +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/specifications.md @@ -12,7 +12,7 @@ This robot configuration is based on the BIA5 OZBOT-ATR Tracked AGV. It has a st The robot accepts standard twist commands on the cmd_vel topic. The gimbal for the lidar can be controlled on the following topic: lidar_gimbal/pan_rate_cmd_double (std_msgs/Double) -The position of the gimbal is accessed on the joint state topic. The joint state topic also contains the states of all the other joints on the robot (for the wheels used to simulate track drive), but the gimbal state is the first joint on the topic, e.g joint_states/position[0] +The position of the gimbal is accessed on the joint state topic joint_states/position[0] ## Usage Rights This software is released under a [BSD 3-Clause license](LICENSE). @@ -31,7 +31,7 @@ The following specific sensors are declared payloads of this vehicle: * 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2. ### Control -The platform is controlled by the standard diff-drive plugin for ignition gazebo, with twist inputs on "//cmd_vel", The robot has the following motion characteristics. Note there is also a gimbal for spinning the lidar, which is controlled on "/"/lidar_gimbal/pan_rate_cmd_double" +The platform is controlled by TrackedVehicle plugin for ignition gazebo, with twist inputs on `//cmd_vel`, The robot has the following motion characteristics. Note there is also a gimbal for spinning the lidar, which is controlled on `//lidar_gimbal/pan_rate_cmd_double` ### Motion Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation @@ -50,7 +50,6 @@ this vehicle has the following motion constraint characteristics. Endurance of the platform is approximately 312 minutes ### Diversions from Physical Hardware of OZBOT_ATR -* Currently the model does not have an accurate render of the track system, as diff-drive control currently requires the use of simulated multi-wheel systems. The multi-wheel system on the sim model is intended to provide a reasonable approximation of the track contact geometry for driving. * The physical version of the robot features a complex suspension system for the tracks, this is not feasible to model in the simulation and thus in simulation the robot is completely rigid. ## OZBOT ATR Validation and Specification Links diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/urdf/robot_from_sdf.xacro index 1ccf08b3..e1533cb1 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/urdf/robot_from_sdf.xacro +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/urdf/robot_from_sdf.xacro @@ -227,424 +227,200 @@ - + - - - - - - - - - - - - - - - - - - - - + - + - + - - - - - - - - + - + - - - - - - - - - - - - - - - - - - - - + - + - - - - - - - - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - + - - + + - + - - - - - - - - - + + - + - - + + - + - - - - - - - - - + + - + - - + + - + - - - - - - - - - + + - + - - + + - + - - - - - - - - - - - - - - - - - - - - + + + + + + + - + - + - + - - - - - - - - + - + - - - - - - - - - - - - - - - - - - - - + - + - - - - - - - - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - + - - + + - + - - - - - - - - - + + - + - - + + - + - - - - - - - - - + + - + - - + + - + - - - - - - - - - + + - + - - + + - + + + + + + + @@ -661,180 +437,4 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/worlds/example.sdf b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/worlds/example.sdf index 9ea5042c..f2712772 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/worlds/example.sdf +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_1/worlds/example.sdf @@ -171,6 +171,12 @@ https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + pallet + 2 0 0.02 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet + 1 + diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/example.ign b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/example.ign new file mode 100644 index 00000000..23497a5c --- /dev/null +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/example.ign @@ -0,0 +1,20 @@ + +<% + base_launch = `rospack find csiro_data61_ozbot_atr_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb index 23394b59..4df2d2da 100644 --- a/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb +++ b/submitted_models/csiro_data61_ozbot_atr_sensor_config_2/launch/spawner.rb @@ -11,38 +11,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - left_1_wheel_joint - right_1_wheel_joint - left_2_wheel_joint - right_2_wheel_joint - left_3_wheel_joint - right_3_wheel_joint - left_4_wheel_joint - right_4_wheel_joint - left_5_wheel_joint - right_5_wheel_joint - left_6_wheel_joint - right_6_wheel_joint - left_7_wheel_joint - right_7_wheel_joint - left_8_wheel_joint - right_8_wheel_joint - left_9_wheel_joint - right_9_wheel_joint - left_10_wheel_joint - right_10_wheel_joint - left_11_wheel_joint - right_11_wheel_joint - 0.5 - 0.14 - -1.2 - 1.2 - -1.0 - 1.0 + + + left_track + right_track + #{0.5} + 0.28 + 0.5 /model/#{_name}/cmd_vel_relay + + -1.2 + 1.2 + -1.0 + 1.0 + @@ -83,6 +65,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) 1.9499 1.903846154 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel " @@ -112,142 +96,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) - - - - 00165 - 0 - 65.255 - 0.14 - - - 0.002249 - 0 - 65.255 - 0.14 - - - 0.002841 - 0 - 65.255 - 0.14 - - - 0.001713 - 0 - 65.255 - 0.14 - - - 0.001353 - 0 - 65.255 - 0.14 - - - 7.424569e-4 - 0 - 65.255 - 0.14 - - - 1.856142e-4 - 0 - 65.255 - 0.14 - - - 0.0 - 0 - 65.255 - 0.14 - - - 1.856142e-4 - 0 - 65.255 - 0.14 - - - 7.424569e-4 - 0 - 65.255 - 0.14 - - - 0.00131 - 0 - 65.255 - 0.14 - - - 0.00165 - 0 - 65.255 - 0.14 - - - 0.002249 - 0 - 65.255 - 0.14 - - - 0.002841 - 0 - 65.255 - 0.14 - - - 0.001713 - 0 - 65.255 - 0.14 - - - 0.001353 - 0 - 65.255 - 0.14 - - - 7.424569e-4 - 0 - 65.255 - 0.14 - - - 1.856142e-4 - 0 - 65.255 - 0.14 - - - 0 - 0 - 65.255 - 0.14 - - - 1.856142e-4 - 0 - 65.255 - 0.14 - - - 7.424569e-4 - 0 - 65.255 - 0.14 - - - 0.00131 - 0 - 65.255 - 0.14 - - diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/example.ign index 6cec8f92..5a950369 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/example.ign +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/example.ign @@ -6,7 +6,9 @@ --> <% - require_relative 'spawner' + #require_relative 'spawner' + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") # Modify these as needed $enableGroundTruth = true @@ -34,9 +36,11 @@ +<% if local_variables.include?(:ros) and ros %> roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> +<% end %> @@ -166,7 +170,9 @@ filename="ignition-launch-gazebo-factory"> <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> -<%= rosExecutables(robotName, $worldName) %> +<% if local_variables.include?(:ros) and ros %> + <%= rosExecutables(robotName, $worldName) %> +<% end %> diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb index 8139b94c..6bb06c13 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/launch/spawner.rb @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - front_left_wheel_joint - front_middle_left_wheel_joint - rear_middle_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - front_middle_right_wheel_joint - rear_middle_right_wheel_joint - rear_right_wheel_joint - #{0.525} - 0.129 + + + left_track + right_track + #{0.525} + 0.258 + 0.5 /model/#{_name}/cmd_vel_relay - -1 - 1 - -3 - 3 + + -1 + 1 + -3 + 3 + 10 gas - - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0.25 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - @@ -113,6 +57,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) 1.9499 9.9 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/model.sdf index b46ce2c4..a035588c 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/model.sdf +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/model.sdf @@ -718,80 +718,23 @@ - - - 0.360 0.26 0.00 0 -0 0 + + + 0 0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - front_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - 0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -807,65 +750,8 @@ - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - front_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -873,39 +759,8 @@ - - - rear_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - 0 0 0 1.5707963267948966 -0 0 + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -921,8 +776,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -930,45 +785,11 @@ - - - rear_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - - 0.360 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -979,8 +800,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -989,38 +810,27 @@ - - front_right_wheel_link + + left_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - 0.120 -0.26 0.00 0 -0 0 + + + 0 -0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - - 0 0 0 1.5707963267948966 -0 0 + + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -1036,8 +846,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1045,39 +855,8 @@ - - - front_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -1093,8 +872,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1102,44 +881,11 @@ - - - rear_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 -0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -1150,8 +896,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -1160,22 +906,24 @@ - - rear_right_wheel_link + + right_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - + + left_track + -1 + 1 + -3 + 3 + + + right_track + -1 + 1 + -3 + 3 + 0 diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/specifications.md index 46606181..34045c96 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/specifications.md +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/specifications.md @@ -10,7 +10,7 @@ This Ignition Gazebo model is based on the Team MARBLE's HD2, namely on the mesh Thanks to the original authors Derek Vasquez (dvasquez@ssci.com), Neil Johnson (njohnson@ssci.com) and Hector Escobar (hescobar@ssci.com) for making our lives easier! ## Usage Instructions -The robot motion is controlled via standard `cmd_vel` commands and produces standard odometry. The tracks are modeled by 4 virtual wheels on each side. +The robot motion is controlled via standard `cmd_vel` commands and produces standard odometry. The tracks are modeled by `TrackController` Gazebo plugin. ## Usage Rights No additional restrictions have to be taken into account for this configuration. @@ -33,7 +33,7 @@ This Marmotte with sensor configuration 1 includes the following sensors. The sp * Xsens MTi-100 IMU, modeled by the `imu_sensor` plugin ### Control -The robot is controlled by the DiffDrive plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis. The model follow the MARBLE's approach with 4 wheels on each side approximating tracks. +The robot is controlled by the TrackedVehicle plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis. ### Motion Characteristics The characteristics are identical to the MARBLE HD2 robot: @@ -52,8 +52,6 @@ We leave the same endurance as the Team MARBLE, i.e. 1 hour. Based on the experi ### Diversions from Physical Hardware of the Marmotte The Marmotte HD2 has a payload bay similar to those on ClearPath Husky robots. This detail is not shown in the mesh visualization. Moreover, the sensor rack visualization is based on our CAD file of the robot and misses wiring and light bulbs. We consider these details irrelevant for the simulation. -The tracks have to be approximated by wheels, as DartSim/Ignition Gazebo have no support for tracked vehicles. There is a working model for ODE/Gazebo, but there is no straight way of transferring it to Ignition Gazebo. This approximation results in worse performance on obstacles, and it can even happen that a piece of terrain gets "stuck" right between two wheels and the robot would completely stop in a case that would not be a problem with real tracks. - Cameras have no distortion as the simulator doesn't support it. The 3D lidar produces the 360 degree scans in a single instant in simulation, as opposed to the 100 ms-long interval it takes the real lidar. diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/urdf/robot_from_sdf.xacro index 50404898..66a1fb82 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/urdf/robot_from_sdf.xacro +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/urdf/robot_from_sdf.xacro @@ -49,132 +49,52 @@ - + - + - - - - - - - - - - - - - - - - - - - + - - - - + - + - - - + + + - - - - + + - - - - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - - - - + - - + + - - - - + diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/worlds/example.sdf index 9ea5042c..5c46cff1 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/worlds/example.sdf +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_1/worlds/example.sdf @@ -171,6 +171,13 @@ https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + pallet + 2 0 0.02 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet + 1 + + diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/example.ign b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/example.ign new file mode 100644 index 00000000..45885010 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/example.ign @@ -0,0 +1,20 @@ + +<% + base_launch = `rospack find ctu_cras_norlab_marmotte_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb index 74ff2d1a..5c5182af 100644 --- a/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_marmotte_sensor_config_2/launch/spawner.rb @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - front_left_wheel_joint - front_middle_left_wheel_joint - rear_middle_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - front_middle_right_wheel_joint - rear_middle_right_wheel_joint - rear_right_wheel_joint - #{0.525} - 0.129 + + + left_track + right_track + #{0.525} + 0.258 + 0.5 /model/#{_name}/cmd_vel_relay - -1 - 1 - -3 - 3 + + -1 + 1 + -3 + 3 + true 1 - - - linear_battery - 12.694 - 12.694 - -3.1424 - 78.4 - 78.4 - 0.061523 - 1.9499 - 9.9 - true - @@ -62,58 +44,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) 10 gas - - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0.25 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - - 0.086 - 0 - 63.765 - 0.129 - - /model/#{_name}/breadcrumb/deploy @@ -131,6 +61,22 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + + + linear_battery + 12.694 + 12.694 + -3.1424 + 78.4 + 78.4 + 0.061523 + 1.9499 + 9.9 + true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel + diff --git a/submitted_models/marble_hd2_sensor_config_1/CMakeLists.txt b/submitted_models/marble_hd2_sensor_config_1/CMakeLists.txt index 2fa5e884..3ed546f0 100644 --- a/submitted_models/marble_hd2_sensor_config_1/CMakeLists.txt +++ b/submitted_models/marble_hd2_sensor_config_1/CMakeLists.txt @@ -5,7 +5,7 @@ find_package(catkin REQUIRED) catkin_package() -install(DIRECTORY launch meshes materials urdf +install(DIRECTORY launch meshes materials urdf worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(FILES model.sdf model.config diff --git a/submitted_models/marble_hd2_sensor_config_1/launch/example.ign b/submitted_models/marble_hd2_sensor_config_1/launch/example.ign index dd4ae56a..4f966689 100644 --- a/submitted_models/marble_hd2_sensor_config_1/launch/example.ign +++ b/submitted_models/marble_hd2_sensor_config_1/launch/example.ign @@ -6,7 +6,9 @@ --> <% - require_relative 'spawner' + #require_relative 'spawner' + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") # Modify these as needed $enableGroundTruth = true @@ -20,7 +22,8 @@ end # This assumes that this launch file is in a directory below the model - modelURI = File.expand_path("../", File.dirname(__FILE__)) + _model_base_dir = defined?(model_base_dir) ? model_base_dir.tr('"', '') : "../" + modelURI = File.expand_path(_model_base_dir, File.dirname(__FILE__)) $worldName = 'example' worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") @@ -34,9 +37,11 @@ +<% if local_variables.include?(:ros) and ros %> roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> +<% end %> @@ -162,8 +167,13 @@ <%end%> -<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> -<%= rosExecutables(robotName, $worldName) %> + + <%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %> + +<% if local_variables.include?(:ros) and ros %> + <%= rosExecutables(robotName, $worldName) %> +<% end %> diff --git a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb index a0b8bf25..b24a9895 100644 --- a/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb +++ b/submitted_models/marble_hd2_sensor_config_1/launch/spawner.rb @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - front_left_wheel_joint - front_middle_left_wheel_joint - rear_middle_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - front_middle_right_wheel_joint - rear_middle_right_wheel_joint - rear_right_wheel_joint - #{0.525} - 0.129 + + + left_track + right_track + #{0.525} + 0.258 + 0.5 /model/#{_name}/cmd_vel_relay - -1 - 1 - -3 - 3 + + -1 + 1 + -3 + 3 + 1.9499 9.9 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel 10 gas - - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0.25 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - diff --git a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.jpg b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.jpg new file mode 100644 index 00000000..e0dfec96 Binary files /dev/null and b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.jpg differ diff --git a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.png b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.png deleted file mode 100644 index e280a073..00000000 Binary files a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Albedo.png and /dev/null differ diff --git a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Metalness.jpg b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Metalness.jpg new file mode 100644 index 00000000..0619fafb Binary files /dev/null and b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Metalness.jpg differ diff --git a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Metalness.png b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Metalness.png deleted file mode 100644 index a3f732e7..00000000 Binary files a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Metalness.png and /dev/null differ diff --git a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Roughness.jpg b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Roughness.jpg new file mode 100644 index 00000000..b3d52b08 Binary files /dev/null and b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Roughness.jpg differ diff --git a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Roughness.png b/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Roughness.png deleted file mode 100644 index f8c09ddc..00000000 Binary files a/submitted_models/marble_hd2_sensor_config_1/materials/textures/HD2_Roughness.png and /dev/null differ diff --git a/submitted_models/marble_hd2_sensor_config_1/meshes/hd2.dae b/submitted_models/marble_hd2_sensor_config_1/meshes/hd2.dae index b0321ae9..5b87246f 100644 --- a/submitted_models/marble_hd2_sensor_config_1/meshes/hd2.dae +++ b/submitted_models/marble_hd2_sensor_config_1/meshes/hd2.dae @@ -17,7 +17,7 @@ - ../materials/textures/HD2_Albedo.png + ../materials/textures/HD2_Albedo.jpg diff --git a/submitted_models/marble_hd2_sensor_config_1/model.sdf b/submitted_models/marble_hd2_sensor_config_1/model.sdf index 5c8ee27d..99b24a54 100644 --- a/submitted_models/marble_hd2_sensor_config_1/model.sdf +++ b/submitted_models/marble_hd2_sensor_config_1/model.sdf @@ -407,80 +407,23 @@ - - - 0.360 0.26 0.00 0 -0 0 + + + 0 0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - front_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - 0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -496,8 +439,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -505,96 +448,8 @@ - - - front_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - rear_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - 0 0 0 1.5707963267948966 -0 0 + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -610,8 +465,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -619,45 +474,11 @@ - - - rear_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - - 0.360 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -668,8 +489,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -678,38 +499,27 @@ - - front_right_wheel_link + + left_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - 0.120 -0.26 0.00 0 -0 0 + + + 0 -0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - - 0 0 0 1.5707963267948966 -0 0 + + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -725,8 +535,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -734,39 +544,8 @@ - - - front_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -782,8 +561,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -791,44 +570,11 @@ - - - rear_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 -0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -839,8 +585,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -849,22 +595,24 @@ - - rear_right_wheel_link + + right_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - + + left_track + -1 + 1 + -3 + 3 + + + right_track + -1 + 1 + -3 + 3 + 0.4056 -0.01122 0.4904 0 -0 0 diff --git a/submitted_models/marble_hd2_sensor_config_1/pan_echo.sh b/submitted_models/marble_hd2_sensor_config_1/pan_echo.sh index e007c6b9..ac9b57a1 100755 --- a/submitted_models/marble_hd2_sensor_config_1/pan_echo.sh +++ b/submitted_models/marble_hd2_sensor_config_1/pan_echo.sh @@ -1 +1 @@ -rostopic echo /X1/joint_state/position[4] +rostopic echo /X1/joint_state/position[0] diff --git a/submitted_models/marble_hd2_sensor_config_1/specifications.md b/submitted_models/marble_hd2_sensor_config_1/specifications.md index c88c0298..f2e7c9e6 100644 --- a/submitted_models/marble_hd2_sensor_config_1/specifications.md +++ b/submitted_models/marble_hd2_sensor_config_1/specifications.md @@ -14,8 +14,8 @@ pan_tilt/pan_rate_cmd_double (send a std_msgs/Double message) pan_tilt/tilt_rate_cmd_double (send a std_msgs/Double message) The position of the pan and tilt axes can be accessed through the joint_state topic. The name of each axis is available inside that message, but as of today the pan and tilt can be accessed as follows: -Pan: joint_state/position[4] -Tilt: joint_state/position[5] +Pan: joint_state/position[0] +Tilt: joint_state/position[1] ## Usage Rights The same Rights are granted for the configuration as for the MARBLE Husky. No additional restrictions have to be taken into account for this configuration. @@ -46,7 +46,7 @@ The following specific sensors are declared payloads of this vehicle: * 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2. ### Control -This MARBLE HD2 is controlled by the DiffDrive plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis. We add additional pseudo-wheels where the HD2's treads are to better approximate a track vehicle. Currently, we are not aware of a track-vehicle plugin for ignition-gazebo. A TrackedVehicle plugin does exist in gazebo8+, but it is not straightforward to port to ignition-gazebo. We hope to work with other SubT teams and possibly experts among the ignition-gazebo developers to address this in the future. +This MARBLE HD2 is controlled by the TrackedVehicle plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis. ### Motion Characteristics Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics: @@ -56,7 +56,7 @@ Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guid The constraints can be found in the following locations within the simulation model package: -* `spawner.rb`, lines 27-30 +* `spawner.rb`, lines 22-25 This configuration has roughly the same motion characteristics as the COSTAR/MARBLE husky vehicles, except it also has a pan/tilt mechanism which has additional motion characteristics. We have included a test script in this folder (test_gimbal.sh) which sends pan and tilt commands using ROS topics. This script assumes you have named your vehicle X1. diff --git a/submitted_models/marble_hd2_sensor_config_1/tilt_echo.sh b/submitted_models/marble_hd2_sensor_config_1/tilt_echo.sh index 0e4f88ee..d275d954 100755 --- a/submitted_models/marble_hd2_sensor_config_1/tilt_echo.sh +++ b/submitted_models/marble_hd2_sensor_config_1/tilt_echo.sh @@ -1 +1 @@ -rostopic echo /X1/joint_state/position[5] +rostopic echo /X1/joint_state/position[1] diff --git a/submitted_models/marble_hd2_sensor_config_1/urdf/robot_from_sdf.xacro b/submitted_models/marble_hd2_sensor_config_1/urdf/robot_from_sdf.xacro index 081d63fc..2d061130 100644 --- a/submitted_models/marble_hd2_sensor_config_1/urdf/robot_from_sdf.xacro +++ b/submitted_models/marble_hd2_sensor_config_1/urdf/robot_from_sdf.xacro @@ -173,158 +173,54 @@ - - - - - - + - + - - - - - - - - - - - - - - - + + - - - - - - - - - - - - - - - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + - - - - - - - - - - - - - - - + - + - - - - - - + + + + + + + + + + @@ -394,70 +290,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/submitted_models/marble_hd2_sensor_config_1/worlds/example.sdf b/submitted_models/marble_hd2_sensor_config_1/worlds/example.sdf index 9ea5042c..f2712772 100644 --- a/submitted_models/marble_hd2_sensor_config_1/worlds/example.sdf +++ b/submitted_models/marble_hd2_sensor_config_1/worlds/example.sdf @@ -171,6 +171,12 @@ https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + pallet + 2 0 0.02 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Euro pallet + 1 + diff --git a/submitted_models/marble_hd2_sensor_config_2/launch/example.ign b/submitted_models/marble_hd2_sensor_config_2/launch/example.ign new file mode 100644 index 00000000..91249f3c --- /dev/null +++ b/submitted_models/marble_hd2_sensor_config_2/launch/example.ign @@ -0,0 +1,20 @@ + +<% + base_launch = `rospack find marble_hd2_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb index 7fdb5c2f..213b4f5f 100644 --- a/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb +++ b/submitted_models/marble_hd2_sensor_config_2/launch/spawner.rb @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - front_left_wheel_joint - front_middle_left_wheel_joint - rear_middle_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - front_middle_right_wheel_joint - rear_middle_right_wheel_joint - rear_right_wheel_joint - #{0.525} - 0.129 + + + left_track + right_track + #{0.525} + 0.258 + 0.5 /model/#{_name}/cmd_vel_relay - -1 - 1 - -3 - 3 + + -1 + 1 + -3 + 3 + 1.9499 9.9 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel - - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0.25 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - diff --git a/submitted_models/marble_hd2_sensor_config_3/launch/example.ign b/submitted_models/marble_hd2_sensor_config_3/launch/example.ign new file mode 100644 index 00000000..adda5933 --- /dev/null +++ b/submitted_models/marble_hd2_sensor_config_3/launch/example.ign @@ -0,0 +1,21 @@ + +<% + base_launch = `rospack find marble_hd2_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + model_base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> model_base_dir:=<%= model_base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb index 9534405f..1d9efe4a 100644 --- a/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb +++ b/submitted_models/marble_hd2_sensor_config_3/launch/spawner.rb @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - front_left_wheel_joint - front_middle_left_wheel_joint - rear_middle_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - front_middle_right_wheel_joint - rear_middle_right_wheel_joint - rear_right_wheel_joint - #{0.525} - 0.129 + + + left_track + right_track + #{0.525} + 0.258 + 0.5 /model/#{_name}/cmd_vel_relay - -1 - 1 - -3 - 3 + + -1 + 1 + -3 + 3 + 1.9499 9.9 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel 10 gas - - /model/#{_name}/breadcrumb/deploy - 12 - 3.0 - true - - - - -0.45 0 0 0 0 0 - - https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node - - - - - - - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0.25 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - @@ -143,7 +72,7 @@ def rosExecutables(_name, _worldName) roslaunch --wait marble_hd2_sensor_config_1 description.launch world_name:=#{_worldName} name:=#{_name} - roslaunch --wait marble_hd2_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=1 thermal:=1 + roslaunch --wait marble_hd2_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} thermal:=1 HEREDOC end diff --git a/submitted_models/marble_hd2_sensor_config_3/model.config b/submitted_models/marble_hd2_sensor_config_3/model.config new file mode 100644 index 00000000..21e0a613 --- /dev/null +++ b/submitted_models/marble_hd2_sensor_config_3/model.config @@ -0,0 +1,14 @@ + + + marble_hd2_sensor_config_3 + model.sdf + + Team Marble's hd2 robot for SubT. + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1 + + + + diff --git a/submitted_models/marble_hd2_sensor_config_3/model.sdf b/submitted_models/marble_hd2_sensor_config_3/model.sdf index f3ae7417..6c2aeeeb 100644 --- a/submitted_models/marble_hd2_sensor_config_3/model.sdf +++ b/submitted_models/marble_hd2_sensor_config_3/model.sdf @@ -142,7 +142,7 @@ 0 0 -0.135 0 0 1.57 - meshes/hd2.dae + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae Body
false
@@ -154,15 +154,15 @@ 1.0 1.0 1.0 - materials/textures/HD2_Albedo.jpg - materials/textures/HD2_Metalness.jpg - materials/textures/HD2_Roughness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg @@ -352,8 +352,8 @@ 1024 1 - -3.1459 - 3.1459 + -3.14159 + 3.14159 64 @@ -453,80 +453,23 @@ - - - 0.360 0.26 0.00 0 -0 0 + + + 0 0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - front_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - 0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -542,8 +485,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -551,96 +494,8 @@ - - - front_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - rear_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - 0 0 0 1.5707963267948966 -0 0 + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -656,8 +511,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -665,45 +520,11 @@ - - - rear_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - - 0.360 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -714,8 +535,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -724,38 +545,27 @@ - - front_right_wheel_link + + left_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - 0.120 -0.26 0.00 0 -0 0 + + + 0 -0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - - 0 0 0 1.5707963267948966 -0 0 + + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -771,8 +581,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -780,39 +590,8 @@ - - - front_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -828,8 +607,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -837,44 +616,11 @@ - - - rear_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 -0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -885,8 +631,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -895,22 +641,24 @@ - - rear_right_wheel_link + + right_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - + + left_track + -1 + 1 + -3 + 3 + + + right_track + -1 + 1 + -3 + 3 + 0.4056 -0.01122 0.4904 0 -0 0 @@ -948,7 +696,7 @@ 0 0 0 0 0 1.57 - meshes/hd2.dae + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae CameraPivot
true
@@ -960,14 +708,14 @@ 1.0 1.0 1.0 - materials/textures/HD2_Albedo.jpg - materials/textures/HD2_Metalness.jpg - materials/textures/HD2_Roughness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg @@ -1010,7 +758,7 @@ 0.005 0.015 0.038 0 0 -1.570796 - meshes/hd2.dae + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae CameraTilt
true
@@ -1022,15 +770,15 @@ 1.0 1.0 1.0 - materials/textures/HD2_Albedo.jpg - materials/textures/HD2_Metalness.jpg - materials/textures/HD2_Roughness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg @@ -1084,7 +832,7 @@ 1 30 - 0.0 0 0.03 0 0.0 0 + 0.02 0 0.047725 0 0.0 0 diff --git a/submitted_models/marble_hd2_sensor_config_4/README.md b/submitted_models/marble_hd2_sensor_config_4/README.md index 06b65724..0cad3fc7 100644 --- a/submitted_models/marble_hd2_sensor_config_4/README.md +++ b/submitted_models/marble_hd2_sensor_config_4/README.md @@ -3,4 +3,4 @@ thermal camera The `model.sdf` is not used but added here as a reference to show what is on the SubT Tech Repo. Please keep this `model.sdf` update-to-date with -`MARBLE_HD2_SENSOR_CONFIG_2` +`MARBLE_HD2_SENSOR_CONFIG_3` diff --git a/submitted_models/marble_hd2_sensor_config_4/launch/example.ign b/submitted_models/marble_hd2_sensor_config_4/launch/example.ign new file mode 100644 index 00000000..adda5933 --- /dev/null +++ b/submitted_models/marble_hd2_sensor_config_4/launch/example.ign @@ -0,0 +1,21 @@ + +<% + base_launch = `rospack find marble_hd2_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + model_base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> model_base_dir:=<%= model_base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb index 9534405f..47501709 100644 --- a/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb +++ b/submitted_models/marble_hd2_sensor_config_4/launch/spawner.rb @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) #{_name} #{_modelURI} - - - front_left_wheel_joint - front_middle_left_wheel_joint - rear_middle_left_wheel_joint - rear_left_wheel_joint - front_right_wheel_joint - front_middle_right_wheel_joint - rear_middle_right_wheel_joint - rear_right_wheel_joint - #{0.525} - 0.129 + + + left_track + right_track + #{0.525} + 0.258 + 0.5 /model/#{_name}/cmd_vel_relay - -1 - 1 - -3 - 3 + + -1 + 1 + -3 + 3 + 1.9499 9.9 true + /model/#{_name}/link/left_track/track_cmd_vel + /model/#{_name}/link/right_track/track_cmd_vel - - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0.25 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - - 0.086 - 0 - 41.47103925 - 0.129 - - diff --git a/submitted_models/marble_hd2_sensor_config_4/model.config b/submitted_models/marble_hd2_sensor_config_4/model.config new file mode 100644 index 00000000..f3fdbf1f --- /dev/null +++ b/submitted_models/marble_hd2_sensor_config_4/model.config @@ -0,0 +1,14 @@ + + + marble_hd2_sensor_config_4 + model.sdf + + Team Marble's hd2 robot for SubT. + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1 + + + + diff --git a/submitted_models/marble_hd2_sensor_config_4/model.sdf b/submitted_models/marble_hd2_sensor_config_4/model.sdf index f9f4bf8c..6684cceb 100644 --- a/submitted_models/marble_hd2_sensor_config_4/model.sdf +++ b/submitted_models/marble_hd2_sensor_config_4/model.sdf @@ -142,7 +142,7 @@ 0 0 -0.135 0 0 1.57 - meshes/hd2.dae + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae Body
false
@@ -154,15 +154,15 @@ 1.0 1.0 1.0 - materials/textures/HD2_Albedo.jpg - materials/textures/HD2_Metalness.jpg - materials/textures/HD2_Roughness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg @@ -352,8 +352,8 @@ 1024 1 - -3.1459 - 3.1459 + -3.14159 + 3.14159 64 @@ -453,80 +453,23 @@ - - - 0.360 0.26 0.00 0 -0 0 + + + 0 0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - front_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - 0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -542,8 +485,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -551,96 +494,8 @@ - - - front_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 - - - 0.1 - 0.129 - - - - - - 1e+07 - 1 - - - - - 0.5 - 1 - 0.001 - 0 - 0 0 1 - - - - - - - rear_middle_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - 0 0 0 1.5707963267948966 -0 0 + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -656,8 +511,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -665,45 +520,11 @@ - - - rear_left_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - - 0.360 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -714,8 +535,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -724,38 +545,27 @@ - - front_right_wheel_link + + left_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - 0.120 -0.26 0.00 0 -0 0 + + + 0 -0.26 0.00 0 -0 0 0 0 0 0 -0 0 - 1.5 - - 0.02467 + 6.0 + + 0.03828 0 0 - 0.04411 + 0.2925 0 - 0.02467 + 0.2642 - - 0 0 0 1.5707963267948966 -0 0 + + 0.360 0 0 1.5707963267948966 -0 0 0.1 @@ -771,8 +581,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -780,39 +590,8 @@ - - - front_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.120 -0.26 0.00 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + + -0.36 0 0 1.5707963267948966 -0 0 0.1 @@ -828,8 +607,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -837,44 +616,11 @@ - - - rear_middle_right_wheel_link - base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - - - - -0.36 -0.26 0.0 0 -0 0 - - 0 0 0 0 -0 0 - 1.5 - - 0.02467 - 0 - 0 - 0.04411 - 0 - 0.02467 - - - - 0 0 0 1.5707963267948966 -0 0 + - - 0.1 - 0.129 - + + 0.72 0.1 0.258 + @@ -885,8 +631,8 @@ - 0.5 - 1 + 1 + 150 0.001 0 0 0 1 @@ -895,22 +641,24 @@ - - rear_right_wheel_link + + right_track base_link - - 0 1 0 - - -1e+16 - 1e+16 - - - 0 - 0 - - 1 - + + left_track + -1 + 1 + -3 + 3 + + + right_track + -1 + 1 + -3 + 3 + 0.4056 -0.01122 0.4904 0 -0 0 @@ -948,7 +696,7 @@ 0 0 0 0 0 1.57 - meshes/hd2.dae + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae CameraPivot
true
@@ -960,14 +708,14 @@ 1.0 1.0 1.0 - materials/textures/HD2_Albedo.jpg - materials/textures/HD2_Metalness.jpg - materials/textures/HD2_Roughness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg @@ -1010,7 +758,7 @@ 0.005 0.015 0.038 0 0 -1.570796 - meshes/hd2.dae + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/meshes/hd2.dae CameraTilt
true
@@ -1022,15 +770,15 @@ 1.0 1.0 1.0 - materials/textures/HD2_Albedo.jpg - materials/textures/HD2_Metalness.jpg - materials/textures/HD2_Roughness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Albedo.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Metalness.jpg + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/MARBLE_HD2_SENSOR_CONFIG_1/tip/files/materials/textures/HD2_Roughness.jpg @@ -1084,7 +832,7 @@ 1 30 - 0.0 0 0.03 0 0.0 0 + 0.02 0 0.047725 0 0.0 0