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Proper tracks model: more robots #3

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Proper tracks model: more robots #3

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8c1e339
Fix emesent hovermap
Dec 15, 2021
56cb9e3
CCN Marmotte: Implement proper tracks.
peci1 Nov 18, 2021
54db40c
MARBLE_HD2: Implement proper tracks + little fixes.
peci1 Nov 18, 2021
e6387a4
CSIRO_DTR: Implemented proper tracks model.
peci1 Nov 18, 2021
ee74ae4
CSIRO_OZBOT_ATR: Implemented proper track model.
peci1 Nov 18, 2021
cf7d523
CORO_HD2: Implemented proper tracks model.
peci1 Nov 19, 2021
9946f0f
Fixed battery drain of tracked vehicles.
peci1 Jan 5, 2022
a92a3c6
Fixed CORO_HD2 textures in SDF.
peci1 Jan 5, 2022
b626b6d
Implement proper tracked motion model (#958)
peci1 Jan 25, 2022
1b85d78
Merge branch 'master' into proper-tracks-more-models
peci1 Feb 1, 2022
bb5e6d0
Changed ATR friction params.
peci1 Feb 1, 2022
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2 changes: 1 addition & 1 deletion submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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19 changes: 13 additions & 6 deletions submitted_models/coro_hd2_sensor_config_1/launch/example.ign
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Expand Up @@ -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
Expand All @@ -35,9 +36,11 @@

<!-- Start ROS first. This is a bit hacky for now. -->
<!-- Make sure to source /opt/ros/melodic/setup.bash -->
<% if local_variables.include?(:ros) and ros %>
<executable name='ros'>
<command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
</executable>
<% end %>

<plugin name="ignition::launch::GazeboServer"
filename="libignition-launch-gazebo.so">
Expand Down Expand Up @@ -163,9 +166,13 @@
</executable_wrapper>
<%end%>

<plugin name="ignition::launch::GazeboFactory" filename="libignition-launch-gazebo-factory.so">
<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
<plugin name="ignition::launch::GazeboFactory"
filename="ignition-launch-gazebo-factory">
<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
</plugin>
<%= rosExecutables(robotName, $worldName) %>
<% if local_variables.include?(:ros) and ros %>
<%= rosExecutables(robotName, $worldName) %>
<% end %>

</ignition>

84 changes: 15 additions & 69 deletions submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb
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Expand Up @@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<include>
<name>#{_name}</name>
<uri>#{_modelURI}</uri>
<!-- Diff drive -->
<plugin filename="libignition-gazebo-diff-drive-system.so"
name="ignition::gazebo::systems::DiffDrive">
<left_joint>front_left_wheel_joint</left_joint>
<left_joint>front_middle_left_wheel_joint</left_joint>
<left_joint>rear_middle_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>front_middle_right_wheel_joint</right_joint>
<right_joint>rear_middle_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>#{0.525}</wheel_separation>
<wheel_radius>0.129</wheel_radius>
<!-- Tracked vehicle controller -->
<plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
<left_track><link>left_track</link></left_track>
<right_track><link>right_track</link></right_track>
<tracks_separation>#{0.525}</tracks_separation>
<tracks_height>0.258</tracks_height>
<steering_efficiency>0.5</steering_efficiency>
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-3</min_acceleration>
<max_acceleration>3</max_acceleration>
<linear_velocity>
<min_velocity>-1</min_velocity>
<max_velocity>1</max_velocity>
<min_acceleration>-3</min_acceleration>
<max_acceleration>3</max_acceleration>
</linear_velocity>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
Expand All @@ -54,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>9.9</power_load>
<start_on_motion>true</start_on_motion>
<power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
<power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
</plugin>
<!-- Gas Sensor plugin -->
<plugin filename="libGasEmitterDetectorPlugin.so"
Expand All @@ -62,58 +60,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
<update_rate>10</update_rate>
<type>gas</type>
</plugin>
<!-- Wheel slip -->
<plugin filename="libignition-gazebo-wheel-slip-system.so"
name="ignition::gazebo::systems::WheelSlip">
<wheel link_name="front_left_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="front_middle_left_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="rear_middle_left_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="rear_left_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="front_right_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="front_middle_right_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="rear_middle_right_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
<wheel link_name="rear_right_wheel_link">
<slip_compliance_lateral>0.086</slip_compliance_lateral>
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
<wheel_normal_force>41.47103925</wheel_normal_force>
<wheel_radius>0.129</wheel_radius>
</wheel>
</plugin>
</include>
</sdf>
</spawn>
Expand Down
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