From 58d336dabdc1e0e19ed87302cf0e2da93f8c83de Mon Sep 17 00:00:00 2001 From: "SIDDARTH.D" Date: Thu, 28 Sep 2023 21:56:02 +0530 Subject: [PATCH 01/15] Initial update for humble --- rusty_description/config/display.rviz | 237 ++++++++++++++++++ rusty_description/launch/display.launch.py | 64 +++++ rusty_description/launch/gazebo.launch.py | 73 ++++++ rusty_description/meshes/Camera_1.stl | Bin 20384 -> 20384 bytes rusty_description/meshes/Holder_1.stl | Bin 7884 -> 7884 bytes rusty_description/meshes/LW1_1.stl | Bin 13084 -> 13084 bytes rusty_description/meshes/LW2_1.stl | Bin 13084 -> 13084 bytes rusty_description/meshes/Lidar_1.stl | Bin 7884 -> 7884 bytes rusty_description/meshes/RW1_1.stl | Bin 13084 -> 13084 bytes rusty_description/meshes/RW2_1.stl | Bin 13084 -> 13084 bytes rusty_description/meshes/base_link.stl | Bin 37684 -> 37684 bytes rusty_description/package.xml | 68 ++--- rusty_description/resource/rusty_description | 0 .../rusty_description/__init__.py | 0 rusty_description/setup.cfg | 4 + rusty_description/setup.py | 31 +++ rusty_description/test/test_copyright.py | 23 ++ rusty_description/test/test_flake8.py | 25 ++ rusty_description/test/test_pep257.py | 23 ++ rusty_description/urdf/materials.xacro | 40 +-- rusty_description/urdf/rusty.gazebo | 184 ++------------ rusty_description/urdf/rusty.xacro | 152 +++++------ 22 files changed, 591 insertions(+), 333 deletions(-) create mode 100644 rusty_description/config/display.rviz create mode 100644 rusty_description/launch/display.launch.py create mode 100644 rusty_description/launch/gazebo.launch.py create mode 100644 rusty_description/resource/rusty_description create mode 100644 rusty_description/rusty_description/__init__.py create mode 100644 rusty_description/setup.cfg create mode 100644 rusty_description/setup.py create mode 100644 rusty_description/test/test_copyright.py create mode 100644 rusty_description/test/test_flake8.py create mode 100644 rusty_description/test/test_pep257.py diff --git a/rusty_description/config/display.rviz b/rusty_description/config/display.rviz new file mode 100644 index 0000000..e7136f0 --- /dev/null +++ b/rusty_description/config/display.rviz @@ -0,0 +1,237 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 617 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_motor_left_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_motor_right_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_wheel_left_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_wheel_right_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_motor_left_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_motor_right_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_wheel_left_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_wheel_right_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + back_motor_left_2: + Value: true + back_motor_right_2: + Value: true + back_wheel_left_2: + Value: true + back_wheel_right_2: + Value: true + base_link: + Value: true + front_motor_left_2: + Value: true + front_motor_right_2: + Value: true + front_wheel_left_2: + Value: true + front_wheel_right_2: + Value: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_link: + back_motor_right_2: + back_wheel_right_2: + {} + back_wheel_left_2: + back_motor_left_2: + {} + front_motor_left_2: + front_wheel_left_2: + {} + front_motor_right_2: + front_wheel_right_2: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 0.8402727246284485 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6097970008850098 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.5103846192359924 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 201 + Y: 69 diff --git a/rusty_description/launch/display.launch.py b/rusty_description/launch/display.launch.py new file mode 100644 index 0000000..20a283d --- /dev/null +++ b/rusty_description/launch/display.launch.py @@ -0,0 +1,64 @@ +from launch_ros.actions import Node +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.conditions import IfCondition, UnlessCondition +import xacro +import os +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + share_dir = get_package_share_directory('rusty_description') + + xacro_file = os.path.join(share_dir, 'urdf', 'rusty.xacro') + robot_description_config = xacro.process_file(xacro_file) + robot_urdf = robot_description_config.toxml() + + rviz_config_file = os.path.join(share_dir, 'config', 'display.rviz') + + gui_arg = DeclareLaunchArgument( + name='gui', + default_value='True' + ) + + show_gui = LaunchConfiguration('gui') + + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[ + {'robot_description': robot_urdf} + ] + ) + + joint_state_publisher_node = Node( + condition=UnlessCondition(show_gui), + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher' + ) + + joint_state_publisher_gui_node = Node( + condition=IfCondition(show_gui), + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui' + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config_file], + output='screen' + ) + + return LaunchDescription([ + gui_arg, + robot_state_publisher_node, + joint_state_publisher_node, + joint_state_publisher_gui_node, + rviz_node + ]) diff --git a/rusty_description/launch/gazebo.launch.py b/rusty_description/launch/gazebo.launch.py new file mode 100644 index 0000000..6021213 --- /dev/null +++ b/rusty_description/launch/gazebo.launch.py @@ -0,0 +1,73 @@ +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution +import os +import xacro +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + share_dir = get_package_share_directory('rusty_description') + + xacro_file = os.path.join(share_dir, 'urdf', 'rusty.xacro') + robot_description_config = xacro.process_file(xacro_file) + robot_urdf = robot_description_config.toxml() + + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[ + {'robot_description': robot_urdf} + ] + ) + + joint_state_publisher_node = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher' + ) + + gazebo_server = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + PathJoinSubstitution([ + FindPackageShare('gazebo_ros'), + 'launch', + 'gzserver.launch.py' + ]) + ]), + launch_arguments={ + 'pause': 'true' + }.items() + ) + + gazebo_client = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + PathJoinSubstitution([ + FindPackageShare('gazebo_ros'), + 'launch', + 'gzclient.launch.py' + ]) + ]) + ) + + urdf_spawn_node = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=[ + '-entity', 'rusty', + '-topic', 'robot_description' + ], + output='screen' + ) + + return LaunchDescription([ + robot_state_publisher_node, + joint_state_publisher_node, + gazebo_server, + gazebo_client, + urdf_spawn_node, + ]) diff --git a/rusty_description/meshes/Camera_1.stl b/rusty_description/meshes/Camera_1.stl index 586ceca9ddffc28dc7dd37dc2d173dad414679e6..05f76b79a0572191f71f47fc9a9a61e06201d967 100644 GIT binary patch delta 45 zcmZ25pK-x_M)}|nA14LJ5H|%wBRxYCJp(;MBXb33e;@xK+XV|2{GX_(ztJzq9{@7# B4oCn1 delta 46 zcmZ25pK-x_Mup%IA14LJ5H|%w13e%D62_K>3eNsM{z0}27A*KbQBi-Rf1p1AJzx%Z diff --git a/rusty_description/meshes/Holder_1.stl b/rusty_description/meshes/Holder_1.stl index ff17416de6764e3cfb268edaee7b3a49e65a5d0b..6a45815ed698dcc96a2b987465c490e313b55942 100644 GIT binary patch delta 43 zcmX?Od&X8iIK;5!O%$0&_vHb&(O$R!P(!(Kgf2$f(8F4D(Y|atCIr&9u5uF delta 44 xcmX?Od&X8FIK;5!O%bth=7E#rJ;hezmI>A?Scgh{!diY-{@Z}2LLD&4g>%I diff --git a/rusty_description/meshes/LW1_1.stl b/rusty_description/meshes/LW1_1.stl index 9529db03fe2dc31df3fd0f7464fccb5680069efd..94aeda1afbadcf4de0b518a823f2d41cc029a89d 100644 GIT binary patch delta 43 zcmbP}HYZI!IK;5!O%$0&_vHb&(O$R!P(!(Kgf2$f(8F4D(Y|aJ7)v{93&1a delta 44 xcmbP}HYZIXIK;5!O%bth=7E#rJ;hezmI>A?Scgh{!diY-{^nV2mmG<4q5;J diff --git a/rusty_description/meshes/LW2_1.stl b/rusty_description/meshes/LW2_1.stl index 504dc2c694b2c51866b5b2e33d3b23a40b1cd5c8..b1f55a7f061f472b8ccc4e58b01eba997aca1ff9 100644 GIT binary patch delta 43 zcmbP}HYZI!IK;5!O%$0&_vHb&(O$R!P(!(Kgf2$f(8F4D(Y|aJ7)v{93&1a delta 44 xcmbP}HYZIXIK;5!O%bth=7E#rJ;hezmI>A?Scgh{!diY-{^nV2mmG<4q5;J diff --git a/rusty_description/meshes/Lidar_1.stl b/rusty_description/meshes/Lidar_1.stl index a2e564f674461268675bcafc9f688bb7e886a321..c6c158f2a70d0aaed0cf6d4074ec8506cb3eddf2 100644 GIT binary patch delta 43 zcmX?Od&X8iIK;5!O%$0&_vHb&(O$R!P(!(Kgf2$f(8F4D(Y|atCIr&9u5uF delta 44 xcmX?Od&X8FIK;5!O%bth=7E#rJ;hezmI>A?Scgh{!diY-{@Z}2LLD&4g>%I diff --git a/rusty_description/meshes/RW1_1.stl b/rusty_description/meshes/RW1_1.stl index e3e5aeedd0bb09fc9c408055cd6efe88e92c0645..bb2f8189ccf69ed8a27e51adbc5baf55a71c11ee 100644 GIT binary patch delta 43 zcmbP}HYZI!IK;5!O%$0&_vHb&(O$R!P(!(Kgf2$f(8F4D(Y|aJ7)v{93&1a delta 44 xcmbP}HYZIXIK;5!O%bth=7E#rJ;hezmI>A?Scgh{!diY-{^nV2mmG<4q5;J diff --git a/rusty_description/meshes/RW2_1.stl b/rusty_description/meshes/RW2_1.stl index 1ea5f8c12dc8fba2e2a6063a1fb5dc19f4cdcf38..05351d50000033180b19f4c7ceddfef44a713c5d 100644 GIT binary patch delta 43 zcmbP}HYZI!IK;5!O%$0&_vHb&(O$R!P(!(Kgf2$f(8F4D(Y|aJ7)v{93&1a delta 44 xcmbP}HYZIXIK;5!O%bth=7E#rJ;hezmI>A?Scgh{!diY-{^nV2mmG<4q5;J diff --git a/rusty_description/meshes/base_link.stl b/rusty_description/meshes/base_link.stl index 8d940cc97f5eb51c9c254b2775bf54a741597c22..d7294950204443e91200601cf9debb5b333e9f5c 100644 GIT binary patch delta 45 zcmdn8jA_d3eNsM{z0}27A*KbQBi-R|I - - rusty_description + + +rusty_description 0.0.0 The rusty_description package + author + TODO: License declaration - - - - syuntoku14 + xacro + rviz2 + robot_state_publisher + joint_state_publisher + joint_state_publisher_gui + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - rospy - rospy - rospy - - - - - + ament_python diff --git a/rusty_description/resource/rusty_description b/rusty_description/resource/rusty_description new file mode 100644 index 0000000..e69de29 diff --git a/rusty_description/rusty_description/__init__.py b/rusty_description/rusty_description/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/rusty_description/setup.cfg b/rusty_description/setup.cfg new file mode 100644 index 0000000..497a02b --- /dev/null +++ b/rusty_description/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/rusty_description +[install] +install-scripts=$base/lib/rusty_description diff --git a/rusty_description/setup.py b/rusty_description/setup.py new file mode 100644 index 0000000..1de2c71 --- /dev/null +++ b/rusty_description/setup.py @@ -0,0 +1,31 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'rusty_description' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), + (os.path.join('share', package_name, 'urdf'), glob('urdf/*')), + (os.path.join('share', package_name, 'meshes'), glob('meshes/*')), + (os.path.join('share', package_name, 'config'), glob('config/*')) + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='author', + maintainer_email='todo@todo.com', + description='The ' + package_name + ' package', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/rusty_description/test/test_copyright.py b/rusty_description/test/test_copyright.py new file mode 100644 index 0000000..cc8ff03 --- /dev/null +++ b/rusty_description/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/rusty_description/test/test_flake8.py b/rusty_description/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/rusty_description/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/rusty_description/test/test_pep257.py b/rusty_description/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/rusty_description/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/rusty_description/urdf/materials.xacro b/rusty_description/urdf/materials.xacro index 7dcd3c0..e4cab9f 100644 --- a/rusty_description/urdf/materials.xacro +++ b/rusty_description/urdf/materials.xacro @@ -2,43 +2,7 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo index b95e19e..f2f8772 100644 --- a/rusty_description/urdf/rusty.gazebo +++ b/rusty_description/urdf/rusty.gazebo @@ -1,214 +1,66 @@ - - + - + - + ${body_color} 0.2 0.2 - true + true true - ${wheel} + ${body_color} 0.2 0.2 - true + true - ${wheel} + ${body_color} 0.2 0.2 - true + true - ${wheel} + ${body_color} 0.2 0.2 - true + true - ${wheel} + ${body_color} 0.2 0.2 - true + true - Gazebo/FlatBlack + ${body_color} 0.2 0.2 - true + true - Gazebo/Blue + ${body_color} 0.2 0.2 - true + true - Gazebo/FlatBlack + ${body_color} 0.2 0.2 - true - - - - - - - - 100.0 - / - LW1 - RW1 - LW2 - RW2 - 0.300 - 0.100 - 0.3 - rusty_base - 10 - cmd_vel - true - odom - odom - true - 0.001 - 0.001 - 0.001 - + true - - - - 0 0 0 0 0 0 - False - 5 - - - - 720 - 1 - -1.57 - 1.57 - - - - 0.2 - 10.0 - 0.01 - - - gaussian - - 0.0 - 0.01 - - - - scan - Lidar_1 - - - - - - - 1 - true - - 1.047 - - 640 - 480 - R8G8B8 - - - - - - 0.1 - 100 - - - - - true - 10.0 - camera2 - camera_depth_frame - /camera/color/image_raw - /camera/depth/image_raw - depth/points - /camera/color/camera_info - /camera/depth/camera_info - 0.2 - 10.0 - 0.07 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - - - true - - true - 100 - true - - - imu - imu_link - 10.0 - 0.0 - 0 0 0 - 0 0 0 - base_link - - 0 0 0 0 0 0 - - - - - - 40 - / - rusty_base - rusty_base - /navsat/fix - /navsat/vel - 49.9 - 8.9 - 0 - 0 - 0.0001 0.0001 0.0001 - - - diff --git a/rusty_description/urdf/rusty.xacro b/rusty_description/urdf/rusty.xacro index 655e97b..ef29e4f 100644 --- a/rusty_description/urdf/rusty.xacro +++ b/rusty_description/urdf/rusty.xacro @@ -4,217 +4,217 @@ - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - + - - + + - + - - + + - - + + - + - - + + - - - + + + - - - + + + - - - + + + From c811ad47dba5a8df3a5626f0cae378113f7767cd Mon Sep 17 00:00:00 2001 From: Siddarh09 Date: Thu, 28 Sep 2023 22:16:27 +0530 Subject: [PATCH 02/15] Updated the working URDFand removed the other ROS1 files --- Kalman_filter/gaussian.hpp | 12 - Kalman_filter/main.cpp | 26 - Kalman_filter/main.exe | Bin 294851 -> 0 bytes Kalman_filter/measurement_update.exe | Bin 24999060 -> 0 bytes Kalman_filter/measurement_update.hpp | 12 - Kalman_filter/motion_update.hpp | 12 - Kalman_filter/multi_variate_kalmanfilter.cpp | 74 -- LICENSE | 21 - README.md | 145 --- _config.yml | 1 - arm_config/CMakeLists.txt | 10 - arm_config/config/cartesian_limits.yaml | 5 - arm_config/config/chomp_planning.yaml | 18 - arm_config/config/fake_controllers.yaml | 13 - arm_config/config/gazebo_controllers.yaml | 4 - arm_config/config/joint_limits.yaml | 40 - arm_config/config/kinematics.yaml | 4 - arm_config/config/ompl_planning.yaml | 157 --- arm_config/config/ros_controllers.yaml | 12 - arm_config/config/rusry.srdf | 88 -- arm_config/config/sensors_3d.yaml | 2 - .../config/simple_moveit_controllers.yaml | 12 - arm_config/config/stomp_planning.yaml | 39 - arm_config/config/trajectory_control.yaml | 12 - .../launch/chomp_planning_pipeline.launch.xml | 23 - arm_config/launch/default_warehouse_db.launch | 15 - arm_config/launch/demo.launch | 68 -- arm_config/launch/demo_gazebo.launch | 21 - .../fake_moveit_controller_manager.launch.xml | 12 - arm_config/launch/gazebo.launch | 32 - arm_config/launch/joystick_control.launch | 17 - arm_config/launch/move_group.launch | 101 -- arm_config/launch/moveit.rviz | 131 --- arm_config/launch/moveit_rviz.launch | 15 - .../ompl-chomp_planning_pipeline.launch.xml | 19 - .../launch/ompl_planning_pipeline.launch.xml | 26 - ...otion_planner_planning_pipeline.launch.xml | 15 - arm_config/launch/planning_context.launch | 26 - .../launch/planning_pipeline.launch.xml | 10 - arm_config/launch/robot_bringup.launch | 35 - arm_config/launch/ros_controllers.launch | 11 - arm_config/launch/run_benchmark_ompl.launch | 21 - .../rusry_moveit_sensor_manager.launch.xml | 3 - ...rusty_moveit_controller_manager.launch.xml | 10 - arm_config/launch/sensor_manager.launch.xml | 17 - arm_config/launch/setup_assistant.launch | 16 - ...imple_moveit_controller_manager.launch.xml | 8 - .../launch/stomp_planning_pipeline.launch.xml | 25 - .../launch/trajectory_execution.launch.xml | 23 - arm_config/launch/warehouse.launch | 15 - .../launch/warehouse_settings.launch.xml | 16 - arm_config/package.xml | 41 - odom_to_trajectory/CMakeLists.txt | 200 ---- odom_to_trajectory/CODEOWNERS | 1 - odom_to_trajectory/Images/Output.png | Bin 354672 -> 0 bytes odom_to_trajectory/LICENSE | 21 - odom_to_trajectory/README.md | 34 - .../launch/create_trajectory.launch | 13 - odom_to_trajectory/package.xml | 68 -- .../scripts/path_ekf_plotter.py | 103 -- .../scripts/path_odom_plotter.py | 102 -- please_check_the_dbfile.txt | 1 - rusty/CMakeLists.txt | 213 ---- rusty/config/gmapping_params.yaml | 29 - rusty/config/karto_slam.yaml | 35 - rusty/config/lidar.lua | 64 -- rusty/config/location.yaml | 7 - rusty/config/rusty_nav.rviz | 386 ------- rusty/launch/HomeService.launch | 13 - rusty/launch/amcl.launch | 51 - rusty/launch/cartographer_slam.launch | 19 - rusty/launch/ekf.launch | 13 - rusty/launch/gazebo.launch | 18 - rusty/launch/generate_trajectory.launch | 13 - rusty/launch/kartoSLAM.launch | 25 - rusty/launch/localization.launch | 72 -- rusty/launch/mapping.launch | 70 -- rusty/launch/move_base.launch | 33 - rusty/launch/navigation.launch | 46 - rusty/launch/odomtransform.launch | 8 - rusty/launch/robot_localize.launch | 55 - rusty/launch/robot_spawn.launch | 23 - rusty/launch/rusty_slam.launch | 71 -- rusty/launch/server_bringup.launch | 14 - rusty/launch/teleop_key.launch | 4 - rusty/maps/first_slam.pgm | 5 - rusty/maps/first_slam.yaml | 7 - rusty/maps/house.pgm | Bin 342724 -> 0 bytes rusty/maps/house.yaml | 7 - rusty/maps/map.pgm | 5 - rusty/maps/map.yaml | 7 - rusty/maps/studyroom.pgm | 5 - rusty/maps/studyroom.yaml | 7 - rusty/package.xml | 36 - rusty/params/base_local_planner.yaml | 23 - rusty/params/costmap_common_params.yaml | 12 - rusty/params/dwa_local_planner_params.yaml | 47 - rusty/params/global_costmap_params.yaml | 10 - rusty/params/local_costmap_params.yaml | 14 - rusty/params/move_base_params.yaml | 9 - rusty/robot_param/base_local_planner.yaml | 27 - rusty/robot_param/costmap_common_params.yaml | 14 - .../robot_param/dwa_local_planner_params.yaml | 48 - rusty/robot_param/global_costmap_params.yaml | 10 - rusty/robot_param/local_costmap_params.yaml | 14 - rusty/robot_param/move_base_params.yaml | 9 - rusty/scripts/add_marker.sh | 7 - rusty/scripts/gui.py | 101 -- rusty/scripts/homeservice.sh | 9 - rusty/scripts/navigation.sh | 5 - rusty/scripts/pick_object.sh | 7 - rusty/scripts/test.sh | 6 - rusty/scripts/test_slam.sh | 6 - rusty/src/odom_pub.py | 83 -- rusty/src/odomtransformer.py | 24 - rusty/src/pick_obj.cpp | 69 -- rusty/src/teleop_key.py | 157 --- rusty/src/virtual_box.cpp | 121 --- rusty_description/launch/gazebo.launch.py | 9 +- rusty_description/setup.py | 2 +- rusty_firmware/CMakeLists.txt | 207 ---- rusty_firmware/launch/imu.launch | 10 - rusty_firmware/launch/lidar.launch | 11 - rusty_firmware/launch/motor_run.launch | 13 - rusty_firmware/package.xml | 69 -- rusty_firmware/src/motor.py | 137 --- ur_description/CHANGELOG.rst | 134 --- ur_description/CMakeLists.txt | 132 --- ur_description/cfg/view_robot.rviz | 280 ----- ur_description/launch/ur10_upload.launch | 8 - ur_description/launch/ur3_upload.launch | 8 - ur_description/launch/ur5_upload.launch | 8 - ur_description/launch/view_ur10.launch | 10 - ur_description/launch/view_ur3.launch | 10 - ur_description/launch/view_ur5.launch | 10 - ur_description/meshes/ur10/collision/base.stl | Bin 18384 -> 0 bytes .../meshes/ur10/collision/forearm.stl | Bin 53784 -> 0 bytes .../meshes/ur10/collision/shoulder.stl | Bin 49384 -> 0 bytes .../meshes/ur10/collision/upperarm.stl | Bin 61284 -> 0 bytes .../meshes/ur10/collision/wrist1.stl | Bin 44384 -> 0 bytes .../meshes/ur10/collision/wrist2.stl | Bin 42084 -> 0 bytes .../meshes/ur10/collision/wrist3.stl | Bin 24384 -> 0 bytes ur_description/meshes/ur10/visual/base.dae | 160 --- ur_description/meshes/ur10/visual/forearm.dae | 597 ----------- .../meshes/ur10/visual/shoulder.dae | 445 -------- .../meshes/ur10/visual/upperarm.dae | 954 ------------------ ur_description/meshes/ur10/visual/wrist1.dae | 563 ----------- ur_description/meshes/ur10/visual/wrist2.dae | 346 ------- ur_description/meshes/ur10/visual/wrist3.dae | 318 ------ ur_description/meshes/ur3/collision/base.stl | Bin 399684 -> 0 bytes .../meshes/ur3/collision/forearm.stl | Bin 246784 -> 0 bytes .../meshes/ur3/collision/shoulder.stl | Bin 393334 -> 0 bytes .../meshes/ur3/collision/upperarm.stl | Bin 513234 -> 0 bytes .../meshes/ur3/collision/wrist1.stl | Bin 183684 -> 0 bytes .../meshes/ur3/collision/wrist2.stl | Bin 183634 -> 0 bytes .../meshes/ur3/collision/wrist3.stl | Bin 26484 -> 0 bytes ur_description/meshes/ur3/visual/base.dae | 233 ----- ur_description/meshes/ur3/visual/forearm.dae | 466 --------- ur_description/meshes/ur3/visual/shoulder.dae | 470 --------- ur_description/meshes/ur3/visual/upperarm.dae | 775 -------------- ur_description/meshes/ur3/visual/wrist1.dae | 311 ------ ur_description/meshes/ur3/visual/wrist2.dae | 311 ------ ur_description/meshes/ur3/visual/wrist3.dae | 172 ---- ur_description/meshes/ur5/collision/base.stl | Bin 28984 -> 0 bytes .../meshes/ur5/collision/forearm.stl | Bin 52584 -> 0 bytes .../meshes/ur5/collision/shoulder.stl | Bin 33784 -> 0 bytes .../meshes/ur5/collision/upperarm.stl | Bin 58884 -> 0 bytes .../meshes/ur5/collision/wrist1.stl | Bin 35184 -> 0 bytes .../meshes/ur5/collision/wrist2.stl | Bin 35184 -> 0 bytes .../meshes/ur5/collision/wrist3.stl | Bin 22384 -> 0 bytes ur_description/meshes/ur5/visual/base.dae | 233 ----- ur_description/meshes/ur5/visual/forearm.dae | 382 ------- ur_description/meshes/ur5/visual/shoulder.dae | 304 ------ ur_description/meshes/ur5/visual/upperarm.dae | 465 --------- ur_description/meshes/ur5/visual/wrist1.dae | 304 ------ ur_description/meshes/ur5/visual/wrist2.dae | 304 ------ ur_description/meshes/ur5/visual/wrist3.dae | 233 ----- ur_description/model.pdf | Bin 29059 -> 0 bytes ur_description/package.xml | 30 - ur_description/urdf/common.gazebo.xacro | 27 - ur_description/urdf/e_ur5.urdf.xacro | 395 -------- ur_description/urdf/hardware_ur5.urdf.xacro | 395 -------- ur_description/urdf/ur.gazebo.xacro | 30 - ur_description/urdf/ur.transmission.xacro | 68 -- ur_description/urdf/ur10.urdf.xacro | 367 ------- .../urdf/ur10_joint_limited_robot.urdf.xacro | 32 - ur_description/urdf/ur10_robot.urdf.xacro | 26 - ur_description/urdf/ur3.urdf.xacro | 365 ------- .../urdf/ur3_joint_limited_robot.urdf.xacro | 32 - ur_description/urdf/ur3_robot.urdf.xacro | 26 - ur_description/urdf/ur5.urdf.xacro | 382 ------- .../urdf/ur5_joint_limited_robot.urdf.xacro | 32 - ur_description/urdf/ur5_robot.urdf.xacro | 26 - 193 files changed, 9 insertions(+), 15855 deletions(-) delete mode 100644 Kalman_filter/gaussian.hpp delete mode 100644 Kalman_filter/main.cpp delete mode 100644 Kalman_filter/main.exe delete mode 100644 Kalman_filter/measurement_update.exe delete mode 100644 Kalman_filter/measurement_update.hpp delete mode 100644 Kalman_filter/motion_update.hpp delete mode 100644 Kalman_filter/multi_variate_kalmanfilter.cpp delete mode 100644 LICENSE delete mode 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ur_description/urdf/ur.transmission.xacro delete mode 100644 ur_description/urdf/ur10.urdf.xacro delete mode 100644 ur_description/urdf/ur10_joint_limited_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur10_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur3.urdf.xacro delete mode 100644 ur_description/urdf/ur3_joint_limited_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur3_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur5.urdf.xacro delete mode 100644 ur_description/urdf/ur5_joint_limited_robot.urdf.xacro delete mode 100644 ur_description/urdf/ur5_robot.urdf.xacro diff --git a/Kalman_filter/gaussian.hpp b/Kalman_filter/gaussian.hpp deleted file mode 100644 index cf8ec62..0000000 --- a/Kalman_filter/gaussian.hpp +++ /dev/null @@ -1,12 +0,0 @@ -#include -#include - -using namespace std; - -float gauss(float,float,float); - -float gauss(float mu,float sigma2,float x) -{ - float prob=(1.0/2.0*M_PI*sigma2)*exp(-0.5*(pow((x-mu),2)/sigma2)); - return prob; -} \ No newline at end of file diff --git a/Kalman_filter/main.cpp b/Kalman_filter/main.cpp deleted file mode 100644 index 8bd18e6..0000000 --- a/Kalman_filter/main.cpp +++ /dev/null @@ -1,26 +0,0 @@ -#include "gaussian.hpp" -#include "measurement_update.hpp" -#include "motion_update.hpp" - -int main() -{ - double measurements[5] = { 5, 6, 7, 9, 10 }; - double measurement_sig = 4; - - //Motions and motion variance - double motion[5] = { 1, 1, 2, 1, 1 }; - double motion_sig = 2; - - //Initial state - double mu = 50; - double sig = 28; - - for(int i=0;i1nFI*nEr1s;iUBV@L%e_&2#DtUt$ofUlW6<@zyIfZ zzVG>-uYs9;Uu*5P*Is+=>r`Lg;u_>~xw856^tfDWaOJN`egEsPMv{k(e0rGcFL^JH zTH_A9II4Em>;<0r4fAemm~p$OZpPfX^MamRW_lVzb3L=?dc0Ro_S`=2)|q364n3yC z0bS#Bxo*9?(DnGDJu_U74RT$c=W^|Lo$fj|D{HhXLZ)Z=R+SKH`|7%cn!}LJfSn=uS)Vwy1G`PrpuR9 zTI!n?Qi} zYua4lZT(8ViRYYe$ITa+sUe^6W!=~0tEg0wKNFnO`JBt=g|EqXUWJNGN%lvn>_xa= zk~ib8%H;y@1u7;K!s#U6Lfmn<8Gluh?}7_eOjQZa^g%AVmdo|uUz6{`a+NQXjnhIt 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z?U(i?AFhY^%Oz>=)P>a*hHt;;b?1wfM_rus2%@#i(`dI~=$6d;zL|Xd=*P`geb{Ed JKR)Zu{{gMHlv)4) diff --git a/Kalman_filter/measurement_update.hpp b/Kalman_filter/measurement_update.hpp deleted file mode 100644 index 628f71f..0000000 --- a/Kalman_filter/measurement_update.hpp +++ /dev/null @@ -1,12 +0,0 @@ -#include <iostream> -#include <math.h> -#include <tuple> - -double newmu,newvar; -tuple<double,double> parameter_update(double mu1,double mu2,double sigma2a, double sigma2b) -{ - newmu=(sigma2b*mu1+sigma2a*mu2)/(sigma2b+sigma2a); - newvar=1.0/(1.0/sigma2a+1.0/sigma2b); - - return make_tuple(newmu,newvar); -} \ No newline at end of file diff --git a/Kalman_filter/motion_update.hpp b/Kalman_filter/motion_update.hpp deleted file mode 100644 index 5ff24c6..0000000 --- a/Kalman_filter/motion_update.hpp +++ /dev/null @@ -1,12 +0,0 @@ -#include <iostream> -#include <math.h> -#include <tuple> - -double mu,var; -tuple<double,double> state_update(double mu1,double mu2,double sigma2a, double sigma2b) -{ - mu=mu1+mu2; - var=sigma2a+sigma2b; - - return make_tuple(mu,var); -} \ No newline at end of file diff --git a/Kalman_filter/multi_variate_kalmanfilter.cpp b/Kalman_filter/multi_variate_kalmanfilter.cpp deleted file mode 100644 index 56cd5db..0000000 --- a/Kalman_filter/multi_variate_kalmanfilter.cpp +++ /dev/null @@ -1,74 +0,0 @@ -#include <iostream> -#include <math.h> -#include <tuple> -#include "Core" // Eigen Library -#include "LU" // Eigen Library - -using namespace std; -using namespace Eigen; - -float measurements[3] = { 1, 2, 3 }; - -tuple<MatrixXf, MatrixXf> kalman_filter(MatrixXf x, MatrixXf P, MatrixXf u, MatrixXf F, MatrixXf H, MatrixXf R, MatrixXf I) -{ - for (int n = 0; n < sizeof(measurements) / sizeof(measurements[0]); n++) { - //****** TODO: Kalman-filter function********// - - // Measurement Update - // Code the Measurement Update - // Initialize and Compute Z, y, S, K, x, and P - MatrixXf Z(1,1); - Z<<measurements[n]; - - MatrixXf y(1,1); - y<<Z-H*x; - - MatrixXf S(1,1); - S<<H*P*H.transpose()+R; - - MatrixXf K(2,1); - K<<P*H.transpose()*S.inverse(); - - x<<x+K*y; - - P << (I - (K * H)) * P; - - // Prediction - x << (F * x) + u; - P << F * P * F.transpose(); - - } - - return make_tuple(x, P); -} - -int main() -{ - - MatrixXf x(2, 1);// Initial state (location and velocity) - x << 0, - 0; - MatrixXf P(2, 2);//Initial Uncertainty - P << 100, 0, - 0, 100; - MatrixXf u(2, 1);// External Motion - u << 0, - 0; - MatrixXf F(2, 2);//Next State Function - F << 1, 1, - 0, 1; - MatrixXf H(1, 2);//Measurement Function - H << 1, - 0; - MatrixXf R(1, 1); //Measurement Uncertainty - R << 1; - MatrixXf I(2, 2);// Identity Matrix - I << 1, 0, - 0, 1; - - tie(x, P) = kalman_filter(x, P, u, F, H, R, I); - cout << "x= " << x << endl; - cout << "P= " << P << endl; - - return 0; -} \ No newline at end of file diff --git a/LICENSE b/LICENSE deleted file mode 100644 index 9da6038..0000000 --- a/LICENSE +++ /dev/null @@ -1,21 +0,0 @@ -MIT License - -Copyright (c) 2022 SIDDARTH.D - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. diff --git a/README.md b/README.md deleted file mode 100644 index d4898ff..0000000 --- a/README.md +++ /dev/null @@ -1,145 +0,0 @@ -# Rusty - -RUSTY is a warhouse robot capable of perfoming various tasks for a warehouse. - -![rusty v7](https://user-images.githubusercontent.com/60263608/148347287-8ba007b6-cd7a-4cb1-b73e-20ba1fec99a9.png) - -## Installation - -```bash -roscd -cd ../src -git clone https://github.com/siddarth09/Rusty.git -cd .. -catkin_make -``` - -## KALMAN FILTER - -This folder contains basic understanding of the kalman filter for 1-Dimensiona and multidimensional filters. - -> The kalman filter is basically used to localise a robot in its environment by given sensor measurements. -> STEPS INVOLVED: -- Measurement update -- State transition update or motion update - -## 3D mapping: -> Real time apperaence based mapping or RTAB-map is used to 3D map the environnment by using a laser scanner and a depth camera attached to the bot -This mapping is one type of Graph-based SLAM which involves two mechanisms -- Front end: sensor update, Odometry update and loop closure -- Back end: Graph Optimization, 2D or 3D map generation -> IMPORTANT TERMINOLOGY:- -1.Loop closure: Process of finding a match between the current and previously listed location. It uses visual bag of words and updates iteratively by checking and filtering through extraction of features in the map - - - -##### LINK FOR THE RTAB-MAP DB file -- https://drive.google.com/file/d/1NHoYihwiK1kxBYBL2nZ9Up3olNRXoLSu/view?usp=sharing - -## SLAM -Simultaneous localization and mapping (SLAM) is the computational problem of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent's location within it. Here we are using RTAB-mapping, gmapping, Karto-slam packages to map the given environment for navigation purposes - -To run Gmapping package -``` bash -roslaunch rusty gmapping.launch -``` -To run Karto-SLAM package -```bash -roslaunch rusty karto_slam.launch -```` -## NAVIGATION STACK (SIMULATION) -The navigation stack is updated with DWA planner algorithm which uses Djikastra's algorithm to find the shortest optimal path. - -To use the navigation stack -```bash -roslaunch rusty navigation.launch -``` -> -Fine tune the parameters per use case -> -Also to use the custom map file, you can specify the map_file:= <path of mapfile> - -## Different world available: - - - House-world, consits of a big map for the robot to be used a home service robot to pick and place objects - - Office-world, small area for the robot to transverse itself in narrow spaces - - Godown-world - - ```bash - roslaunch rusty gazbeo.launch world_name:= <path-to-your-desired-world> - ``` - -# USE CASES - ## CASE 1: HOME SERVICE ROBOT - Here rusty is used to pick and place virtual objects from one location to another. - ```bash - roslaunch rusty HomeService.launch - ``` - or - ```bash - - ./homeservice.sh - ``` - - # RUSTY-robot - - Rusty,is a "picking assist AMR", the robots travel to pick locations, where operators deliver goods based on the robot’s needs. - We are currently in R&D and mainly using it for delivery of documents, beverages for us from the canteen at our college. - - ![WhatsApp Image 2022-05-06 at 7 25 30 PM](https://user-images.githubusercontent.com/60263608/167147295-c9b31de1-1a72-4e1b-ba04-f70c3f695166.jpeg) - - - ## Important Launch files for using rusty or impelment rusty software on your custom bot - - ### ROBOT STARTUP - The Robot has to be connected to the motor driver. We are using L298N H-bridge motor driver, with 12v 500 RPM motors. The robot also uses RPLiDAR A1 connected the pi. Do refer [rplidar-ros](http://wiki.ros.org/rplidar). - - To run the LiDAR and motors -```bash - roslaunch rusty_firmware motor_run.launch - - ``` - - ### SLAM - - The following launch file will start HECTOR SLAM node - ``` bash -roslaunch rusty rusty_slam.launch -``` - -NOTE: - > Here rusty uses laser odometery, generated by undocumented part of hector slam. The hector slam package provides a parameter used to publish odometry of the robot - -## LOCALIZATION AND NAVIGATION using ROS packages - -- #### Localization - -Here we are using odometry by the laser scanner through hector slam. We are using AMCL or adaptive monte carlo localisation, for localisation. - -```bash - roslaunch rusty robot_localize.launch -``` - -- #### Navigation - - The navigation stack using laser odometry, uses dijkastra's algorithm to create shortest path algorithm. - - To run the navigation stack - -```bash - roslaunch rusty navigation.launch -``` - -NOTE: - > The Hector slam package can be used for implemnting in smaller areas and can use navigation for the same. - -### CARTOGRAPHER - -[cartographer]([http://wiki.ros.org/rplidar](https://google-cartographer-ros.readthedocs.io/en/latest/compilation.html)) is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations. This project provides Cartographer’s ROS integration. We have added the installation link for the cartographer node. - -#### IMPORTANT: Please create another workspace to compile cartographer, it can be used later by sourceing the workspace in the bashrc file - - To run the cartographer package: - -```bash - source ~/catkin_ws/install_isolated/setup.bash - roslaunch rusty cartographer_slam.launch - ``` -After saving the map, you can add your map to navigation launch file and run the navigation diff --git a/_config.yml b/_config.yml deleted file mode 100644 index c419263..0000000 --- a/_config.yml +++ /dev/null @@ -1 +0,0 @@ -theme: jekyll-theme-cayman \ No newline at end of file diff --git a/arm_config/CMakeLists.txt b/arm_config/CMakeLists.txt deleted file mode 100644 index 8c62154..0000000 --- a/arm_config/CMakeLists.txt +++ /dev/null @@ -1,10 +0,0 @@ -cmake_minimum_required(VERSION 3.1.3) -project(arm_config) - -find_package(catkin REQUIRED) - -catkin_package() - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - PATTERN "setup_assistant.launch" EXCLUDE) -install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/arm_config/config/cartesian_limits.yaml b/arm_config/config/cartesian_limits.yaml deleted file mode 100644 index 7df72f6..0000000 --- a/arm_config/config/cartesian_limits.yaml +++ /dev/null @@ -1,5 +0,0 @@ -cartesian_limits: - max_trans_vel: 1 - max_trans_acc: 2.25 - max_trans_dec: -5 - max_rot_vel: 1.57 diff --git a/arm_config/config/chomp_planning.yaml b/arm_config/config/chomp_planning.yaml deleted file mode 100644 index eb9c912..0000000 --- a/arm_config/config/chomp_planning.yaml +++ /dev/null @@ -1,18 +0,0 @@ -planning_time_limit: 10.0 -max_iterations: 200 -max_iterations_after_collision_free: 5 -smoothness_cost_weight: 0.1 -obstacle_cost_weight: 1.0 -learning_rate: 0.01 -smoothness_cost_velocity: 0.0 -smoothness_cost_acceleration: 1.0 -smoothness_cost_jerk: 0.0 -ridge_factor: 0.0 -use_pseudo_inverse: false -pseudo_inverse_ridge_factor: 1e-4 -joint_update_limit: 0.1 -collision_clearance: 0.2 -collision_threshold: 0.07 -use_stochastic_descent: true -enable_failure_recovery: false -max_recovery_attempts: 5 diff --git a/arm_config/config/fake_controllers.yaml b/arm_config/config/fake_controllers.yaml deleted file mode 100644 index f3bb419..0000000 --- a/arm_config/config/fake_controllers.yaml +++ /dev/null @@ -1,13 +0,0 @@ -controller_list: - - name: fake_rusty_arm_controller - type: $(arg fake_execution_type) - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint -initial: # Define initial robot poses per group - - group: rusty_arm - pose: home \ No newline at end of file diff --git a/arm_config/config/gazebo_controllers.yaml b/arm_config/config/gazebo_controllers.yaml deleted file mode 100644 index e4d2eb0..0000000 --- a/arm_config/config/gazebo_controllers.yaml +++ /dev/null @@ -1,4 +0,0 @@ -# Publish joint_states -joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 diff --git a/arm_config/config/joint_limits.yaml b/arm_config/config/joint_limits.yaml deleted file mode 100644 index 78b0667..0000000 --- a/arm_config/config/joint_limits.yaml +++ /dev/null @@ -1,40 +0,0 @@ -# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed - -# For beginners, we downscale velocity and acceleration limits. -# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed. -default_velocity_scaling_factor: 0.1 -default_acceleration_scaling_factor: 0.1 - -# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration] -# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] -joint_limits: - elbow_joint: - has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: false - max_acceleration: 0 - shoulder_lift_joint: - has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: false - max_acceleration: 0 - shoulder_pan_joint: - has_velocity_limits: true - max_velocity: 3.15 - has_acceleration_limits: false - max_acceleration: 0 - wrist_1_joint: - has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: false - max_acceleration: 0 - wrist_2_joint: - has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: false - max_acceleration: 0 - wrist_3_joint: - has_velocity_limits: true - max_velocity: 3.2 - has_acceleration_limits: false - max_acceleration: 0 \ No newline at end of file diff --git a/arm_config/config/kinematics.yaml b/arm_config/config/kinematics.yaml deleted file mode 100644 index d03dc5b..0000000 --- a/arm_config/config/kinematics.yaml +++ /dev/null @@ -1,4 +0,0 @@ -rusty_arm: - kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin - kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 \ No newline at end of file diff --git a/arm_config/config/ompl_planning.yaml b/arm_config/config/ompl_planning.yaml deleted file mode 100644 index 609cdd2..0000000 --- a/arm_config/config/ompl_planning.yaml +++ /dev/null @@ -1,157 +0,0 @@ -planner_configs: - AnytimePathShortening: - type: geometric::AnytimePathShortening - shortcut: true # Attempt to shortcut all new solution paths - hybridize: true # Compute hybrid solution trajectories - max_hybrid_paths: 24 # Number of hybrid paths generated per iteration - num_planners: 4 # The number of default planners to use for planning - planners: "" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" - SBL: - type: geometric::SBL - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - EST: - type: geometric::EST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LBKPIECE: - type: geometric::LBKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - BKPIECE: - type: geometric::BKPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - KPIECE: - type: geometric::KPIECE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] - failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 - min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 - RRT: - type: geometric::RRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - RRTConnect: - type: geometric::RRTConnect - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - RRTstar: - type: geometric::RRTstar - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 - TRRT: - type: geometric::TRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 - max_states_failed: 10 # when to start increasing temp. default: 10 - temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 - min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 - init_temperature: 10e-6 # initial temperature. default: 10e-6 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() - PRM: - type: geometric::PRM - max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 - PRMstar: - type: geometric::PRMstar - FMT: - type: geometric::FMT - num_samples: 1000 # number of states that the planner should sample. default: 1000 - radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 - nearest_k: 1 # use Knearest strategy. default: 1 - cache_cc: 1 # use collision checking cache. default: 1 - heuristics: 0 # activate cost to go heuristics. default: 0 - extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 - BFMT: - type: geometric::BFMT - num_samples: 1000 # number of states that the planner should sample. default: 1000 - radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 - nearest_k: 1 # use the Knearest strategy. default: 1 - balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 - optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 - heuristics: 1 # activates cost to go heuristics. default: 1 - cache_cc: 1 # use the collision checking cache. default: 1 - extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 - PDST: - type: geometric::PDST - STRIDE: - type: geometric::STRIDE - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 - degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 - max_degree: 18 # max degree of a node in the GNAT. default: 12 - min_degree: 12 # min degree of a node in the GNAT. default: 12 - max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 - estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 - min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 - BiTRRT: - type: geometric::BiTRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 - init_temperature: 100 # initial temperature. default: 100 - frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() - frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 - cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf - LBTRRT: - type: geometric::LBTRRT - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - epsilon: 0.4 # optimality approximation factor. default: 0.4 - BiEST: - type: geometric::BiEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - ProjEST: - type: geometric::ProjEST - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 - LazyPRM: - type: geometric::LazyPRM - range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() - LazyPRMstar: - type: geometric::LazyPRMstar - SPARS: - type: geometric::SPARS - stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 - sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 - dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 - max_failures: 1000 # maximum consecutive failure limit. default: 1000 - SPARStwo: - type: geometric::SPARStwo - stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 - sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 - dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 - max_failures: 5000 # maximum consecutive failure limit. default: 5000 -rusty_arm: - planner_configs: - - AnytimePathShortening - - SBL - - EST - - LBKPIECE - - BKPIECE - - KPIECE - - RRT - - RRTConnect - - RRTstar - - TRRT - - PRM - - PRMstar - - FMT - - BFMT - - PDST - - STRIDE - - BiTRRT - - LBTRRT - - BiEST - - ProjEST - - LazyPRM - - LazyPRMstar - - SPARS - - SPARStwo - projection_evaluator: joints(shoulder_pan_joint,shoulder_lift_joint) - longest_valid_segment_fraction: 0.005 diff --git a/arm_config/config/ros_controllers.yaml b/arm_config/config/ros_controllers.yaml deleted file mode 100644 index fc2f2b8..0000000 --- a/arm_config/config/ros_controllers.yaml +++ /dev/null @@ -1,12 +0,0 @@ -controller_list: - - name: "arm_controller" - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: true - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint \ No newline at end of file diff --git a/arm_config/config/rusry.srdf b/arm_config/config/rusry.srdf deleted file mode 100644 index 702460c..0000000 --- a/arm_config/config/rusry.srdf +++ /dev/null @@ -1,88 +0,0 @@ -<?xml version="1.0" encoding="UTF-8"?> -<!--This does not replace URDF, and is not an extension of URDF. - This is a format for representing semantic information about the robot structure. - A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined ---> -<robot name="rusry"> - <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc--> - <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included--> - <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included--> - <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group--> - <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names--> - <group name="rusty_arm"> - <joint name="shoulder_pan_joint"/> - <joint name="shoulder_lift_joint"/> - <joint name="elbow_joint"/> - <joint name="wrist_1_joint"/> - <joint name="wrist_2_joint"/> - <joint name="wrist_3_joint"/> - <joint name="ee_fixed_joint"/> - </group> - <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'--> - <group_state name="home" group="rusty_arm"> - <joint name="elbow_joint" value="0"/> - <joint name="shoulder_lift_joint" value="0"/> - <joint name="shoulder_pan_joint" value="0"/> - <joint name="wrist_1_joint" value="0"/> - <joint name="wrist_2_joint" value="0"/> - <joint name="wrist_3_joint" value="0"/> - </group_state> - <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. --> - <disable_collisions link1="Camera_1" link2="Holder_1" reason="Never"/> - <disable_collisions link1="Camera_1" link2="LW1_1" reason="Never"/> - <disable_collisions link1="Camera_1" link2="LW2_1" reason="Never"/> - <disable_collisions link1="Camera_1" link2="Lidar_1" reason="Never"/> - <disable_collisions link1="Camera_1" link2="RW1_1" reason="Never"/> - <disable_collisions link1="Camera_1" link2="RW2_1" reason="Never"/> - <disable_collisions link1="Camera_1" link2="base_link" reason="Never"/> - <disable_collisions link1="Camera_1" link2="rusty_base" reason="Adjacent"/> - <disable_collisions link1="Camera_1" link2="shoulder_link" reason="Never"/> - <disable_collisions link1="Holder_1" link2="LW1_1" reason="Never"/> - <disable_collisions link1="Holder_1" link2="LW2_1" reason="Never"/> - <disable_collisions link1="Holder_1" link2="Lidar_1" reason="Never"/> - <disable_collisions link1="Holder_1" link2="RW1_1" reason="Never"/> - <disable_collisions link1="Holder_1" link2="RW2_1" reason="Never"/> - <disable_collisions link1="Holder_1" link2="base_link" reason="Default"/> - <disable_collisions link1="Holder_1" link2="rusty_base" reason="Adjacent"/> - <disable_collisions link1="Holder_1" link2="shoulder_link" reason="Never"/> - <disable_collisions link1="LW1_1" link2="LW2_1" reason="Never"/> - <disable_collisions link1="LW1_1" link2="Lidar_1" reason="Never"/> - <disable_collisions link1="LW1_1" link2="RW1_1" reason="Never"/> - <disable_collisions link1="LW1_1" link2="RW2_1" reason="Never"/> - <disable_collisions link1="LW1_1" link2="base_link" reason="Never"/> - <disable_collisions link1="LW1_1" link2="rusty_base" reason="Adjacent"/> - <disable_collisions link1="LW1_1" link2="shoulder_link" reason="Never"/> - <disable_collisions link1="LW2_1" link2="Lidar_1" reason="Never"/> - <disable_collisions link1="LW2_1" link2="RW1_1" reason="Never"/> - <disable_collisions link1="LW2_1" link2="RW2_1" reason="Never"/> - <disable_collisions link1="LW2_1" link2="base_link" reason="Never"/> - <disable_collisions link1="LW2_1" link2="rusty_base" reason="Adjacent"/> - <disable_collisions link1="LW2_1" link2="shoulder_link" reason="Never"/> - <disable_collisions link1="Lidar_1" link2="RW1_1" reason="Never"/> - <disable_collisions link1="Lidar_1" link2="RW2_1" reason="Never"/> - <disable_collisions link1="Lidar_1" link2="base_link" reason="Never"/> - <disable_collisions link1="Lidar_1" link2="rusty_base" reason="Adjacent"/> - <disable_collisions link1="Lidar_1" link2="shoulder_link" reason="Never"/> - <disable_collisions link1="RW1_1" link2="RW2_1" reason="Never"/> - <disable_collisions link1="RW1_1" link2="base_link" reason="Never"/> - <disable_collisions link1="RW1_1" link2="rusty_base" reason="Adjacent"/> - <disable_collisions link1="RW1_1" link2="shoulder_link" reason="Never"/> - <disable_collisions link1="RW2_1" link2="base_link" reason="Never"/> - <disable_collisions link1="RW2_1" link2="rusty_base" reason="Adjacent"/> - <disable_collisions link1="RW2_1" link2="shoulder_link" reason="Never"/> - <disable_collisions link1="base_link" link2="rusty_base" reason="Adjacent"/> - <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent"/> - <disable_collisions link1="base_link" link2="upper_arm_link" reason="Never"/> - <disable_collisions link1="base_link" link2="wrist_1_link" reason="Never"/> - <disable_collisions link1="ee_link" link2="wrist_1_link" reason="Never"/> - <disable_collisions link1="ee_link" link2="wrist_2_link" reason="Never"/> - <disable_collisions link1="ee_link" link2="wrist_3_link" reason="Adjacent"/> - <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/> - <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/> - <disable_collisions link1="rusty_base" link2="shoulder_link" reason="Never"/> - <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/> - <disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never"/> - <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/> - <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/> - <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/> -</robot> diff --git a/arm_config/config/sensors_3d.yaml b/arm_config/config/sensors_3d.yaml deleted file mode 100644 index 51010a3..0000000 --- a/arm_config/config/sensors_3d.yaml +++ /dev/null @@ -1,2 +0,0 @@ -sensors: - [] \ No newline at end of file diff --git a/arm_config/config/simple_moveit_controllers.yaml b/arm_config/config/simple_moveit_controllers.yaml deleted file mode 100644 index 85e4d27..0000000 --- a/arm_config/config/simple_moveit_controllers.yaml +++ /dev/null @@ -1,12 +0,0 @@ -controller_list: - - name: arm_controller - action_ns: follow_joint_trajectory - type: FollowJointTrajectory - default: True - joints: - - shoulder_pan_joint - - shoulder_lift_joint - - elbow_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint \ No newline at end of file diff --git a/arm_config/config/stomp_planning.yaml b/arm_config/config/stomp_planning.yaml deleted file mode 100644 index 7ff2566..0000000 --- a/arm_config/config/stomp_planning.yaml +++ /dev/null @@ -1,39 +0,0 @@ -stomp/rusty_arm: - group_name: rusty_arm - optimization: - num_timesteps: 60 - num_iterations: 40 - num_iterations_after_valid: 0 - num_rollouts: 30 - max_rollouts: 30 - initialization_method: 1 # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST] - control_cost_weight: 0.0 - task: - noise_generator: - - class: stomp_moveit/NormalDistributionSampling - stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05] - cost_functions: - - class: stomp_moveit/CollisionCheck - collision_penalty: 1.0 - cost_weight: 1.0 - kernel_window_percentage: 0.2 - longest_valid_joint_move: 0.05 - noisy_filters: - - class: stomp_moveit/JointLimits - lock_start: True - lock_goal: True - - class: stomp_moveit/MultiTrajectoryVisualization - line_width: 0.02 - rgb: [255, 255, 0] - marker_array_topic: stomp_trajectories - marker_namespace: noisy - update_filters: - - class: stomp_moveit/PolynomialSmoother - poly_order: 6 - - class: stomp_moveit/TrajectoryVisualization - line_width: 0.05 - rgb: [0, 191, 255] - error_rgb: [255, 0, 0] - publish_intermediate: True - marker_topic: stomp_trajectory - marker_namespace: optimized \ No newline at end of file diff --git a/arm_config/config/trajectory_control.yaml b/arm_config/config/trajectory_control.yaml deleted file mode 100644 index 905b1f8..0000000 --- a/arm_config/config/trajectory_control.yaml +++ /dev/null @@ -1,12 +0,0 @@ -arm_controller: - type: position_controllers/JointTrajectoryController - joints: - - elbow_joint - - shoulder_lift_joint - - shoulder_pan_joint - - wrist_1_joint - - wrist_2_joint - - wrist_3_joint - stop_trajectory_duration: 0.5 - state_publish_rate: 25 - action_monitor_rate: 10 \ No newline at end of file diff --git a/arm_config/launch/chomp_planning_pipeline.launch.xml b/arm_config/launch/chomp_planning_pipeline.launch.xml deleted file mode 100644 index 563868c..0000000 --- a/arm_config/launch/chomp_planning_pipeline.launch.xml +++ /dev/null @@ -1,23 +0,0 @@ -<launch> - <arg name="start_state_max_bounds_error" default="0.1" /> - <arg name="jiggle_fraction" default="0.05" /> - <!-- The request adapters (plugins) used when planning. ORDER MATTERS! --> - <arg name="planning_adapters" - default="default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints" - /> - - <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" /> - <param name="request_adapters" value="$(arg planning_adapters)" /> - <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> - <param name="jiggle_fraction" value="$(arg jiggle_fraction)" /> - - <!-- Add MoveGroup capabilities specific to this pipeline --> - <!-- <param name="capabilities" value="" /> --> - - <rosparam command="load" file="$(find arm_config)/config/chomp_planning.yaml" /> -</launch> diff --git a/arm_config/launch/default_warehouse_db.launch b/arm_config/launch/default_warehouse_db.launch deleted file mode 100644 index 82874e7..0000000 --- a/arm_config/launch/default_warehouse_db.launch +++ /dev/null @@ -1,15 +0,0 @@ -<launch> - - <arg name="reset" default="false"/> - <!-- If not specified, we'll use a default database location --> - <arg name="moveit_warehouse_database_path" default="$(find arm_config)/default_warehouse_mongo_db" /> - - <!-- Launch the warehouse with the configured database location --> - <include file="$(dirname)/warehouse.launch"> - <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" /> - </include> - - <!-- If we want to reset the database, run this node --> - <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" /> - -</launch> diff --git a/arm_config/launch/demo.launch b/arm_config/launch/demo.launch deleted file mode 100644 index e6129d9..0000000 --- a/arm_config/launch/demo.launch +++ /dev/null @@ -1,68 +0,0 @@ -<launch> - - <!-- specify the planning pipeline --> - <arg name="pipeline" default="ompl" /> - - <!-- By default, we do not start a database (it can be large) --> - <arg name="db" default="false" /> - <!-- Allow user to specify database location --> - <arg name="db_path" default="$(find arm_config)/default_warehouse_mongo_db" /> - - <!-- By default, we are not in debug mode --> - <arg name="debug" default="false" /> - - <!-- By default, we will load or override the robot_description --> - <arg name="load_robot_description" default="true"/> - - <!-- Choose controller manager: fake, simple, or ros_control --> - <arg name="moveit_controller_manager" default="fake" /> - <!-- Set execution mode for fake execution controllers --> - <arg name="fake_execution_type" default="interpolate" /> - - <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode --> - <arg name="use_gui" default="false" /> - <arg name="use_rviz" default="true" /> - - <!-- If needed, broadcast static tf for robot root --> - - - - <group if="$(eval arg('moveit_controller_manager') == 'fake')"> - <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher - MoveIt's fake controller's joint states are considered via the 'source_list' parameter --> - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)"> - <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> - </node> - <!-- If desired, a GUI version is available allowing to move the simulated robot around manually - This corresponds to moving around the real robot without the use of MoveIt. --> - <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)"> - <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam> - </node> - - <!-- Given the published joint states, publish tf for the robot links --> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" /> - </group> - - <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) --> - <include file="$(find arm_config)/launch/move_group.launch"> - <arg name="allow_trajectory_execution" value="true"/> - <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" /> - <arg name="fake_execution_type" value="$(arg fake_execution_type)"/> - <arg name="info" value="true"/> - <arg name="debug" value="$(arg debug)"/> - <arg name="pipeline" value="$(arg pipeline)"/> - <arg name="load_robot_description" value="$(arg load_robot_description)"/> - </include> - - <!-- Run Rviz and load the default config to see the state of the move_group node --> - <include file="$(find arm_config)/launch/moveit_rviz.launch" if="$(arg use_rviz)"> - <arg name="rviz_config" value="$(dirname)/moveit.rviz"/> - <arg name="debug" value="$(arg debug)"/> - </include> - - <!-- If database loading was enabled, start mongodb as well --> - <include file="$(find arm_config)/launch/default_warehouse_db.launch" if="$(arg db)"> - <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> - </include> - -</launch> diff --git a/arm_config/launch/demo_gazebo.launch b/arm_config/launch/demo_gazebo.launch deleted file mode 100644 index a9f320c..0000000 --- a/arm_config/launch/demo_gazebo.launch +++ /dev/null @@ -1,21 +0,0 @@ -<launch> - - <!-- specify the planning pipeline --> - <arg name="pipeline" default="ompl" /> - - <!-- Gazebo specific options --> - <arg name="gazebo_gui" default="true"/> - <arg name="paused" default="false"/> - - <!-- launch the gazebo simulator and spawn the robot --> - <include file="$(dirname)/gazebo.launch" > - <arg name="paused" value="$(arg paused)"/> - <arg name="gazebo_gui" value="$(arg gazebo_gui)"/> - </include> - - <include file="$(dirname)/demo.launch" pass_all_args="true"> - <!-- robot description is loaded by gazebo.launch, to enable Gazebo features --> - <arg name="load_robot_description" value="false" /> - <arg name="moveit_controller_manager" value="ros_control" /> - </include> -</launch> diff --git a/arm_config/launch/fake_moveit_controller_manager.launch.xml b/arm_config/launch/fake_moveit_controller_manager.launch.xml deleted file mode 100644 index 5380fbb..0000000 --- a/arm_config/launch/fake_moveit_controller_manager.launch.xml +++ /dev/null @@ -1,12 +0,0 @@ -<launch> - - <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode --> - <arg name="fake_execution_type" default="interpolate" /> - - <!-- Set the param that trajectory_execution_manager needs to find the controller plugin --> - <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/> - - <!-- The rest of the params are specific to this plugin --> - <rosparam subst_value="true" file="$(find arm_config)/config/fake_controllers.yaml"/> - -</launch> diff --git a/arm_config/launch/gazebo.launch b/arm_config/launch/gazebo.launch deleted file mode 100644 index 2e08b99..0000000 --- a/arm_config/launch/gazebo.launch +++ /dev/null @@ -1,32 +0,0 @@ -<?xml version="1.0"?> -<launch> - <arg name="paused" default="false"/> - <arg name="gazebo_gui" default="true"/> - <arg name="initial_joint_positions" doc="Initial joint configuration of the robot" - default=" -J elbow_joint 0 -J shoulder_lift_joint 0 -J shoulder_pan_joint 0 -J wrist_1_joint 0 -J wrist_2_joint 0 -J wrist_3_joint 0"/> - - <!-- startup simulated world --> - <include file="$(find gazebo_ros)/launch/empty_world.launch"> - <arg name="world_name" default="worlds/empty.world"/> - <arg name="paused" value="true"/> - <arg name="gui" value="$(arg gazebo_gui)"/> - </include> - - <!-- send robot urdf to param server --> - <param name="robot_description" command="xacro '$(find rusty_description)/urdf/rusty_ur5.xacro'" /> - - <!-- unpause only after loading robot model --> - <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" /> - <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position --> - <arg name="world_pose" value="-x 0 -y 0 -z 0" /> - <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)" - respawn="false" output="screen" /> - - <!-- Load joint controller parameters for Gazebo --> - <rosparam file="$(find arm_config)/config/gazebo_controllers.yaml" /> - <!-- Spawn Gazebo ROS controllers --> - <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" /> - <!-- Load ROS controllers --> - <include file="$(find arm_config)/launch/ros_controllers.launch"/> - -</launch> diff --git a/arm_config/launch/joystick_control.launch b/arm_config/launch/joystick_control.launch deleted file mode 100644 index 9411f6e..0000000 --- a/arm_config/launch/joystick_control.launch +++ /dev/null @@ -1,17 +0,0 @@ -<launch> - <!-- See moveit_ros/visualization/doc/joystick.rst for documentation --> - - <arg name="dev" default="/dev/input/js0" /> - - <!-- Launch joy node --> - <node pkg="joy" type="joy_node" name="joy"> - <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on--> - <param name="deadzone" value="0.2" /> - <param name="autorepeat_rate" value="40" /> - <param name="coalesce_interval" value="0.025" /> - </node> - - <!-- Launch python interface --> - <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/> - -</launch> diff --git a/arm_config/launch/move_group.launch b/arm_config/launch/move_group.launch deleted file mode 100644 index a507620..0000000 --- a/arm_config/launch/move_group.launch +++ /dev/null @@ -1,101 +0,0 @@ -<launch> - - <!-- GDB Debug Option --> - <arg name="debug" default="false" /> - <arg unless="$(arg debug)" name="launch_prefix" value="" /> - <arg if="$(arg debug)" name="launch_prefix" - value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" /> - - <!-- Verbose Mode Option --> - <arg name="info" default="$(arg debug)" /> - <arg unless="$(arg info)" name="command_args" value="" /> - <arg if="$(arg info)" name="command_args" value="--debug" /> - - <!-- move_group settings --> - <arg name="pipeline" default="ompl" /> - <arg name="allow_trajectory_execution" default="true"/> - <arg name="moveit_controller_manager" default="simple" /> - <arg name="fake_execution_type" default="interpolate"/> - <arg name="max_safe_path_cost" default="1"/> - <arg name="publish_monitored_planning_scene" default="true"/> - - <arg name="capabilities" default=""/> - <arg name="disable_capabilities" default=""/> - <!-- load these non-default MoveGroup capabilities (space seperated) --> - <!-- - <arg name="capabilities" value=" - a_package/AwsomeMotionPlanningCapability - another_package/GraspPlanningPipeline - " /> - --> - - <!-- inhibit these default MoveGroup capabilities (space seperated) --> - <!-- - <arg name="disable_capabilities" value=" - move_group/MoveGroupKinematicsService - move_group/ClearOctomapService - " /> - --> - - <arg name="load_robot_description" default="false" /> - <!-- load URDF, SRDF and joint_limits configuration --> - <include file="$(find arm_config)/launch/planning_context.launch"> - <arg name="load_robot_description" value="$(arg load_robot_description)" /> - </include> - - <!-- Planning Pipelines --> - <group ns="move_group/planning_pipelines"> - - <!-- OMPL --> - <include file="$(find arm_config)/launch/planning_pipeline.launch.xml"> - <arg name="pipeline" value="ompl" /> - </include> - - <!-- CHOMP --> - <include file="$(find arm_config)/launch/planning_pipeline.launch.xml"> - <arg name="pipeline" value="chomp" /> - </include> - - <!-- Pilz Industrial Motion --> - <include file="$(find arm_config)/launch/planning_pipeline.launch.xml"> - <arg name="pipeline" value="pilz_industrial_motion_planner" /> - </include> - - <!-- Support custom planning pipeline --> - <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])" - file="$(find arm_config)/launch/planning_pipeline.launch.xml"> - <arg name="pipeline" value="$(arg pipeline)" /> - </include> - </group> - - <!-- Trajectory Execution Functionality --> - <include ns="move_group" file="$(find arm_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)"> - <arg name="moveit_manage_controllers" value="true" /> - <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" /> - <arg name="fake_execution_type" value="$(arg fake_execution_type)" /> - </include> - - <!-- Sensors Functionality --> - <include ns="move_group" file="$(find arm_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)"> - <arg name="moveit_sensor_manager" value="rusry" /> - </include> - - <!-- Start the actual move_group node/action server --> - <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)"> - <!-- Set the display variable, in case OpenGL code is used internally --> - <env name="DISPLAY" value="$(optenv DISPLAY :0)" /> - - <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/> - <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/> - <param name="default_planning_pipeline" value="$(arg pipeline)" /> - <param name="capabilities" value="$(arg capabilities)" /> - <param name="disable_capabilities" value="$(arg disable_capabilities)" /> - - <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot --> - <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" /> - <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" /> - <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" /> - <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" /> - </node> - -</launch> diff --git a/arm_config/launch/moveit.rviz b/arm_config/launch/moveit.rviz deleted file mode 100644 index 15037cc..0000000 --- a/arm_config/launch/moveit.rviz +++ /dev/null @@ -1,131 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 84 - Name: Displays - Property Tree Widget: - Expanded: - - /MotionPlanning1 - Splitter Ratio: 0.5 - Tree Height: 226 - - Class: rviz/Help - Name: Help - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: <Fixed Frame> - Value: true - - Class: moveit_rviz_plugin/MotionPlanning - Enabled: true - Name: MotionPlanning - Planned Path: - Links: ~ - Loop Animation: true - Robot Alpha: 0.5 - Show Robot Collision: false - Show Robot Visual: true - Show Trail: false - State Display Time: 0.05 s - Trajectory Topic: move_group/display_planned_path - Planning Metrics: - Payload: 1 - Show Joint Torques: false - Show Manipulability: false - Show Manipulability Index: false - Show Weight Limit: false - Planning Request: - Colliding Link Color: 255; 0; 0 - Goal State Alpha: 1 - Goal State Color: 250; 128; 0 - Interactive Marker Size: 0 - Joint Violation Color: 255; 0; 255 - Query Goal State: true - Query Start State: false - Show Workspace: false - Start State Alpha: 1 - Start State Color: 0; 255; 0 - Planning Scene Topic: move_group/monitored_planning_scene - Robot Description: robot_description - Scene Geometry: - Scene Alpha: 1 - Show Scene Geometry: true - Voxel Coloring: Z-Axis - Voxel Rendering: Occupied Voxels - Scene Robot: - Attached Body Color: 150; 50; 150 - Links: ~ - Robot Alpha: 0.5 - Show Scene Robot: true - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: rusty_base - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.0 - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.75 - Focal Point: - X: -0.1 - Y: 0.25 - Z: 0.30 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.01 - Pitch: 0.5 - Target Frame: rusty_base - Yaw: -0.6232355833053589 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 848 - Help: - collapsed: false - Hide Left Dock: false - Hide Right Dock: false - MotionPlanning: - collapsed: false - MotionPlanning - Trajectory Slider: - collapsed: false - QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Views: - collapsed: false - Width: 1291 - X: 454 - Y: 25 diff --git a/arm_config/launch/moveit_rviz.launch b/arm_config/launch/moveit_rviz.launch deleted file mode 100644 index a4605c0..0000000 --- a/arm_config/launch/moveit_rviz.launch +++ /dev/null @@ -1,15 +0,0 @@ -<launch> - - <arg name="debug" default="false" /> - <arg unless="$(arg debug)" name="launch_prefix" value="" /> - <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" /> - - <arg name="rviz_config" default="" /> - <arg if="$(eval rviz_config=='')" name="command_args" value="" /> - <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" /> - - <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" - args="$(arg command_args)" output="screen"> - </node> - -</launch> diff --git a/arm_config/launch/ompl-chomp_planning_pipeline.launch.xml b/arm_config/launch/ompl-chomp_planning_pipeline.launch.xml deleted file mode 100644 index b078992..0000000 --- a/arm_config/launch/ompl-chomp_planning_pipeline.launch.xml +++ /dev/null @@ -1,19 +0,0 @@ -<launch> - <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. --> - <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml"> - <arg name="planning_adapters" value=" - default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints - chomp/OptimizerAdapter" - /> - </include> - - <!-- load chomp config --> - <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/> - - <!-- override trajectory_initialization_method: Use OMPL-generated trajectory --> - <param name="trajectory_initialization_method" value="fillTrajectory"/> -</launch> diff --git a/arm_config/launch/ompl_planning_pipeline.launch.xml b/arm_config/launch/ompl_planning_pipeline.launch.xml deleted file mode 100644 index c457482..0000000 --- a/arm_config/launch/ompl_planning_pipeline.launch.xml +++ /dev/null @@ -1,26 +0,0 @@ -<launch> - - <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! --> - <arg name="planning_adapters" - default="default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/ResolveConstraintFrames - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints" - /> - - <arg name="start_state_max_bounds_error" default="0.1" /> - <arg name="jiggle_fraction" default="0.05" /> - - <param name="planning_plugin" value="ompl_interface/OMPLPlanner" /> - <param name="request_adapters" value="$(arg planning_adapters)" /> - <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> - <param name="jiggle_fraction" value="$(arg jiggle_fraction)" /> - - <!-- Add MoveGroup capabilities specific to this pipeline --> - <!-- <param name="capabilities" value="" /> --> - - <rosparam command="load" file="$(find arm_config)/config/ompl_planning.yaml"/> - -</launch> diff --git a/arm_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/arm_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml deleted file mode 100644 index c7c4cf5..0000000 --- a/arm_config/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml +++ /dev/null @@ -1,15 +0,0 @@ -<launch> - - <!-- The request adapters (plugins) used when planning. ORDER MATTERS! --> - <arg name="planning_adapters" default="" /> - - <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" /> - <param name="request_adapters" value="$(arg planning_adapters)" /> - - <!-- Define default planner (for all groups) --> - <param name="default_planner_config" value="PTP" /> - - <!-- MoveGroup capabilities to load for this pipeline, append sequence capability --> - <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction - pilz_industrial_motion_planner/MoveGroupSequenceService" /> -</launch> diff --git a/arm_config/launch/planning_context.launch b/arm_config/launch/planning_context.launch deleted file mode 100644 index cad7df8..0000000 --- a/arm_config/launch/planning_context.launch +++ /dev/null @@ -1,26 +0,0 @@ -<launch> - <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior --> - <arg name="load_robot_description" default="false"/> - - <!-- The name of the parameter under which the URDF is loaded --> - <arg name="robot_description" default="robot_description"/> - - <!-- Load universal robot description format (URDF) --> - <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro '$(find rusty_description)/urdf/rusty_ur5.xacro'"/> - - <!-- The semantic description that corresponds to the URDF --> - <param name="$(arg robot_description)_semantic" textfile="$(find arm_config)/config/rusry.srdf" /> - - <!-- Load updated joint limits (override information from URDF) --> - <group ns="$(arg robot_description)_planning"> - <rosparam command="load" file="$(find arm_config)/config/joint_limits.yaml"/> - <rosparam command="load" file="$(find arm_config)/config/cartesian_limits.yaml"/> - </group> - - <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace --> - <group ns="$(arg robot_description)_kinematics"> - <rosparam command="load" file="$(find arm_config)/config/kinematics.yaml"/> - - </group> - -</launch> diff --git a/arm_config/launch/planning_pipeline.launch.xml b/arm_config/launch/planning_pipeline.launch.xml deleted file mode 100644 index 4b4d0d6..0000000 --- a/arm_config/launch/planning_pipeline.launch.xml +++ /dev/null @@ -1,10 +0,0 @@ -<launch> - - <!-- This file makes it easy to include different planning pipelines; - It is assumed that all planning pipelines are named XXX_planning_pipeline.launch --> - - <arg name="pipeline" default="ompl" /> - - <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" /> - -</launch> diff --git a/arm_config/launch/robot_bringup.launch b/arm_config/launch/robot_bringup.launch deleted file mode 100644 index b1eba7a..0000000 --- a/arm_config/launch/robot_bringup.launch +++ /dev/null @@ -1,35 +0,0 @@ -<launch> - -<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"> - <param name="publish_frequency" type="double" value="50.0" /> - <param name="tf_prefix" type="string" value="" /> -</node> - -<rosparam file="$(find arm_config)/config/gazebo_controllers.yaml" command="load"/> - -<node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/> - -<rosparam file="$(find arm_config)/config/trajectory_control.yaml" command="load"/> - -<node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" -args="spawn arm_controller gripper_controller" respawn="false" output="screen"/> - -<include file="$(find arm_config)/launch/planning_context.launch" > - <arg name="load_robot_description" value="true" /> -</include> - -<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> - <param name="/use_gui" value="false"/> - <rosparam param="/source_list">[/joint_states]</rosparam> -</node> - -<include file="$(find arm_config)/launch/move_group.launch"> - <arg name="publish_monitored_planning_scene" value="true" /> - </include> - -<include file="$(find arm_config)/launch/moveit_rviz.launch"> - <arg name="rviz_config" value="$(find arm_config)/launch/moveit.rviz"/> - <arg name="debug" value="false"/> -</include> - -</launch> \ No newline at end of file diff --git a/arm_config/launch/ros_controllers.launch b/arm_config/launch/ros_controllers.launch deleted file mode 100644 index 28d0661..0000000 --- a/arm_config/launch/ros_controllers.launch +++ /dev/null @@ -1,11 +0,0 @@ -<?xml version="1.0"?> -<launch> - - <!-- Load joint controller configurations from YAML file to parameter server --> - <rosparam file="$(find arm_config)/config/ros_controllers.yaml" command="load"/> - - <!-- Load the controllers --> - <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" - output="screen" args=""/> - -</launch> diff --git a/arm_config/launch/run_benchmark_ompl.launch b/arm_config/launch/run_benchmark_ompl.launch deleted file mode 100644 index 1772956..0000000 --- a/arm_config/launch/run_benchmark_ompl.launch +++ /dev/null @@ -1,21 +0,0 @@ -<launch> - - <!-- This argument must specify the list of .cfg files to process for benchmarking --> - <arg name="cfg" /> - - <!-- Load URDF --> - <include file="$(dirname)/planning_context.launch"> - <arg name="load_robot_description" value="true"/> - </include> - - <!-- Start the database --> - <include file="$(dirname)/warehouse.launch"> - <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/> - </include> - - <!-- Start Benchmark Executable --> - <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen"> - <rosparam command="load" file="$(find arm_config)/config/ompl_planning.yaml"/> - </node> - -</launch> diff --git a/arm_config/launch/rusry_moveit_sensor_manager.launch.xml b/arm_config/launch/rusry_moveit_sensor_manager.launch.xml deleted file mode 100644 index 5d02698..0000000 --- a/arm_config/launch/rusry_moveit_sensor_manager.launch.xml +++ /dev/null @@ -1,3 +0,0 @@ -<launch> - -</launch> diff --git a/arm_config/launch/rusty_moveit_controller_manager.launch.xml b/arm_config/launch/rusty_moveit_controller_manager.launch.xml deleted file mode 100644 index 0238dda..0000000 --- a/arm_config/launch/rusty_moveit_controller_manager.launch.xml +++ /dev/null @@ -1,10 +0,0 @@ -<launch> - <!-- loads moveit_controller_manager on the parameter server which is taken as argument - if no argument is passed, moveit_simple_controller_manager will be set --> - <arg name="execution_type" default="interpolate"/> - <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> - <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> - - <!-- loads ros_controllers to the param server --> - <rosparam file="$(find agri_bot_moveit)/config/ros_controllers.yaml"/> -</launch> diff --git a/arm_config/launch/sensor_manager.launch.xml b/arm_config/launch/sensor_manager.launch.xml deleted file mode 100644 index 1a7c42e..0000000 --- a/arm_config/launch/sensor_manager.launch.xml +++ /dev/null @@ -1,17 +0,0 @@ -<launch> - - <!-- This file makes it easy to include the settings for sensor managers --> - - <!-- Params for 3D sensors config --> - <rosparam command="load" file="$(find arm_config)/config/sensors_3d.yaml" /> - - <!-- Params for the octomap monitor --> - <!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> --> - <param name="octomap_resolution" type="double" value="0.025" /> - <param name="max_range" type="double" value="5.0" /> - - <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter --> - <arg name="moveit_sensor_manager" default="rusty" /> - <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" /> - -</launch> diff --git a/arm_config/launch/setup_assistant.launch b/arm_config/launch/setup_assistant.launch deleted file mode 100644 index ae17417..0000000 --- a/arm_config/launch/setup_assistant.launch +++ /dev/null @@ -1,16 +0,0 @@ -<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded --> -<launch> - - <!-- Debug Info --> - <arg name="debug" default="false" /> - <arg unless="$(arg debug)" name="launch_prefix" value="" /> - <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" /> - - <!-- Run --> - <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" - args="--config_pkg=arm_config" - launch-prefix="$(arg launch_prefix)" - required="true" - output="screen" /> - -</launch> diff --git a/arm_config/launch/simple_moveit_controller_manager.launch.xml b/arm_config/launch/simple_moveit_controller_manager.launch.xml deleted file mode 100644 index 21fd0b6..0000000 --- a/arm_config/launch/simple_moveit_controller_manager.launch.xml +++ /dev/null @@ -1,8 +0,0 @@ -<launch> - <!-- Define the MoveIt controller manager plugin to use for trajectory execution --> - <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" /> - - <!-- Load controller list to the parameter server --> - <rosparam file="$(find arm_config)/config/simple_moveit_controllers.yaml" /> - <rosparam file="$(find arm_config)/config/ros_controllers.yaml" /> -</launch> diff --git a/arm_config/launch/stomp_planning_pipeline.launch.xml b/arm_config/launch/stomp_planning_pipeline.launch.xml deleted file mode 100644 index 7b598b7..0000000 --- a/arm_config/launch/stomp_planning_pipeline.launch.xml +++ /dev/null @@ -1,25 +0,0 @@ -<launch> - <!-- Stomp Plugin for MoveIt --> - <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" /> - - <arg name="start_state_max_bounds_error" value="0.1" /> - <arg name="jiggle_fraction" value="0.05" /> - <!-- The request adapters (plugins) used when planning. ORDER MATTERS! --> - <arg name="planning_adapters" - default="default_planner_request_adapters/AddTimeParameterization - default_planner_request_adapters/FixWorkspaceBounds - default_planner_request_adapters/FixStartStateBounds - default_planner_request_adapters/FixStartStateCollision - default_planner_request_adapters/FixStartStatePathConstraints" /> - - - <param name="planning_plugin" value="$(arg planning_plugin)" /> - <param name="request_adapters" value="$(arg planning_adapters)" /> - <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" /> - <param name="jiggle_fraction" value="$(arg jiggle_fraction)" /> - - <!-- Add MoveGroup capabilities specific to this pipeline --> - <!-- <param name="capabilities" value="" /> --> - - <rosparam command="load" file="$(find arm_config)/config/stomp_planning.yaml"/> -</launch> diff --git a/arm_config/launch/trajectory_execution.launch.xml b/arm_config/launch/trajectory_execution.launch.xml deleted file mode 100644 index 20c3dfc..0000000 --- a/arm_config/launch/trajectory_execution.launch.xml +++ /dev/null @@ -1,23 +0,0 @@ -<launch> - <!-- This file summarizes all settings required for trajectory execution --> - - <!-- Define moveit controller manager plugin: fake, simple, or ros_control --> - <arg name="moveit_controller_manager" /> - <arg name="fake_execution_type" default="interpolate" /> - - <!-- Flag indicating whether MoveIt is allowed to load/unload or switch controllers --> - <arg name="moveit_manage_controllers" default="true"/> - <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/> - - <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution --> - <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 --> - <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) --> - <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 --> - <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state --> - <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 --> - - <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers. - As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. --> - <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" /> - -</launch> diff --git a/arm_config/launch/warehouse.launch b/arm_config/launch/warehouse.launch deleted file mode 100644 index 0712e67..0000000 --- a/arm_config/launch/warehouse.launch +++ /dev/null @@ -1,15 +0,0 @@ -<launch> - - <!-- The path to the database must be specified --> - <arg name="moveit_warehouse_database_path" /> - - <!-- Load warehouse parameters --> - <include file="$(dirname)/warehouse_settings.launch.xml" /> - - <!-- Run the DB server --> - <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo"> - <param name="overwrite" value="false"/> - <param name="database_path" value="$(arg moveit_warehouse_database_path)" /> - </node> - -</launch> diff --git a/arm_config/launch/warehouse_settings.launch.xml b/arm_config/launch/warehouse_settings.launch.xml deleted file mode 100644 index e473b08..0000000 --- a/arm_config/launch/warehouse_settings.launch.xml +++ /dev/null @@ -1,16 +0,0 @@ -<launch> - <!-- Set the parameters for the warehouse and run the mongodb server. --> - - <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) --> - <arg name="moveit_warehouse_port" default="33829" /> - - <!-- The default DB host for moveit --> - <arg name="moveit_warehouse_host" default="localhost" /> - - <!-- Set parameters for the warehouse --> - <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/> - <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/> - <param name="warehouse_exec" value="mongod" /> - <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" /> - -</launch> diff --git a/arm_config/package.xml b/arm_config/package.xml deleted file mode 100644 index 46eee80..0000000 --- a/arm_config/package.xml +++ /dev/null @@ -1,41 +0,0 @@ -<package> - - <name>arm_config</name> - <version>0.3.0</version> - <description> - An automatically generated package with all the configuration and launch files for using the rusry with the MoveIt Motion Planning Framework - </description> - <author email="siddarth.dayasagar@gmail.com">siddarth</author> - <maintainer email="siddarth.dayasagar@gmail.com">siddarth</maintainer> - - <license>BSD</license> - - <url type="website">http://moveit.ros.org/</url> - <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url> - <url type="repository">https://github.com/ros-planning/moveit</url> - - <buildtool_depend>catkin</buildtool_depend> - - <run_depend>moveit_ros_move_group</run_depend> - <run_depend>moveit_fake_controller_manager</run_depend> - <run_depend>moveit_kinematics</run_depend> - <run_depend>moveit_planners_ompl</run_depend> - <run_depend>moveit_ros_visualization</run_depend> - <run_depend>moveit_setup_assistant</run_depend> - <run_depend>moveit_simple_controller_manager</run_depend> - <run_depend>joint_state_publisher</run_depend> - <run_depend>joint_state_publisher_gui</run_depend> - <run_depend>robot_state_publisher</run_depend> - <run_depend>rviz</run_depend> - <run_depend>tf2_ros</run_depend> - <run_depend>xacro</run_depend> - <!-- The next 2 packages are required for the gazebo simulation. - We don't include them by default to prevent installing gazebo and all its dependencies. --> - <!-- <run_depend>joint_trajectory_controller</run_depend> --> - <!-- <run_depend>gazebo_ros_control</run_depend> --> - <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. --> - <!-- <run_depend>warehouse_ros_mongo</run_depend> --> - <run_depend>rusty_description</run_depend> - - -</package> diff --git a/odom_to_trajectory/CMakeLists.txt b/odom_to_trajectory/CMakeLists.txt deleted file mode 100644 index c0586fc..0000000 --- a/odom_to_trajectory/CMakeLists.txt +++ /dev/null @@ -1,200 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(odom_to_trajectory) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES odom_to_trajectory -# CATKIN_DEPENDS roscpp rospy std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/odom_to_trajectory.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/odom_to_trajectory_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_odom_to_trajectory.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) - diff --git a/odom_to_trajectory/CODEOWNERS b/odom_to_trajectory/CODEOWNERS deleted file mode 100644 index 2a6bcb2..0000000 --- a/odom_to_trajectory/CODEOWNERS +++ /dev/null @@ -1 +0,0 @@ -* @udacity/active-public-content \ No newline at end of file diff --git a/odom_to_trajectory/Images/Output.png b/odom_to_trajectory/Images/Output.png deleted file mode 100644 index 98a98d8aebf671e8c5f8e0229d74d8c6d6cae01e..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 354672 zcmeFYWpE`ulO}40w%ulCW*>8#nVFfH+3jOyX13eR%*@Pex7lrGW`^x|X70><_eSjO 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z_Nsj8XA#tn9ldYXw+)6vxb1N;jWAzb9girhrsCwDuqoa2n@Yfau3ILsSNpGd;e=in zH7J4vAw(cT=ImAVd6TdMvMWiR^KaASfOfBhTm3L6KGM35CQZN!ix#Pn1_?1yn#Sd& zrH^jrff}Ad^cv7-L%38)SL3;G5ceoNbA)~gV-T@eqUl!S{Nspz=BaBO4L|ZdCif`V zp(mO@*52DA1f_|p1U%crQ=Y<fu`d*9<#=2}$McdLK8!M&zE)9+GHT9Qjq|~PbJMQO zA<LZ6@E0~P=8W~Y+mVCobr$&0byA}A*HZ^MESh?!dqi~&WXl31@y`?Awx6ccSBA8N zE}Y<_l%Pw^b>I6JhqmNK@};=A`Fpk3g>cyaBXF}>FktM08(hnUZ2iApYz!ccFI7I@ zs+PsgpS|JoU-bbhb68ANO(T=H$<M13@-*+?S&ftLFt^0F&ZA%7l#{@V00m)be}Q3s GHR^vCttJBi diff --git a/odom_to_trajectory/LICENSE b/odom_to_trajectory/LICENSE deleted file mode 100644 index ee6ffb9..0000000 --- a/odom_to_trajectory/LICENSE +++ /dev/null @@ -1,21 +0,0 @@ -MIT License - -Copyright (c) 2018 Udacity - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. diff --git a/odom_to_trajectory/README.md b/odom_to_trajectory/README.md deleted file mode 100644 index 2d251df..0000000 --- a/odom_to_trajectory/README.md +++ /dev/null @@ -1,34 +0,0 @@ -[![Udacity - Robotics NanoDegree Program](https://s3-us-west-1.amazonaws.com/udacity-robotics/Extra+Images/RoboND_flag.png)](https://www.udacity.com/robotics) - -# odom_to_trajectory -A ROS Package that subscribes to odometry values and publishes trajectories. This package will append the odometry values generated over time into vector of values. - -### Nodes -The package contains two nodes -1. **path_odom_plotter**: Subscribes to 2D unfiltered odometry, appends the robot last 1000 poses, and publishes the robot unfiltered trajectory. - * Script File: path_odom_plotter.py - * Subscriber: "/odom" - * Publisher: "/odompath" -2. **path_ekf_plotter**: Subscribes to 3D filtered odometry, appends the robot last 1000 poses, and publishes the robot filtered trajectory. - * Script File: path_ekf_plotter.py - * Subscriber: "/robot_pose_ekf/odom_combined" - * Publisher: "/ekfpath" - -![alt text](Images/Output.png) - -### Steps to launch the nodes -#### Step1: Install the package -```sh -$ cd /home/workspace/catkin_ws/src -$ git clone https://github.com/udacity/odom_to_trajectory -``` -#### Step2: Build the package -```sh -$ cd /home/workspace/catkin_ws -$ catkin_make -$ source devel/setup.bash -``` -#### Step3: Launch the nodes -```sh -$ roslaunch odom_to_trajectory create_trajectory.launch -``` diff --git a/odom_to_trajectory/launch/create_trajectory.launch b/odom_to_trajectory/launch/create_trajectory.launch deleted file mode 100644 index 4132690..0000000 --- a/odom_to_trajectory/launch/create_trajectory.launch +++ /dev/null @@ -1,13 +0,0 @@ -<launch> - - <!-- The path_ekf_plotter node --> - <node name="path_ekf_plotter" type="path_ekf_plotter.py" pkg="odom_to_trajectory"> - </node> - - <!-- The path_odom_plotter node --> - <node name="path_odom_plotter" type="path_odom_plotter.py" pkg="odom_to_trajectory"> - </node> - - - -</launch> diff --git a/odom_to_trajectory/package.xml b/odom_to_trajectory/package.xml deleted file mode 100644 index 111c02e..0000000 --- a/odom_to_trajectory/package.xml +++ /dev/null @@ -1,68 +0,0 @@ -<?xml version="1.0"?> -<package format="2"> - <name>odom_to_trajectory</name> - <version>0.0.0</version> - <description>The odom_to_trajectory package</description> - - <!-- One maintainer tag required, multiple allowed, one person per tag --> - <!-- Example: --> - <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> - <maintainer email="robond@todo.todo">robond</maintainer> - - - <!-- One license tag required, multiple allowed, one license per tag --> - <!-- Commonly used license strings: --> - <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> - <license>TODO</license> - - - <!-- Url tags are optional, but multiple are allowed, one per tag --> - <!-- Optional attribute type can be: website, bugtracker, or repository --> - <!-- Example: --> - <!-- <url type="website">http://wiki.ros.org/odom_to_trajectory</url> --> - - - <!-- Author tags are optional, multiple are allowed, one per tag --> - <!-- Authors do not have to be maintainers, but could be --> - <!-- Example: --> - <!-- <author email="jane.doe@example.com">Jane Doe</author> --> - - - <!-- The *depend tags are used to specify dependencies --> - <!-- Dependencies can be catkin packages or system dependencies --> - <!-- Examples: --> - <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> - <!-- <depend>roscpp</depend> --> - <!-- Note that this is equivalent to the following: --> - <!-- <build_depend>roscpp</build_depend> --> - <!-- <exec_depend>roscpp</exec_depend> --> - <!-- Use build_depend for packages you need at compile time: --> - <!-- <build_depend>message_generation</build_depend> --> - <!-- Use build_export_depend for packages you need in order to build against this package: --> - <!-- <build_export_depend>message_generation</build_export_depend> --> - <!-- Use buildtool_depend for build tool packages: --> - <!-- <buildtool_depend>catkin</buildtool_depend> --> - <!-- Use exec_depend for packages you need at runtime: --> - <!-- <exec_depend>message_runtime</exec_depend> --> - <!-- Use test_depend for packages you need only for testing: --> - <!-- <test_depend>gtest</test_depend> --> - <!-- Use doc_depend for packages you need only for building documentation: --> - <!-- <doc_depend>doxygen</doc_depend> --> - <buildtool_depend>catkin</buildtool_depend> - <build_depend>roscpp</build_depend> - <build_depend>rospy</build_depend> - <build_depend>std_msgs</build_depend> - <build_export_depend>roscpp</build_export_depend> - <build_export_depend>rospy</build_export_depend> - <build_export_depend>std_msgs</build_export_depend> - <exec_depend>roscpp</exec_depend> - <exec_depend>rospy</exec_depend> - <exec_depend>std_msgs</exec_depend> - - - <!-- The export tag contains other, unspecified, tags --> - <export> - <!-- Other tools can request additional information be placed here --> - - </export> -</package> diff --git a/odom_to_trajectory/scripts/path_ekf_plotter.py b/odom_to_trajectory/scripts/path_ekf_plotter.py deleted file mode 100644 index ef063cd..0000000 --- a/odom_to_trajectory/scripts/path_ekf_plotter.py +++ /dev/null @@ -1,103 +0,0 @@ -#!/usr/bin/env python3 -from __future__ import print_function -import rospy -from tf.transformations import quaternion_from_euler -from std_msgs.msg import String -from nav_msgs.msg import Odometry, Path -from geometry_msgs.msg import PoseWithCovarianceStamped, PoseStamped -from sensor_msgs.msg import Joy - -import sys -import json -from math import sqrt -from collections import deque - -import time - - -def callback(data): - global xAnt - global yAnt - global cont - global pub - - #Is created the pose msg, its necessary do it each time because Python manages objects by reference, - #and does not make deep copies unless explicitly asked to do so. - pose = PoseStamped() - - #Set a atributes of the msg - pose.header.frame_id = "odom" - pose.pose.position.x = float(data.pose.pose.position.x) - pose.pose.position.y = float(data.pose.pose.position.y) - pose.pose.orientation.x = float(data.pose.pose.orientation.x) - pose.pose.orientation.y = float(data.pose.pose.orientation.y) - pose.pose.orientation.z = float(data.pose.pose.orientation.z) - pose.pose.orientation.w = float(data.pose.pose.orientation.w) - - #To avoid repeating the values, it is found that the received values are differents - if (xAnt != pose.pose.position.x and yAnt != pose.pose.position.y): - #Set a atributes of the msg - pose.header.seq = path.header.seq + 1 - path.header.frame_id="odom" - path.header.stamp=rospy.Time.now() - pose.header.stamp = path.header.stamp - path.poses.append(pose) - #Published the msg - - cont=cont+1 - - rospy.loginfo("Valor del contador: %i" % cont) - if cont>max_append: - path.poses.pop(0) - pub.publish(path) - - #Save the last position - xAnt=pose.pose.orientation.x - yAnt=pose.pose.position.y - return path - - - - -if __name__ == '__main__': - #Variable initialization - global xAnt - global yAnt - global cont - - xAnt=0.0 - yAnt=0.0 - cont=0 - - - - #Node and msg initialization - rospy.init_node('path_ekf_plotter') - - - #Rosparams that are set in the launch - #max size of array pose msg from the path - if not rospy.has_param("~max_list_append"): - rospy.logwarn('The parameter max_list_append dont exists') - max_append = rospy.set_param("~max_list_append",1000) - max_append = 1000 - if not (max_append > 0): - rospy.logwarn('The parameter max_list_append not is correct') - sys.exit() - pub = rospy.Publisher('/ekfpath', Path, queue_size=1) - - - path = Path() #creamos el mensaje path de tipo path - msg = Odometry() - - #Subscription to the topic - msg = rospy.Subscriber('/robot_pose_ekf/odom_combined', PoseWithCovarianceStamped, callback) - - rate = rospy.Rate(30) # 30hz - -try: - while not rospy.is_shutdown(): - #rospy.spin() - rate.sleep() -except rospy.ROSInterruptException: - pass diff --git a/odom_to_trajectory/scripts/path_odom_plotter.py b/odom_to_trajectory/scripts/path_odom_plotter.py deleted file mode 100644 index 78c33f9..0000000 --- a/odom_to_trajectory/scripts/path_odom_plotter.py +++ /dev/null @@ -1,102 +0,0 @@ -#!/usr/bin/env python3 -from __future__ import print_function -import rospy -from tf.transformations import quaternion_from_euler -from std_msgs.msg import String -from nav_msgs.msg import Odometry, Path -from geometry_msgs.msg import PoseWithCovarianceStamped, PoseStamped -from sensor_msgs.msg import Joy - -import sys -import json -from math import sqrt -from collections import deque - -import time - - -def callback(data): - global xAnt - global yAnt - global cont - - #Is created the pose msg, its necessary do it each time because Python manages objects by reference, - #and does not make deep copies unless explicitly asked to do so. - pose = PoseStamped() - - #Set a atributes of the msg - pose.header.frame_id = "odom" - pose.pose.position.x = float(data.pose.pose.position.x) - pose.pose.position.y = float(data.pose.pose.position.y) - pose.pose.orientation.x = float(data.pose.pose.orientation.x) - pose.pose.orientation.y = float(data.pose.pose.orientation.y) - pose.pose.orientation.z = float(data.pose.pose.orientation.z) - pose.pose.orientation.w = float(data.pose.pose.orientation.w) - - #To avoid repeating the values, it is found that the received values are differents - if (xAnt != pose.pose.position.x and yAnt != pose.pose.position.y): - #Set a atributes of the msg - pose.header.seq = path.header.seq + 1 - path.header.frame_id="odom" - path.header.stamp=rospy.Time.now() - pose.header.stamp = path.header.stamp - path.poses.append(pose) - #Published the msg - - cont=cont+1 - - rospy.loginfo("Valor del contador: %i" % cont) - if cont>max_append: - path.poses.pop(0) - - pub.publish(path) - - #Save the last position - xAnt=pose.pose.orientation.x - yAnt=pose.pose.position.y - return path - - - - -if __name__ == '__main__': - #Variable initialization - global xAnt - global yAnt - global cont - xAnt=0.0 - yAnt=0.0 - cont=0 - - - - #Node and msg initialization - rospy.init_node('path_odom_plotter') - - - #Rosparams that are set in the launch - #max size of array pose msg from the path - if not rospy.has_param("~max_list_append"): - rospy.logwarn('The parameter max_list_append dont exists') - max_append = rospy.set_param("~max_list_append",1000) - max_append = 1000 - if not (max_append > 0): - rospy.logwarn('The parameter max_list_append not is correct') - sys.exit() - pub = rospy.Publisher('/odompath', Path, queue_size=1) - - - path = Path() #creamos el mensaje path de tipo path - msg = Odometry() - - #Subscription to the topic - msg = rospy.Subscriber('/odom', Odometry, callback) - - rate = rospy.Rate(30) # 30hz - -try: - while not rospy.is_shutdown(): - #rospy.spin() - rate.sleep() -except rospy.ROSInterruptException: - pass diff --git a/please_check_the_dbfile.txt b/please_check_the_dbfile.txt deleted file mode 100644 index bf5df66..0000000 --- a/please_check_the_dbfile.txt +++ /dev/null @@ -1 +0,0 @@ -https://drive.google.com/file/d/1NHoYihwiK1kxBYBL2nZ9Up3olNRXoLSu/view?usp=sharing diff --git a/rusty/CMakeLists.txt b/rusty/CMakeLists.txt deleted file mode 100644 index 71912b7..0000000 --- a/rusty/CMakeLists.txt +++ /dev/null @@ -1,213 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(rusty) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - actionlib - cv_bridge - message_generation - roscpp - rospy -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES rusty -# CATKIN_DEPENDS actionlib cv_bridge message_generation roscpp rospy -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/rusty.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/rusty_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -catkin_install_python(PROGRAMS - src/teleop_key.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_rusty.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) -add_executable(PickandDrop src/pick_obj.cpp) -target_link_libraries(PickandDrop ${catkin_LIBRARIES}) - -add_executable(Pickobj src/virtual_box.cpp) -target_link_libraries(Pickobj ${catkin_LIBRARIES}) diff --git a/rusty/config/gmapping_params.yaml b/rusty/config/gmapping_params.yaml deleted file mode 100644 index 47c3bbf..0000000 --- a/rusty/config/gmapping_params.yaml +++ /dev/null @@ -1,29 +0,0 @@ -map_update_interval: 1.5 -maxUrange: 8.0 -sigma: 0.05 -kernelSize: 1 -lstep: 0.05 -astep: 0.05 -iterations: 10 -lsigma: 0.075 -ogain: 3.0 -lskip: 0 -minimumScore: 75 -srr: 0.1 -srt: 0.2 -str: 0.1 -stt: 0.2 -linearUpdate: 1.0 -angularUpdate: 0.2 -temporalUpdate: 0.5 -resampleThreshold: 0.5 -particles: 120 -xmin: -10.0 -ymin: -10.0 -xmax: 10.0 -ymax: 10.0 -delta: 0.05 -llsamplerange: 0.01 -llsamplestep: 0.01 -lasamplerange: 0.005 -lasamplestep: 0.005 diff --git a/rusty/config/karto_slam.yaml b/rusty/config/karto_slam.yaml deleted file mode 100644 index bbea94b..0000000 --- a/rusty/config/karto_slam.yaml +++ /dev/null @@ -1,35 +0,0 @@ -# General Parameters -use_scan_matching: true -use_scan_barycenter: true -minimum_travel_distance: 0.12 -minimum_travel_heading: 0.174 #in radians -scan_buffer_size: 70 -scan_buffer_maximum_scan_distance: 3.5 -link_match_minimum_response_fine: 0.12 -link_scan_maximum_distance: 3.5 -loop_search_maximum_distance: 3.5 -do_loop_closing: true -loop_match_minimum_chain_size: 10 -loop_match_maximum_variance_coarse: 0.4 # gets squared later -loop_match_minimum_response_coarse: 0.8 -loop_match_minimum_response_fine: 0.8 - -# Correlation Parameters - Correlation Parameters -correlation_search_space_dimension: 0.3 -correlation_search_space_resolution: 0.01 -correlation_search_space_smear_deviation: 0.03 - -# Correlation Parameters - Loop Closure Parameters -loop_search_space_dimension: 8.0 -loop_search_space_resolution: 0.05 -loop_search_space_smear_deviation: 0.03 - -# Scan Matcher Parameters -distance_variance_penalty: 0.3 # gets squared later -angle_variance_penalty: 0.349 # in degrees (gets converted to radians then squared) -fine_search_angle_offset: 0.00349 # in degrees (gets converted to radians) -coarse_search_angle_offset: 0.349 # in degrees (gets converted to radians) -coarse_angle_resolution: 0.0349 # in degrees (gets converted to radians) -minimum_angle_penalty: 0.9 -minimum_distance_penalty: 0.5 -use_response_expansion: false \ No newline at end of file diff --git a/rusty/config/lidar.lua b/rusty/config/lidar.lua deleted file mode 100644 index 1b3f41e..0000000 --- a/rusty/config/lidar.lua +++ /dev/null @@ -1,64 +0,0 @@ --- Copyright 2016 The Cartographer Authors --- --- Licensed under the Apache License, Version 2.0 (the "License"); --- you may not use this file except in compliance with the License. --- You may obtain a copy of the License at --- --- http://www.apache.org/licenses/LICENSE-2.0 --- --- Unless required by applicable law or agreed to in writing, software --- distributed under the License is distributed on an "AS IS" BASIS, --- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. --- See the License for the specific language governing permissions and --- limitations under the License. - -include "map_builder.lua" -include "trajectory_builder.lua" - -options = { - map_builder = MAP_BUILDER, - trajectory_builder = TRAJECTORY_BUILDER, - map_frame = "map", - tracking_frame = "base_link", - published_frame = "base_link", - odom_frame = "odom", - provide_odom_frame = true, - publish_frame_projected_to_2d = true, - use_odometry = false, - use_nav_sat = false, - use_landmarks = false, - num_laser_scans = 1, - num_multi_echo_laser_scans = 0, - num_subdivisions_per_laser_scan = 1, - num_point_clouds = 0, - lookup_transform_timeout_sec = 0.2, - submap_publish_period_sec = 0.3, - pose_publish_period_sec = 5e-3, - trajectory_publish_period_sec = 30e-3, - rangefinder_sampling_ratio = 1., - odometry_sampling_ratio = 1., - fixed_frame_pose_sampling_ratio = 1., - imu_sampling_ratio = 1., - landmarks_sampling_ratio = 1., -} - -MAP_BUILDER.use_trajectory_builder_2d = true - -TRAJECTORY_BUILDER_2D.min_range = 0.05 -TRAJECTORY_BUILDER_2D.max_range = 8. -TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5 -TRAJECTORY_BUILDER_2D.use_imu_data = false -TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true -TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 -TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. -TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 -TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2) --- for current lidar only 1 is good value -TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1 - -POSE_GRAPH.constraint_builder.min_score = 0.65 -POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65 -POSE_GRAPH.optimization_problem.huber_scale = 1e2 -POSE_GRAPH.optimize_every_n_nodes = 35 - -return options \ No newline at end of file diff --git a/rusty/config/location.yaml b/rusty/config/location.yaml deleted file mode 100644 index a186259..0000000 --- a/rusty/config/location.yaml +++ /dev/null @@ -1,7 +0,0 @@ -pick_up: - x: 10.0 - w: 1.0 - -drop: - x: -9.0 - w: 1.0 \ No newline at end of file diff --git a/rusty/config/rusty_nav.rviz b/rusty/config/rusty_nav.rviz deleted file mode 100644 index 6737233..0000000 --- a/rusty/config/rusty_nav.rviz +++ /dev/null @@ -1,386 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /DWA PLANNER1/Global Planner1 - Splitter Ratio: 0.5 - Tree Height: 292 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: LaserScan -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: odom - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Camera_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Camera_link_optical: - Alpha: 1 - Show Axes: false - Show Trail: false - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Holder_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LW1_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LW2_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Lidar_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Link Tree Style: Links in Alphabetic Order - RW1_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RW2_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Alpha: 1 - Marker Scale: 0.5 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.05000000074505806 - Style: Flat Squares - Topic: /scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: /map - Unreliable: false - Use Timestamp: false - Value: true - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Name: goal - Queue Size: 10 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Shape: Arrow - Topic: /move_base/current_goal - Unreliable: false - Value: true - - Class: rviz/Group - Displays: - - Alpha: 1 - Class: rviz/Polygon - Color: 25; 255; 0 - Enabled: true - Name: local footprint - Queue Size: 10 - Topic: /move_base/local_costmap/footprint - Unreliable: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: false - Enabled: true - Name: local costmap - Topic: /move_base/local_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: costmap - Draw Behind: true - Enabled: true - Name: global costmap - Topic: /move_base/global_costmap/costmap - Unreliable: false - Use Timestamp: false - Value: true - Enabled: true - Name: costmap&footprint - - Class: rviz/Camera - Enabled: false - Image Rendering: background and overlay - Image Topic: /camera/rgb/image_raw - Name: Camera - Overlay Alpha: 0.5 - Queue Size: 2 - Transport Hint: raw - Unreliable: false - Value: false - Visibility: - "": true - AMCL: true - DWA PLANNER: - "": true - Value: true - Grid: true - LOCAL: - "": true - Value: true - LaserScan: true - Map: true - RobotModel: true - TF: true - Value: true - goal: true - Zoom Factor: 1 - - Class: rviz/Group - Displays: - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: Global Planner - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /move_base/DWAPlannerROS/global_plan - Unreliable: false - Value: true - Enabled: true - Name: DWA PLANNER - - Alpha: 1 - Arrow Length: 0.30000001192092896 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz/PoseArray - Color: 255; 25; 0 - Enabled: false - Head Length: 0.07000000029802322 - Head Radius: 0.029999999329447746 - Name: AMCL - Queue Size: 10 - Shaft Length: 0.23000000417232513 - Shaft Radius: 0.009999999776482582 - Shape: Arrow (Flat) - Topic: /particlecloud - Unreliable: false - Value: false - - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz/PoseWithCovariance - Color: 255; 25; 0 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: false - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Name: PoseWithCovariance - Queue Size: 10 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Shape: Arrow - Topic: /amcl_pose - Unreliable: false - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 40.9729118347168 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: -7.642375469207764 - Y: -3.559542417526245 - Z: 8.262467384338379 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.4397964477539062 - Target Frame: <Fixed Frame> - Yaw: 4.688591003417969 - Saved: ~ -Window Geometry: - Camera: - collapsed: false - Displays: - collapsed: true - Height: 595 - Hide Left Dock: true - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000001affc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d000001af000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000150000000a00000001600ffffff000000010000010f000001bcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000001bc000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002eb00000044fc0100000002fb0000000800540069006d00650100000000000002eb000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002eb000001af00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 747 - X: 619 - Y: 27 diff --git a/rusty/launch/HomeService.launch b/rusty/launch/HomeService.launch deleted file mode 100644 index ca925f0..0000000 --- a/rusty/launch/HomeService.launch +++ /dev/null @@ -1,13 +0,0 @@ -<launch> - - - - <!-- moving to location --> - <node name="move" type="PickandDrop" pkg="rusty" output="screen"> - </node> - - <!--virtual object--> - <node name="objectspawn" type="Pickobj" pkg="rusty"> - </node> - -</launch> \ No newline at end of file diff --git a/rusty/launch/amcl.launch b/rusty/launch/amcl.launch deleted file mode 100644 index 32c2abd..0000000 --- a/rusty/launch/amcl.launch +++ /dev/null @@ -1,51 +0,0 @@ -<launch> - <!-- Arguments --> - <arg name="scan_topic" default="scan"/> - <arg name="initial_pose_x" default="0.0"/> - <arg name="initial_pose_y" default="0.0"/> - <arg name="initial_pose_a" default="0.0"/> - - <!-- AMCL --> - <node pkg="amcl" type="amcl" name="amcl"> - - <param name="min_particles" value="500"/> - <param name="max_particles" value="3000"/> - <param name="kld_err" value="0.02"/> - <param name="update_min_d" value="0.20"/> - <param name="update_min_a" value="0.20"/> - <param name="resample_interval" value="1"/> - <param name="transform_tolerance" value="0.5"/> - <param name="recovery_alpha_slow" value="0.00"/> - <param name="recovery_alpha_fast" value="0.00"/> - <param name="initial_pose_x" value="$(arg initial_pose_x)"/> - <param name="initial_pose_y" value="$(arg initial_pose_y)"/> - <param name="initial_pose_a" value="$(arg initial_pose_a)"/> - <param name="gui_publish_rate" value="50.0"/> - - <remap from="scan" to="$(arg scan_topic)"/> - <param name="laser_max_range" value="3.5"/> - <param name="laser_max_beams" value="180"/> - <param name="laser_z_hit" value="0.5"/> - <param name="laser_z_short" value="0.05"/> - <param name="laser_z_max" value="0.05"/> - <param name="laser_z_rand" value="0.5"/> - <param name="laser_sigma_hit" value="0.2"/> - <param name="laser_lambda_short" value="0.1"/> - <param name="laser_likelihood_max_dist" value="2.0"/> - <param name="laser_model_type" value="likelihood_field"/> - - <param name="odom_model_type" value="diff"/> - <param name="odom_alpha1" value="0.1"/> - <param name="odom_alpha2" value="0.1"/> - <param name="odom_alpha3" value="0.1"/> - <param name="odom_alpha4" value="0.1"/> - <param name="odom_frame_id" value="scanmatch_odom"/> - <param name="base_frame_id" value="base_link"/> - - <param name="tf_broadcast" value="true" /> - <param name="base_frame_id" value="/base_link" /> - <param name="global_frame_id" value="map" /> - <param name="odom_frame_id" value="scanmatch_odom" /> - <param name="use_map_topic" value="false" /> - </node> -</launch> diff --git a/rusty/launch/cartographer_slam.launch b/rusty/launch/cartographer_slam.launch deleted file mode 100644 index e031149..0000000 --- a/rusty/launch/cartographer_slam.launch +++ /dev/null @@ -1,19 +0,0 @@ -<?xml version="1.0" ?> - -<launch> - - <!-- Map Publishing Node --> - <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" type="cartographer_occupancy_grid_node" args="-resolution 0.01" /> - - <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/> - - <!--RVIZ--> - <arg default="true" name="gui"/> - <arg default="$(find rover)/launch/urdf.rviz" name="rvizconfig"/> - <arg default="$(find rusty_description)/urdf/rusty.xacro" name="model"/> - <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/> - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> - <node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/> - <include file="$(find rusty)/launch/server_bringup.launch"/> -</launch> \ No newline at end of file diff --git a/rusty/launch/ekf.launch b/rusty/launch/ekf.launch deleted file mode 100644 index 1d7b8da..0000000 --- a/rusty/launch/ekf.launch +++ /dev/null @@ -1,13 +0,0 @@ -<launch> - <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"> - <param name="output_frame" value="odom"/> - - <param name="freq" value="35.0"/> - <param name="sensor_timeout" value="0.75"/> - <param name="odom_used" value="true"/> - <param name="imu_used" value="true"/> - <param name="vo_used" value="false"/> - <param name="debug" value="false"/> - <param name="self_diagnose" value="false"/> - </node> - </launch> \ No newline at end of file diff --git a/rusty/launch/gazebo.launch b/rusty/launch/gazebo.launch deleted file mode 100644 index d2224ef..0000000 --- a/rusty/launch/gazebo.launch +++ /dev/null @@ -1,18 +0,0 @@ -<launch> - <arg name="initial_pose_x" default="0.0"/> - <arg name="initial_pose_y" default="0.0"/> - <arg name="initial_pose_a" default="3.14"/> - <param command="$(find xacro)/xacro $(find rusty_description)/urdf/rusty.xacro" name="robot_description"/> - <node args="-param robot_description -urdf -model rusty" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/> - <include file="$(find gazebo_ros)/launch/empty_world.launch"> - <arg name="world_name" value="$(find rusty_description)/world/house.world"/> - <arg name="paused" value="false"/> - <arg name="use_sim_time" value="true"/> - <arg name="gui" value="true"/> - <arg name="headless" value="false"/> - <arg name="debug" value="false"/> - - - </include> - -</launch> diff --git a/rusty/launch/generate_trajectory.launch b/rusty/launch/generate_trajectory.launch deleted file mode 100644 index 4132690..0000000 --- a/rusty/launch/generate_trajectory.launch +++ /dev/null @@ -1,13 +0,0 @@ -<launch> - - <!-- The path_ekf_plotter node --> - <node name="path_ekf_plotter" type="path_ekf_plotter.py" pkg="odom_to_trajectory"> - </node> - - <!-- The path_odom_plotter node --> - <node name="path_odom_plotter" type="path_odom_plotter.py" pkg="odom_to_trajectory"> - </node> - - - -</launch> diff --git a/rusty/launch/kartoSLAM.launch b/rusty/launch/kartoSLAM.launch deleted file mode 100644 index cd38fd7..0000000 --- a/rusty/launch/kartoSLAM.launch +++ /dev/null @@ -1,25 +0,0 @@ -<launch> - <!-- Arguments --> - <arg name="model" default="$(find rusty_description)/urdf/rusty.xacro"/> - <arg name="configuration_basename" default="/scan"/> - <arg name="set_base_frame" default="base_link"/> - <arg name="set_odom_frame" default="odom"/> - <arg name="set_map_frame" default="map"/> - - <!--static transform--> - - - <!-- slam_karto --> - <node pkg="slam_karto" type="slam_karto" name="slam_karto" output="screen"> - <rosparam command="load" file="$(find rusty)/config/karto_slam.yaml" /> - </node> - - <!--RVIZ--> - <arg default="$(find rusty)/config/rusty_nav.rviz" name="rvizconfig"/> - <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/> - - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> - <node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/> - -</launch> diff --git a/rusty/launch/localization.launch b/rusty/launch/localization.launch deleted file mode 100644 index 78285eb..0000000 --- a/rusty/launch/localization.launch +++ /dev/null @@ -1,72 +0,0 @@ -<launch> - <!-- Arguments for launch file with defaults provided --> - <arg name="database_path" default="/home/siddarth/rosworkspace/src/rusty/maps/rtabmap.db"/> - <arg name="rgb_topic" default="/camera/rgb/image_raw"/> - <arg name="depth_topic" default="/camera/depth/image_raw"/> - <arg name="camera_info_topic" default="/camera/rgb/camera_info"/> - - - <!-- Mapping Node --> - <group ns="rtabmap"> - <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" > - - <!-- Basic RTAB-Map Parameters --> - <param name="database_path" type="string" value="$(arg database_path)"/> - <param name="frame_id" type="string" value="base_link"/> - <param name="odom_frame_id" type="string" value="odom"/> - <param name="subscribe_depth" type="bool" value="true"/> - <param name="subscribe_scan" type="bool" value="true"/> - - <!-- RTAB-Map Inputs --> - <remap from="scan" to="/scan"/> - <remap from="rgb/image" to="$(arg rgb_topic)"/> - <remap from="depth/image" to="$(arg depth_topic)"/> - <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> - - <!-- RTAB-Map Output --> - <remap from="grid_map" to="/map"/> - - <!-- Rate (Hz) at which new nodes are added to map --> - <param name="Rtabmap/DetectionRate" type="string" value="1"/> - - <!-- 2D SLAM --> - <param name="Reg/Force3DoF" type="string" value="true"/> - - <!-- Loop Closure Detection --> - <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE --> - <param name="Kp/DetectorStrategy" type="string" value="3"/> - - <!-- Maximum visual words per image (bag-of-words) --> - <param name="Kp/MaxFeatures" type="string" value="400"/> - - <!-- Used to extract more or less SURF features --> - <param name="SURF/HessianThreshold" type="string" value="100"/> - - <!-- Loop Closure Constraint --> - <!-- 0=Visual, 1=ICP (1 requires scan)--> - <param name="Reg/Strategy" type="string" value="0"/> - - <!-- Minimum visual inliers to accept loop closure --> - <param name="Vis/MinInliers" type="string" value="15"/> - - <!-- Set to false to avoid saving data when robot is not moving --> - <!--param name="Mem/NotLinkedNodesKept" type="string" value="false"/--> - - <param name="Mem/IncrementalMemory" type="string" value="false"/> - </node> - <!-- visualization with rtabmapviz --> - <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen"> - <param name="subscribe_depth" type="bool" value="true"/> - <param name="subscribe_scan" type="bool" value="true"/> - <param name="frame_id" type="string" value="base_link"/> - - <remap from="rgb/image" to="$(arg rgb_topic)"/> - <remap from="depth/image" to="$(arg depth_topic)"/> - <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> - <remap from="scan" to="/scan"/> - <remap from="odom" to="/odom"/> - </node> - </group> - <node pkg="tf" type="static_transform_publisher" name="base_to_camera" args="0 0 0 -1.57 0 -1.57 /base_link /Camera_link_optical 100"/> - <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0 0 0 0 0 0 /base_link /Lidar_1 100"/> -</launch> diff --git a/rusty/launch/mapping.launch b/rusty/launch/mapping.launch deleted file mode 100644 index 16a422c..0000000 --- a/rusty/launch/mapping.launch +++ /dev/null @@ -1,70 +0,0 @@ -<launch> - <!-- Arguments for launch file with defaults provided --> - <arg name="database_path" default="/home/siddarth/rosworkspace/src/rusty/maps/rtabmap.db"/> - <arg name="rgb_topic" default="/camera/rgb/image_raw"/> - <arg name="depth_topic" default="/camera/depth/image_raw"/> - <arg name="camera_info_topic" default="/camera/rgb/camera_info"/> - - - <!-- Mapping Node --> - <group ns="rtabmap"> - <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start"> - - <!-- Basic RTAB-Map Parameters --> - <param name="database_path" type="string" value="$(arg database_path)"/> - <param name="frame_id" type="string" value="base_link"/> - <param name="odom_frame_id" type="string" value="odom"/> - <param name="subscribe_depth" type="bool" value="true"/> - <param name="subscribe_scan" type="bool" value="true"/> - - <!-- RTAB-Map Inputs --> - <remap from="scan" to="/scan"/> - <remap from="rgb/image" to="$(arg rgb_topic)"/> - <remap from="depth/image" to="$(arg depth_topic)"/> - <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> - - <!-- RTAB-Map Output --> - <remap from="grid_map" to="/map"/> - - <!-- Rate (Hz) at which new nodes are added to map --> - <param name="Rtabmap/DetectionRate" type="string" value="1"/> - - <!-- 2D SLAM --> - <param name="Reg/Force3DoF" type="string" value="true"/> - - <!-- Loop Closure Detection --> - <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE --> - <param name="Kp/DetectorStrategy" type="string" value="3"/> - - <!-- Maximum visual words per image (bag-of-words) --> - <param name="Kp/MaxFeatures" type="string" value="400"/> - - <!-- Used to extract more or less SURF features --> - <param name="SURF/HessianThreshold" type="string" value="100"/> - - <!-- Loop Closure Constraint --> - <!-- 0=Visual, 1=ICP (1 requires scan)--> - <param name="Reg/Strategy" type="string" value="0"/> - - <!-- Minimum visual inliers to accept loop closure --> - <param name="Vis/MinInliers" type="string" value="15"/> - - <!-- Set to false to avoid saving data when robot is not moving --> - <param name="Mem/NotLinkedNodesKept" type="string" value="false"/> - </node> - <!-- visualization with rtabmapviz --> - <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen"> - <param name="subscribe_depth" type="bool" value="true"/> - <param name="subscribe_scan" type="bool" value="true"/> - <param name="frame_id" type="string" value="base_link"/> - - <remap from="rgb/image" to="$(arg rgb_topic)"/> - <remap from="depth/image" to="$(arg depth_topic)"/> - <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/> - <remap from="scan" to="/scan"/> - <remap from="odom" to="/odom"/> - </node> - </group> - <node pkg="tf" type="static_transform_publisher" name="base_to_camera" args="0 0 0 -1.57 0 -1.57 /base_link /Camera_link_optical 100"/> - <node pkg="tf" type="static_transform_publisher" name="base_to_laser" args="0 0 0 0 0 0 /base_link /Lidar_1 100"/> -</launch> diff --git a/rusty/launch/move_base.launch b/rusty/launch/move_base.launch deleted file mode 100644 index e0c7448..0000000 --- a/rusty/launch/move_base.launch +++ /dev/null @@ -1,33 +0,0 @@ -<launch> - <!-- Arguments --> - - <arg name="cmd_vel_topic" default="/cmd_vel" /> - <arg name="odom_topic" default="odom" /> - <arg name="move_forward_only" default="false"/> - - <!-- move_base --> - <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen"> - <!--<param name="base_global_planner" value="navfn/NavfnROS" /> - <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/> - <rosparam file="$(find rusty)/params/costmap_common_params.yaml" command="load" ns="global_costmap" /> - <rosparam file="$(find rusty)/params/costmap_common_params.yaml" command="load" ns="local_costmap" /> - <rosparam file="$(find rusty)/params/local_costmap_params.yaml" command="load" /> - <rosparam file="$(find rusty)/params/global_costmap_params.yaml" command="load" /> - <rosparam file="$(find rusty)/params/move_base_params.yaml" command="load" /> - <rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" />--> - - <!-- ROBOT MOVE BASE --> - <param name="base_global_planner" value="navfn/NavfnROS" /> - <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS"/> - <rosparam file="$(find rusty)/robot_param/costmap_common_params.yaml" command="load" ns="global_costmap" /> - <rosparam file="$(find rusty)/robot_param/costmap_common_params.yaml" command="load" ns="local_costmap" /> - <rosparam file="$(find rusty)/robot_param/local_costmap_params.yaml" command="load" /> - <rosparam file="$(find rusty)/robot_param/global_costmap_params.yaml" command="load" /> - <rosparam file="$(find rusty)/robot_param/move_base_params.yaml" command="load" /> - <rosparam file="$(find rusty)/robot_param/dwa_local_planner_params.yaml" command="load" /> - <!--rosparam file="$(find rusty)/params/dwa_local_planner_params.yaml" command="load" /--> - <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/> - <remap from="odom" to="scanmatch_odom"/> - - </node> -</launch> diff --git a/rusty/launch/navigation.launch b/rusty/launch/navigation.launch deleted file mode 100644 index 8927f7b..0000000 --- a/rusty/launch/navigation.launch +++ /dev/null @@ -1,46 +0,0 @@ - -<launch> - <!-- Arguments --> - - - <arg name="exploration" default="false"/> - <arg name="open_rviz" default="true"/> - <arg name="move_forward_only" default="false"/> - - <!--MAP SERVER NODE--> - <arg name="map_file" default="$(find rusty)/maps/studyroom.yaml"/> - <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" > - <param name="frame_id" value="map"/> - </node> - - <group if="$(arg exploration)"> - <node name="cartographer_occupancy_grid_node" pkg="cartographer_ros" type="cartographer_occupancy_grid_node" args="-resolution 0.01" /> - </group> - - - <!-- AMCL --> - <include file="$(find rusty)/launch/amcl.launch"/> - <include file="$(find rusty)/launch/server_bringup.launch"/> - - <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0.1 0 0 0 0 base_link laser 100"/> - <node pkg="tf" type="static_transform_publisher" name="map_base_broadcaster" args="0 0 0.10 0 0 0 map base_link 100"/> - - - <!-- move_base --> - <include file="$(find rusty)/launch/move_base.launch"> - - <arg name="move_forward_only" value="$(arg move_forward_only)"/> - </include> - <!--<rosparam command="load" file="$(find rusty)/config/location.yaml" />--> - <!-- rviz --> - - <arg default="$(find rusty)/config/rusty_nav.rviz" name="rvizconfig"/> - <arg default="$(find rusty_description)/urdf/rusty.xacro" name="model"/> - <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/> - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> - - <node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/> - - -</launch> diff --git a/rusty/launch/odomtransform.launch b/rusty/launch/odomtransform.launch deleted file mode 100644 index 886eb02..0000000 --- a/rusty/launch/odomtransform.launch +++ /dev/null @@ -1,8 +0,0 @@ -<launch> - - <node name="odomtransformer" pkg="lidarbot" type="odomtransformer.py" output="screen"> - <param name="odom_input" value="/scanmatch_odom" /> - <param name="tf_output" value="/base_link" /> - </node> - -</launch> diff --git a/rusty/launch/robot_localize.launch b/rusty/launch/robot_localize.launch deleted file mode 100644 index 37cdee8..0000000 --- a/rusty/launch/robot_localize.launch +++ /dev/null @@ -1,55 +0,0 @@ -<launch> - <arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/> - <arg name="base_frame" default="base_link"/> - <arg name="odom_frame" default="base_link"/> - <!-- Change below!! Used to be true. --> - <arg name="pub_map_odom_transform" default="false"/> - <arg name="scan_subscriber_queue_size" default="5"/> - <arg name="scan_topic" default="scan"/> - <arg name="map_size" default="2048"/> - <arg name="pub_odometry" default="true"/> - - <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> - <param name="pub_odometry" value="$(arg pub_odometry)"/> - - <!-- Frame names --> - <remap from="map" to="mapcurrent" /> - <param name="map_frame" value="mapcurrent_frame" /> - <param name="base_frame" value="$(arg base_frame)" /> - <param name="odom_frame" value="$(arg odom_frame)" /> - - <!-- Tf use --> - <param name="use_tf_scan_transformation" value="true"/> - <param name="use_tf_pose_start_estimate" value="false"/> - <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/> - - <!-- Map size / start point --> - <param name="map_resolution" value="0.050"/> - <param name="map_size" value="$(arg map_size)"/> - <param name="map_start_x" value="0.5"/> - <param name="map_start_y" value="0.5" /> - <param name="map_multi_res_levels" value="2" /> - - <!-- Map update parameters --> - <param name="update_factor_free" value="0.4"/> - <param name="update_factor_occupied" value="0.9" /> - <param name="map_update_distance_thresh" value="0.4"/> - <param name="map_update_angle_thresh" value="0.06" /> - <param name="laser_z_min_value" value = "-1.0" /> - <param name="laser_z_max_value" value = "1.0" /> - - <!-- Advertising config --> - <param name="advertise_map_service" value="true"/> - - <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/> - <param name="scan_topic" value="$(arg scan_topic)"/> - - <!-- Debug parameters --> - <!-- - <param name="output_timing" value="false"/> - <param name="pub_drawings" value="true"/> - <param name="pub_debug_output" value="true"/> - --> - <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" /> - </node> -</launch> \ No newline at end of file diff --git a/rusty/launch/robot_spawn.launch b/rusty/launch/robot_spawn.launch deleted file mode 100644 index adaaca8..0000000 --- a/rusty/launch/robot_spawn.launch +++ /dev/null @@ -1,23 +0,0 @@ -<launch> - <param command="$(find xacro)/xacro $(find rusty_description)/urdf/rusty.xacro" name="robot_description"/> - <node args="-param robot_description -urdf -model rusty" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/> - <include file="$(find gazebo_ros)/launch/empty_world.launch"> - <arg name="paused" value="false"/> - <arg name="use_sim_time" value="true"/> - <arg name="gui" value="true"/> - <arg name="headless" value="false"/> - <arg name="debug" value="false"/> - </include> - - <include file="$(find rusty)/launch/ekf.launch"/> - <include file="$(find rusty)/launch/generate_trajectory.launch"/> - - <arg default="$(find rusty_description)/urdf/rusty.xacro" name="model"/> - <arg default="true" name="gui"/> - <arg default="$(find rusty_description)/launch/rusty_display.rviz" name="rvizconfig"/> - <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/> - <param name="use_gui" value="$(arg gui)"/> - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> - <node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/> -</launch> diff --git a/rusty/launch/rusty_slam.launch b/rusty/launch/rusty_slam.launch deleted file mode 100644 index b8407a7..0000000 --- a/rusty/launch/rusty_slam.launch +++ /dev/null @@ -1,71 +0,0 @@ -<launch> - <!-- Arguments --> - <arg name="model" default="$(find rusty_description)/urdf/rusty.xacro"/> - <arg name="configuration_basename" default="/scan"/> - - <arg name="odom_frame" default="base_link"/> - <arg name="base_frame" default="base_link"/> - <arg name="scan_subscriber_queue_size" default="5"/> - <arg name="scan_topic" default="scan"/> - <arg name="map_size" default="2048"/> - <arg name="pub_map_odom_transform" default="true"/> - - <arg name="tf_map_scanmatch_transform_frame_name" default="scan"/> - - <!--static transform--> - <node pkg="tf" type="static_transform_publisher" name="base_to_laser_broadcaster" args="0 0 0 0 0 0 base_link laser 100"/> - <node pkg="tf" type="static_transform_publisher" name="base_to_map_broadcaster" args="0 0 0 0 0 0 map base_link 100"/> - <node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map odom 100"/>--> - - <!-- Hector mapping --> - <node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen"> - <!-- Frame names --> - <param name="map_frame" value="map" /> - <param name="odom_frame" value="$(arg odom_frame)" /> - <param name="base_frame" value="$(arg base_frame)" /> - - <!-- Tf use --> - <param name="use_tf_scan_transformation" value="true"/> - <param name="use_tf_pose_start_estimate" value="false"/> - <param name="pub_map_scanmatch_transform" value="true" /> - <param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/> - <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" /> - - <!-- Map size / start point --> - <param name="map_resolution" value="0.050"/> - <param name="map_size" value="$(arg map_size)"/> - <param name="map_start_x" value="0.5"/> - <param name="map_start_y" value="0.5" /> - <param name="map_multi_res_levels" value="2" /> - - <!-- Map update parameters --> - <param name="update_factor_free" value="0.05"/> - <param name="update_factor_occupied" value="0.9" /> - <param name="map_update_distance_thresh" value="0.1"/> - <param name="map_update_angle_thresh" value="0.04" /> - <param name="map_pub_period" value="2" /> - <param name="laser_z_min_value" value= "-0.1" /> - <param name="laser_z_max_value" value= "0.1" /> - <param name="laser_min_dist" value="0.12" /> - <param name="laser_max_dist" value="3.5" /> - - <!-- Advertising config --> - <param name="advertise_map_service" value="true"/> - <param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/> - <param name="scan_topic" value="$(arg scan_topic)"/> - - <!-- Debug parameters --> - <!-- - <param name="output_timing" value="false"/> - <param name="pub_drawings" value="true"/> - <param name="pub_debug_output" value="true"/> - --> - </node> - <!--RVIZ--> - <arg default="true" name="gui"/> - <arg default="$(find rover)/launch/urdf.rviz" name="rvizconfig"/> - <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/> - - <node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/> - -</launch> \ No newline at end of file diff --git a/rusty/launch/server_bringup.launch b/rusty/launch/server_bringup.launch deleted file mode 100644 index 087a068..0000000 --- a/rusty/launch/server_bringup.launch +++ /dev/null @@ -1,14 +0,0 @@ -<?xml version="1.0" ?> - -<launch> - - <!-- Start Google Cartographer node with custom configuration file--> - <node name="cartographer_node" pkg="cartographer_ros" type="cartographer_node" args=" - -configuration_directory $(find rusty)/config - -configuration_basename lidar.lua" - output="screen"> - </node> - - <node name="odom_publisher" pkg="rusty" type="odom_pub.py" output="screen"/> - -</launch> diff --git a/rusty/launch/teleop_key.launch b/rusty/launch/teleop_key.launch deleted file mode 100644 index b113b78..0000000 --- a/rusty/launch/teleop_key.launch +++ /dev/null @@ -1,4 +0,0 @@ -<launch> -<node pkg="rusty" type="teleop_key.py" name="rover_control" output="screen"> - </node> -</launch> \ No newline at end of file diff --git a/rusty/maps/first_slam.pgm b/rusty/maps/first_slam.pgm deleted file mode 100644 index 1003760..0000000 --- a/rusty/maps/first_slam.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: map_saver.cpp 0.050 m/pix -2048 2048 -255 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-resolution: 0.050000 -origin: [-25.915743, -10.368449, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/rusty/maps/map.pgm b/rusty/maps/map.pgm deleted file mode 100644 index d149d9f..0000000 --- a/rusty/maps/map.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: map_saver.cpp 0.010 m/pix -1498 974 -255 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\ No newline at end of file diff --git a/rusty/maps/map.yaml b/rusty/maps/map.yaml deleted file mode 100644 index e2dcbb7..0000000 --- a/rusty/maps/map.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: ./map.pgm -resolution: 0.050000 -origin: [-6.047272, -5.500381, 0.000000] -negate: 0 -occupied_thresh: 0.75 -free_thresh: 0.196 - diff --git a/rusty/maps/studyroom.pgm b/rusty/maps/studyroom.pgm deleted file mode 100644 index 83657c4..0000000 --- a/rusty/maps/studyroom.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: map_saver.cpp 0.010 m/pix -699 730 -255 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\ No newline at end of file diff --git a/rusty/maps/studyroom.yaml b/rusty/maps/studyroom.yaml deleted file mode 100644 index 59085f6..0000000 --- a/rusty/maps/studyroom.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: ./studyroom.pgm -resolution: 0.010000 -origin: [-1.132683, -5.940859, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/rusty/package.xml b/rusty/package.xml deleted file mode 100644 index 2e9c14a..0000000 --- a/rusty/package.xml +++ /dev/null @@ -1,36 +0,0 @@ -<?xml version="1.0"?> -<package format="2"> - <name>rusty</name> - <version>0.0.0</version> - <description>The rusty package</description> - - - <maintainer email="siddarth.dayasagar@gmail.com">siddarth</maintainer> - - - - <license>MIT</license> - <exec_depend>message_runtime</exec_depend> - - <buildtool_depend>catkin</buildtool_depend> - <build_depend>actionlib</build_depend> - <build_depend>cv_bridge</build_depend> - <build_depend>message_generation</build_depend> - <build_depend>roscpp</build_depend> - <build_depend>rospy</build_depend> - <build_export_depend>actionlib</build_export_depend> - <build_export_depend>cv_bridge</build_export_depend> - <build_export_depend>roscpp</build_export_depend> - <build_export_depend>rospy</build_export_depend> - <exec_depend>actionlib</exec_depend> - <exec_depend>cv_bridge</exec_depend> - <exec_depend>roscpp</exec_depend> - <exec_depend>rospy</exec_depend> - - - - <export> - <!-- Other tools can request additional information be placed here --> - - </export> -</package> diff --git a/rusty/params/base_local_planner.yaml b/rusty/params/base_local_planner.yaml deleted file mode 100644 index 60405e3..0000000 --- a/rusty/params/base_local_planner.yaml +++ /dev/null @@ -1,23 +0,0 @@ -controller_frequency: 10 - -TrajectoryPlannerROS: - max_vel_x: 1.0 - min_vel_x: -0.1 - max_vel_theta: 1.57 - - min_in_place_vel_theta: 0.314 - - acc_lim_theta: 3.14 - acc_lim_x: 2.0 - acc_lim_y: 2.0 - - sim_time: 1.0 - - vx_samples: 5.0 - vtheta_samples: 10.0 - - pdist_scale: 0.6 #0.6 - gdist_scale: 0.8 #0.8 - occdist_scale: 0.02 - - holonomic_robot: false \ No newline at end of file diff --git a/rusty/params/costmap_common_params.yaml b/rusty/params/costmap_common_params.yaml deleted file mode 100644 index c2acde7..0000000 --- a/rusty/params/costmap_common_params.yaml +++ /dev/null @@ -1,12 +0,0 @@ -obstacle_range: 4.0 -raytrace_range: 3.5 - -#footprint: [[0.250, 0.300], [-0.250, 0.300], [-0.250, -0.300], [0.250, -0.300]] -robot_radius: 0.380 - -inflation_radius: 0.6 -cost_scaling_factor: 3.0 - -map_type: costmap -observation_sources: scan -scan: {sensor_frame: Lidar_1, data_type: LaserScan, topic: scan, marking: true, clearing: true} diff --git a/rusty/params/dwa_local_planner_params.yaml b/rusty/params/dwa_local_planner_params.yaml deleted file mode 100644 index 4a6cbd8..0000000 --- a/rusty/params/dwa_local_planner_params.yaml +++ /dev/null @@ -1,47 +0,0 @@ -DWAPlannerROS: - -# Robot Configuration Parameters - max_vel_x: 0.35 - min_vel_x: -0.20 - - max_vel_y: 0.0 - min_vel_y: 0.0 - -# The velocity when robot is moving in a straight line - max_vel_trans: 0.35 - min_vel_trans: -0.25 - - max_vel_theta: 2.8 - min_vel_theta: 1.5 - - acc_lim_x: 2.5 - acc_lim_y: 0.0 - acc_lim_theta: 3.2 - -# Goal Tolerance Parametes - xy_goal_tolerance: 0.05 - yaw_goal_tolerance: 0.17 - latch_xy_goal_tolerance: false - -# Forward Simulation Parameters - sim_time: 1.4 - vx_samples: 20 - vy_samples: 0 - vth_samples: 40 - controller_frequency: 10.0 - -# Trajectory Scoring Parameters - path_distance_bias: 25.0 - goal_distance_bias: 10.0 - occdist_scale: 0.02 - forward_point_distance: 0.325 - stop_time_buffer: 0.2 - scaling_speed: 0.25 - max_scaling_factor: 0.2 - -# Oscillation Prevention Parameters - oscillation_reset_dist: 0.05 - -# Debugging - publish_traj_pc : true - publish_cost_grid_pc: true diff --git a/rusty/params/global_costmap_params.yaml b/rusty/params/global_costmap_params.yaml deleted file mode 100644 index c6bafdf..0000000 --- a/rusty/params/global_costmap_params.yaml +++ /dev/null @@ -1,10 +0,0 @@ -global_costmap: - global_frame: map - robot_base_frame: base_link - - update_frequency: 10.0 - publish_frequency: 10.0 - transform_tolerance: 0.5 - - static_map: true - diff --git a/rusty/params/local_costmap_params.yaml b/rusty/params/local_costmap_params.yaml deleted file mode 100644 index 9b6e8d4..0000000 --- a/rusty/params/local_costmap_params.yaml +++ /dev/null @@ -1,14 +0,0 @@ -local_costmap: - global_frame: odom - robot_base_frame: base_link - - update_frequency: 10.0 - publish_frequency: 10.0 - transform_tolerance: 0.5 - - static_map: false - rolling_window: true - width: 4 - height: 4 - resolution: 0.05 - diff --git a/rusty/params/move_base_params.yaml b/rusty/params/move_base_params.yaml deleted file mode 100644 index d4d706a..0000000 --- a/rusty/params/move_base_params.yaml +++ /dev/null @@ -1,9 +0,0 @@ -shutdown_costmaps: false -controller_frequency: 10.0 -planner_patience: 5.0 -controller_patience: 15.0 -conservative_reset_dist: 3.0 -planner_frequency: 10.0 -oscillation_timeout: 10.0 -oscillation_distance: 0.2 - diff --git a/rusty/robot_param/base_local_planner.yaml b/rusty/robot_param/base_local_planner.yaml deleted file mode 100644 index 536d893..0000000 --- a/rusty/robot_param/base_local_planner.yaml +++ /dev/null @@ -1,27 +0,0 @@ -TrajectoryPlannerROS: - -# Robot Configuration Parameters - max_vel_x: 0.5 - min_vel_x: -0.3 - - max_vel_theta: 1.0 - min_vel_theta: -1.0 - min_in_place_vel_theta: 1.0 - - acc_lim_x: 1.0 - acc_lim_y: 0.0 - acc_lim_theta: 0.6 - -# Goal Tolerance Parameters - xy_goal_tolerance: 0.10 - yaw_goal_tolerance: 0.05 - -# Differential-drive robot configuration - holonomic_robot: false - -# Forward Simulation Parameters - sim_time: 0.8 - vx_samples: 18 - vtheta_samples: 20 - sim_granularity: 0.05 - diff --git a/rusty/robot_param/costmap_common_params.yaml b/rusty/robot_param/costmap_common_params.yaml deleted file mode 100644 index 7dee3ea..0000000 --- a/rusty/robot_param/costmap_common_params.yaml +++ /dev/null @@ -1,14 +0,0 @@ - -obstacle_range: 4.5 -raytrace_range: 4.0 - -footprint: [[0.300, 0.250], [-0.300, 0.250], [-0.300, -0.250], [0.300, -0.250]] -#robot_radius: 0.500 - -inflation_radius: 3.0 - -cost_scaling_factor: 5.0 - -map_type: costmap -observation_sources: scan -scan: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: true} diff --git a/rusty/robot_param/dwa_local_planner_params.yaml b/rusty/robot_param/dwa_local_planner_params.yaml deleted file mode 100644 index 381adb1..0000000 --- a/rusty/robot_param/dwa_local_planner_params.yaml +++ /dev/null @@ -1,48 +0,0 @@ -DWAPlannerROS: - -# Robot Configuration Parameters - max_vel_x: 0.4 - min_vel_x: -0.7 - - max_vel_y: 0.0 - min_vel_y: 0.0 - -# The velocity when robot is moving in a straight line - max_vel_trans: 0.2 - min_vel_trans: 0.1 - - max_vel_theta: 3.5 - min_vel_theta: -0.4 - - acc_lim_x: 1.5 - acc_lim_y: 0.0 - acc_lim_theta: 6.0 - -# Goal Tolerance Parametes - xy_goal_tolerance: 0.10 - yaw_goal_tolerance: 0.17 - latch_xy_goal_tolerance: false - -# Forward Simulation Parameters - sim_time: 10.0 - vx_samples: 20 - vy_samples: 0 - vth_samples: 40 - controller_frequency: 10.0 - -# Trajectory Scoring Parameters - path_distance_bias: 5.0 - goal_distance_bias: 5.0 - occdist_scale: 0.02 - forward_point_distance: 0.325 - stop_time_buffer: 0.1 - scaling_speed: 0.25 - max_scaling_factor: 0.2 - -# Oscillation Prevention Parameters - oscillation_reset_dist: 0.05 - -# Debugging - publish_traj_pc : true - publish_cost_grid_pc: true - diff --git a/rusty/robot_param/global_costmap_params.yaml b/rusty/robot_param/global_costmap_params.yaml deleted file mode 100644 index c6bafdf..0000000 --- a/rusty/robot_param/global_costmap_params.yaml +++ /dev/null @@ -1,10 +0,0 @@ -global_costmap: - global_frame: map - robot_base_frame: base_link - - update_frequency: 10.0 - publish_frequency: 10.0 - transform_tolerance: 0.5 - - static_map: true - diff --git a/rusty/robot_param/local_costmap_params.yaml b/rusty/robot_param/local_costmap_params.yaml deleted file mode 100644 index 682392d..0000000 --- a/rusty/robot_param/local_costmap_params.yaml +++ /dev/null @@ -1,14 +0,0 @@ -local_costmap: - global_frame: odom - robot_base_frame: base_link - - update_frequency: 10.0 - publish_frequency: 10.0 - transform_tolerance: 0.5 - - static_map: false - rolling_window: true - width: 3 - height: 3 - resolution: 0.05 - diff --git a/rusty/robot_param/move_base_params.yaml b/rusty/robot_param/move_base_params.yaml deleted file mode 100644 index dae29f9..0000000 --- a/rusty/robot_param/move_base_params.yaml +++ /dev/null @@ -1,9 +0,0 @@ -shutdown_costmaps: false -controller_frequency: 5.0 -planner_patience: 5.0 -controller_patience: 15.0 -conservative_reset_dist: 3.0 -planner_frequency: 5.0 -oscillation_timeout: 10.0 -oscillation_distance: 0.2 -recovery_behaviour: true \ No newline at end of file diff --git a/rusty/scripts/add_marker.sh b/rusty/scripts/add_marker.sh deleted file mode 100644 index 09ff7d9..0000000 --- a/rusty/scripts/add_marker.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh -xterm -e " roslaunch rusty gazebo.launch " & -sleep 5 -xterm -e " roslaunch rusty navigation.launch" & -sleep 5 -xterm -e " rosrun rusty Pickobj" & -sleep 5 \ No newline at end of file diff --git a/rusty/scripts/gui.py b/rusty/scripts/gui.py deleted file mode 100644 index ee770f0..0000000 --- a/rusty/scripts/gui.py +++ /dev/null @@ -1,101 +0,0 @@ -import rospy -import os -from tkinter import * -from tkinter import ttk -from tkinter import messagebox -import cv2 -import subprocess as sub -import signal - - -class Gui: - - def __init__(self,master): - - self.main=master - self.command="clear" - self.status="false" - self.title=Label(self.main, text='RUSTY', font=("Times", "68", "bold")) - self.title.place(relx=0.5,rely=0.2,anchor=CENTER) - self.tagline=Label(self.main, text='Service robot', font=("Times", "18", "bold")) - self.tagline.place(relx=0.5,rely=0.3,anchor=CENTER) - self.startbutton=Button(self.main, text='START HOME SERVICE', command=self.startcore, font=("Times", "15", "bold")) - self.menu=Button(self.main, text='MENU', command=self.display, font=("Times", "15", "bold")) - self.menu.place(relx=0.50, rely=0.90, anchor=CENTER) - self.exit=Button(self.main, text='Close', command=self.close, font=("Times", "15", "bold")) - #self.exit.place(relx=0.70, rely=0.90, anchor=CENTER) - #Gazebo - self.gazebo=Button(self.main, text='GAZEBO', command=self.viewworld, font=("Times", "15", "bold")) - #SLAM - self.slam=Button(self.main, text='SLAM', command=self.SLAM, font=("Times", "15", "bold")) - #RVIZ - self.rviz=Button(self.main, text='RVIZ', command=self.viewrviz, font=("Times", "15", "bold")) - - #navigation - self.nav=Button(self.main, text='NAVIGATION', command=self.naavigation, font=("Times", "15", "bold")) - def startcore(self): - - if self.status==True: - os.system("gnome terminal -e roscore") - - - def display(self): - """ - Displaying options for user to see - """ - - self.menu.place_forget() - - self.tagline.configure(text="CONTROL PANEL") - self.gazebo.place(relx=0.2,rely=0.50,anchor=CENTER) - self.exit.place(relx=0.70, rely=0.90, anchor=CENTER) - self.slam.place(relx=0.20, rely=0.60, anchor=CENTER) - self.rviz.place(relx=0.20,rely=0.70,anchor=CENTER) - self.nav.place(relx=0.20,rely=0.80,anchor=CENTER) - def viewworld(self): - """ - Function to view different gazebo worlds - - TASK:= add a radio button for the worlds present - 1.empty.world - 2.house.world - 3.godown.world - - @chevula haarvish - """ - world_name="empty" - os.system("roslaunch rusty gazebo.launch world_name:={}".format(world_name)) - - def viewrviz(self): - os.system("roslaunch rusty_description display.launch") - - def SLAM(self): - os.system("cd ~/rosworkspace/src/Rusty/rusty/scripts") - os.system("chmod +x test_slam.sh") - os.system("./test_slam.sh") - - def naavigation(self): - os.system("cd ~/rosworkspace/src/Rusty/rusty/scripts") - os.system("chmod +x navigation.sh") - os.system("./navigation.sh") - messagebox.showinfo(title='NAVIGATION TEST', message='Please use 2D nav to move the robot in the world') - - """ - @chevulahaarvish - - call me when you see this - """ - - - def close(self): - signal.signal(signal.SIGINT, exit(1)) - - -if __name__=="__main__": - root=Tk() - root.title("RUSTY") - root.geometry("500x500") - - myrobot=Gui(root) - root.mainloop() - diff --git a/rusty/scripts/homeservice.sh b/rusty/scripts/homeservice.sh deleted file mode 100644 index 72359a0..0000000 --- a/rusty/scripts/homeservice.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/bin/sh -xterm -e " roslaunch rusty gazebo.launch " & -sleep 7 -xterm -e " roslaunch rusty navigation.launch" & -sleep 5 -xterm -e " rosrun rusty PickandDrop" & -sleep 5 -xterm -e " rosrun rusty Pickobj" & -sleep 5 \ No newline at end of file diff --git a/rusty/scripts/navigation.sh b/rusty/scripts/navigation.sh deleted file mode 100644 index 0ff395c..0000000 --- a/rusty/scripts/navigation.sh +++ /dev/null @@ -1,5 +0,0 @@ -#!/bin/sh -xterm -e " roslaunch rusty gazebo.launch " & -sleep 5 -xterm -e " roslaunch rusty navigation.launch" & -sleep 5 diff --git a/rusty/scripts/pick_object.sh b/rusty/scripts/pick_object.sh deleted file mode 100644 index 041dad2..0000000 --- a/rusty/scripts/pick_object.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/sh -xterm -e " roslaunch rusty gazebo.launch " & -sleep 5 -xterm -e " roslaunch rusty navigation.launch" & -sleep 5 -xterm -e " rosrun rusty PickandDrop" & -sleep 5 diff --git a/rusty/scripts/test.sh b/rusty/scripts/test.sh deleted file mode 100644 index d7190ad..0000000 --- a/rusty/scripts/test.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/sh -xterm -e " gazebo " & -sleep 5 -xterm -e " source /opt/ros/kinetic/setup.bash; roscore" & -sleep 5 -xterm -e " rosrun rviz rviz" \ No newline at end of file diff --git a/rusty/scripts/test_slam.sh b/rusty/scripts/test_slam.sh deleted file mode 100644 index 8effc07..0000000 --- a/rusty/scripts/test_slam.sh +++ /dev/null @@ -1,6 +0,0 @@ -#!/bin/sh -xterm -e " roslaunch rusty gazebo.launch " & -sleep 5 -xterm -e " roslaunch rusty kartoSLAM.launch" & -sleep 5 -xterm -e " roslaunch rusty teleop_key.launch" diff --git a/rusty/src/odom_pub.py b/rusty/src/odom_pub.py deleted file mode 100644 index f731d41..0000000 --- a/rusty/src/odom_pub.py +++ /dev/null @@ -1,83 +0,0 @@ -#!/usr/bin/python - -# This scripts takes the odom from TF published by Cartographer and publishes it as an individual topic. Only required when used with real robot. - -import rospy -from nav_msgs.msg import Odometry -from geometry_msgs.msg import Pose, Twist -import tf - -#Node to handle calculating and publishing odometry -class odometry_publisher(): - def __init__(self): - #initialize the node - rospy.init_node('odom_publisher') - - # Transform listener - self.listener = tf.TransformListener() - - # Odometry publisher - self.odom_publisher = rospy.Publisher('odom',Odometry,queue_size=1) - - #Sleep rate - self.sleep_freq = 10.0 - self.rate=rospy.Rate(self.sleep_freq) - - # Required Constants - self.old_pose = self.get_init_pose() - print(self.old_pose) - - - def get_init_pose(self): - while True: - try: - old_pose = self.listener.lookupTransform('/odom', '/base_link', rospy.Time(0)) - break - except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): - continue - return old_pose - - - def calc_velocity(self,new_pose): - #print(new_pose) - o = Odometry() - o.header.frame_id="odom" - o.child_frame_id="base_link" - """ - =======THIS IS WHERE CONVERSION HAPPENS======= - """ - o.twist.twist.linear.x = (new_pose[0][0] - self.old_pose[0][0])/self.sleep_freq - o.twist.twist.linear.y = -(new_pose[0][1] - self.old_pose[0][1])/self.sleep_freq - o.twist.twist.linear.z = (new_pose[0][2] - self.old_pose[0][2])/self.sleep_freq - o.twist.twist.angular.x = (new_pose[1][0] - self.old_pose[1][0])/self.sleep_freq - o.twist.twist.angular.y = (new_pose[1][1] - self.old_pose[1][1])/self.sleep_freq - o.twist.twist.angular.z = (new_pose[1][2] - self.old_pose[1][2])/self.sleep_freq - o.pose.pose.position.x = new_pose[0][0] - o.pose.pose.position.y = new_pose[0][1] - o.pose.pose.position.z = new_pose[0][2] - o.pose.pose.orientation.x = new_pose[1][0] - o.pose.pose.orientation.y = new_pose[1][1] - o.pose.pose.orientation.z = new_pose[1][2] - """ - =============================================== - """ - self.old_pose = new_pose - return o - - - def run(self): - while not rospy.is_shutdown(): - try: - #Get transform between frames - new_pose = self.listener.lookupTransform('/odom', '/base_link', rospy.Time(0)) - #Process the transform obtained - odom_data = self.calc_velocity(new_pose) - #Publish odometry - self.odom_publisher.publish(odom_data) - except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): - continue - self.rate.sleep() - - -if __name__ == '__main__': - odometry_publisher().run() diff --git a/rusty/src/odomtransformer.py b/rusty/src/odomtransformer.py deleted file mode 100644 index 7be9e98..0000000 --- a/rusty/src/odomtransformer.py +++ /dev/null @@ -1,24 +0,0 @@ -import rospy -import tf -import tf2_ros -import geometry_msgs.msg -import nav_msgs.msg -# This node is the work of https://github.com/ne0h/hmmwv/blob/hmmwv2/ros_workspace/src/hmmwv/nodes/odomtransformer.py - -def callback(data, args): - bc = tf2_ros.TransformBroadcaster() - t = geometry_msgs.msg.TransformStamped() - t.header.stamp = rospy.Time.now() - t.header.frame_id = args[0] - t.child_frame_id = args[1] - t.transform.translation = data.pose.pose.position - t.transform.rotation = data.pose.pose.orientation - bc.sendTransform(t) - # bc.sendTransform((data.pose.pose.position.x, data.pose.pose.position.y, 0) , (data.pose.pose.orientation.x, data.pose.pose.orientation.y, data.pose.pose.orientation.z, data.pose.pose.orientation.w), rospy.Time.now(), args[1], args[0]) - -if __name__ == "__main__": - rospy.init_node("odomtransformer") - odomInput = rospy.get_param("~odom_input") - tfOutput = rospy.get_param("~tf_output") - rospy.Subscriber(odomInput, nav_msgs.msg.Odometry, callback, [odomInput, tfOutput]) - rospy.spin() \ No newline at end of file diff --git a/rusty/src/pick_obj.cpp b/rusty/src/pick_obj.cpp deleted file mode 100644 index 25e82b6..0000000 --- a/rusty/src/pick_obj.cpp +++ /dev/null @@ -1,69 +0,0 @@ -#include <ros/ros.h> -#include <move_base_msgs/MoveBaseAction.h> -#include <actionlib/client/simple_action_client.h> -#include <std_msgs/UInt8.h> - -typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient; - - -int main(int argc, char** argv){ - // Initialize the simple_navigation_goals node - ros::init(argc, argv, "pick_objects"); - ros::NodeHandle n; - - MoveBaseClient ac("move_base", true); - //set up publisher to broadcast if robot is at goal marker - ros::Publisher pub = n.advertise<std_msgs::UInt8>("/goal", 1); - // Wait 5 sec for move_base action server to come up - while(!ac.waitForServer(ros::Duration(5.0))){ - ROS_INFO("Waiting for the move_base action server to come up"); - } - - move_base_msgs::MoveBaseGoal goal; - std_msgs::UInt8 delivery_data; - ROS_INFO("PARAM loaded"); - goal.target_pose.header.frame_id = "map"; - goal.target_pose.header.stamp = ros::Time::now(); - - n.getParam("/pick_up/x", goal.target_pose.pose.position.x); - n.getParam("/pick_up/w", goal.target_pose.pose.orientation.w); - - ac.sendGoal(goal); - - ac.waitForResult(); - - if (ac.getState()==actionlib::SimpleClientGoalState::SUCCEEDED) - { - delivery_data.data = 1; - pub.publish(delivery_data); - ROS_INFO("PICK UP REACHED"); - } - else{ - delivery_data.data = 2; - pub.publish(delivery_data); - ROS_INFO("Rusty did not reach the location"); - } - - //DROP Sequence - ros::Duration(5).sleep(); - - n.getParam("/drop/x", goal.target_pose.pose.position.x); - n.getParam("/drop/w", goal.target_pose.pose.orientation.w); - - ac.sendGoal(goal); - - ac.waitForResult(); - - if (ac.getState()==actionlib::SimpleClientGoalState::SUCCEEDED) - { - delivery_data.data = 3; - pub.publish(delivery_data); - ROS_INFO("PICK UP REACHED"); - } - else{ - delivery_data.data = 2; - pub.publish(delivery_data); - ROS_INFO("Rusty did not reach the location"); - } - return 0; -} diff --git a/rusty/src/teleop_key.py b/rusty/src/teleop_key.py deleted file mode 100644 index d7115a7..0000000 --- a/rusty/src/teleop_key.py +++ /dev/null @@ -1,157 +0,0 @@ -#! /usr/bin/python - -import rospy -from geometry_msgs.msg import Twist -import sys, select, os -if os.name == 'nt': - import msvcrt -else: - import tty, termios - - -MAX_LIN_VEL = 0.40 -MAX_ANG_VEL = 1.5 - -LIN_VEL_STEP_SIZE = 0.01 -ANG_VEL_STEP_SIZE = 0.1 - -msg = """ -Control Your ROVER! ---------------------------- -Moving around: - w - a s d - x - -w/x : increase/decrease linear velocity -a/d : increase/decrease angular velocity - -space key, s : force stop - -CTRL-C to quit -""" - -e = """ -Communications Failed -""" - -def getKey(): - if os.name == 'nt': - if sys.version_info[0] >= 3: - return msvcrt.getch().decode() - else: - return msvcrt.getch() - - tty.setraw(sys.stdin.fileno()) - rlist, _, _ = select.select([sys.stdin], [], [], 0.1) - if rlist: - key = sys.stdin.read(1) - else: - key = '' - - termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) - return key - -def vels(target_linear_vel, target_angular_vel): - return "currently:\tlinear vel %s\t angular vel %s " % (target_linear_vel,target_angular_vel) - -def makeSimpleProfile(output, input, slop): - if input > output: - output = min( input, output + slop ) - elif input < output: - output = max( input, output - slop ) - else: - output = input - - return output - -def constrain(input, low, high): - if input < low: - input = low - elif input > high: - input = high - else: - input = input - - return input - - -def checkLinear(vel): - vel=constrain(vel,-MAX_LIN_VEL,MAX_LIN_VEL) - return vel -def checkAngular(vel): - vel=constrain(vel,-MAX_ANG_VEL,MAX_ANG_VEL) - return vel - -if __name__=="__main__": - if os.name != 'nt': - settings = termios.tcgetattr(sys.stdin) - - rospy.init_node('arjun_teleop') - pub = rospy.Publisher('cmd_vel', Twist, queue_size=10) - - #turtlebot3_model = rospy.get_param("model", "burger") - - status = 0 - target_linear_vel = 0.0 - target_angular_vel = 0.0 - control_linear_vel = 0.0 - control_angular_vel = 0.0 - - try: - print(msg) - while(1): - key = getKey() - if key == 'w' : - target_linear_vel = checkLinear(target_linear_vel + LIN_VEL_STEP_SIZE) - status = status + 1 - print(vels(target_linear_vel,target_angular_vel)) - - elif key == 'x' : - target_linear_vel = checkLinear(target_linear_vel - LIN_VEL_STEP_SIZE) - status = status + 1 - print(vels(target_linear_vel,target_angular_vel)) - elif key == 'a' : - target_angular_vel = checkAngular(target_angular_vel + ANG_VEL_STEP_SIZE) - status = status + 1 - - print(vels(target_linear_vel,target_angular_vel)) - elif key == 'd' : - target_angular_vel = checkAngular(target_angular_vel - ANG_VEL_STEP_SIZE) - status = status + 1 - print(vels(target_linear_vel,target_angular_vel)) - elif key == ' ' or key == 's' : - target_linear_vel = 0.0 - control_linear_vel = 0.0 - target_angular_vel = 0.0 - control_angular_vel = 0.0 - print(vels(target_linear_vel, target_angular_vel)) - else: - if (key == '\x03'): - break - - if status == 20 : - print(msg) - status = 0 - - twist = Twist() - - control_linear_vel = makeSimpleProfile(control_linear_vel, target_linear_vel, (LIN_VEL_STEP_SIZE/2.0)) - twist.linear.x = control_linear_vel; twist.linear.y = 0.0; twist.linear.z = 0.0 - - control_angular_vel = makeSimpleProfile(control_angular_vel, target_angular_vel, (ANG_VEL_STEP_SIZE/2.0)) - twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = control_angular_vel - - pub.publish(twist) - - except: - print(e) - - finally: - twist = Twist() - twist.linear.x = 0.0; twist.linear.y = 0.0; twist.linear.z = 0.0 - twist.angular.x = 0.0; twist.angular.y = 0.0; twist.angular.z = 0.0 - pub.publish(twist) - - if os.name != 'nt': - termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings) diff --git a/rusty/src/virtual_box.cpp b/rusty/src/virtual_box.cpp deleted file mode 100644 index ba4e7ff..0000000 --- a/rusty/src/virtual_box.cpp +++ /dev/null @@ -1,121 +0,0 @@ -#include <ros/ros.h> -#include <visualization_msgs/Marker.h> -// #include <nav_msgs/Odometry.h> -#include <std_msgs/UInt8.h> - -u_int8_t state=0; - -void goalCallback(const std_msgs::UInt8::ConstPtr& msg) -{ - state = msg->data; - return; -} - -int main( int argc, char** argv ) -{ - ros::init(argc, argv, "add_markers"); - - ros::NodeHandle n; - ros::Rate r(5); - ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1); - ros::Subscriber sub = n.subscribe("/goal", 1, goalCallback); - bool service_done = false; - - // Set our initial shape type to be a cube - uint32_t shape = visualization_msgs::Marker::CUBE; - - ROS_INFO("Subscribed to desired goal-position"); - - while (ros::ok()) { - - ros::spinOnce(); - visualization_msgs::Marker marker; - - marker.header.frame_id = "map"; - marker.header.stamp = ros::Time::now(); - - - marker.ns = "Delivery_box"; - marker.id = 0; - - marker.type = shape; - - marker.scale.x = 0.5; - marker.scale.y = 0.5; - marker.scale.z = 0.5; - - - - marker.color.r = 0.0f; - marker.color.g = 0.0f; - marker.color.b = 1.0f; - marker.color.a = 1.0; - - switch (state) - { - case 0: - { - - marker.action = visualization_msgs::Marker::ADD; - - n.getParam("/pick_up/x", marker.pose.position.x); - - n.getParam("/pick_up/w", marker.pose.orientation.w); - break; - } - - case 1: - { - sleep(2); - - marker.action = visualization_msgs::Marker::DELETE; - break; - } - - case 2: - { - marker.action = visualization_msgs::Marker::DELETE; - break; - } - - case 3: - { - sleep(5); - - marker.action = visualization_msgs::Marker::ADD; - - n.getParam("/drop/x", marker.pose.position.x); - - n.getParam("/drop/w", marker.pose.orientation.w); - service_done = true; - break; - } - - } - - - while (marker_pub.getNumSubscribers() < 1) - { - if (!ros::ok()) - { - return 0; - } - ROS_WARN("Please create a subscriber to the marker"); - sleep(1); - } - - - marker_pub.publish(marker); - - - if (service_done) { - ROS_INFO(" Reached"); - sleep(7); - return 0; - } - - r.sleep(); - } - - return 0; -} diff --git a/rusty_description/launch/gazebo.launch.py b/rusty_description/launch/gazebo.launch.py index 6021213..58ddc3a 100644 --- a/rusty_description/launch/gazebo.launch.py +++ b/rusty_description/launch/gazebo.launch.py @@ -4,6 +4,10 @@ from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import PathJoinSubstitution +import launch +from launch.substitutions import Command, LaunchConfiguration +import launch_ros +from launch_ros.actions import Node import os import xacro from ament_index_python.packages import get_package_share_directory @@ -11,7 +15,7 @@ def generate_launch_description(): share_dir = get_package_share_directory('rusty_description') - + pkg_share = launch_ros.substitutions.FindPackageShare(package='rusty_description').find('rusty_description') xacro_file = os.path.join(share_dir, 'urdf', 'rusty.xacro') robot_description_config = xacro.process_file(xacro_file) robot_urdf = robot_description_config.toxml() @@ -71,3 +75,6 @@ def generate_launch_description(): gazebo_client, urdf_spawn_node, ]) + + + diff --git a/rusty_description/setup.py b/rusty_description/setup.py index 1de2c71..c51c0fa 100644 --- a/rusty_description/setup.py +++ b/rusty_description/setup.py @@ -12,7 +12,7 @@ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), - (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), + (os.path.join('share', package_name), glob('launch/*launch.[pxy][yma]*')), (os.path.join('share', package_name, 'urdf'), glob('urdf/*')), (os.path.join('share', package_name, 'meshes'), glob('meshes/*')), (os.path.join('share', package_name, 'config'), glob('config/*')) diff --git a/rusty_firmware/CMakeLists.txt b/rusty_firmware/CMakeLists.txt deleted file mode 100644 index 364b04d..0000000 --- a/rusty_firmware/CMakeLists.txt +++ /dev/null @@ -1,207 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(rusty_firmware) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - message_generation - roscpp - rospy - std_msgs -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES rusty_firmware -# CATKIN_DEPENDS message_generation roscpp rospy std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/rusty_firmware.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/rusty_firmware_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_rusty_firmware.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/rusty_firmware/launch/imu.launch b/rusty_firmware/launch/imu.launch deleted file mode 100644 index ccaa309..0000000 --- a/rusty_firmware/launch/imu.launch +++ /dev/null @@ -1,10 +0,0 @@ -<launch> - - <!--THIS LAUNCH FILE IS TO RUN THE IMU NODE TO GET IMU TOPIC--> - <node name="imu" pkg="rusty_firmware" type="imu.py" /> - <node name="imu_tf" pkg="rusty_firmware" type="tf_imu.py"/> - - - - -</launch> diff --git a/rusty_firmware/launch/lidar.launch b/rusty_firmware/launch/lidar.launch deleted file mode 100644 index f203b27..0000000 --- a/rusty_firmware/launch/lidar.launch +++ /dev/null @@ -1,11 +0,0 @@ -<launch> - <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen"> - <param name="serial_port" type="string" value="/dev/ttyUSB0"/> - <param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 --> - <!--param name="serial_baudrate" type="int" value="256000"--><!--A3 --> - <param name="frame_id" type="string" value="laser"/> - <param name="inverted" type="bool" value="false"/> - <param name="angle_compensate" type="bool" value="true"/> - </node> - -</launch> diff --git a/rusty_firmware/launch/motor_run.launch b/rusty_firmware/launch/motor_run.launch deleted file mode 100644 index 965b972..0000000 --- a/rusty_firmware/launch/motor_run.launch +++ /dev/null @@ -1,13 +0,0 @@ -<launch> - <node pkg="rusty_firmware" type="motor.py" name="rusty_bot" output="screen"></node> - <node name="rplidarNode" pkg="rplidar_ros" type="rplidarNode" output="screen"> - <param name="serial_port" type="string" value="/dev/ttyUSB0"/> - <param name="serial_baudrate" type="int" value="115200"/><!--A1/A2 --> - <!--param name="serial_baudrate" type="int" value="256000"--><!--A3 --> - <param name="frame_id" type="string" value="laser"/> - <param name="inverted" type="bool" value="false"/> - <param name="angle_compensate" type="bool" value="true"/> - </node> - <include file="$(find rusty_firmware)/launch/imu.launch"/> - -</launch> diff --git a/rusty_firmware/package.xml b/rusty_firmware/package.xml deleted file mode 100644 index 4418793..0000000 --- a/rusty_firmware/package.xml +++ /dev/null @@ -1,69 +0,0 @@ -<?xml version="1.0"?> -<package format="2"> - <name>rusty_firmware</name> - <version>0.0.0</version> - <description>The rusty_firmware package</description> - - <!-- One maintainer tag required, multiple allowed, one person per tag --> - <!-- Example: --> - <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --> - <maintainer email="pi@todo.todo">pi</maintainer> - - - <!-- One license tag required, multiple allowed, one license per tag --> - <!-- Commonly used license strings: --> - <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> - <license>TODO</license> - - - <!-- Url tags are optional, but multiple are allowed, one per tag --> - <!-- Optional attribute type can be: website, bugtracker, or repository --> - <!-- Example: --> - <!-- <url type="website">http://wiki.ros.org/rusty_firmware</url> --> - - - <!-- Author tags are optional, multiple are allowed, one per tag --> - <!-- Authors do not have to be maintainers, but could be --> - <!-- Example: --> - <!-- <author email="jane.doe@example.com">Jane Doe</author> --> - - - <!-- The *depend tags are used to specify dependencies --> - <!-- Dependencies can be catkin packages or system dependencies --> - <!-- Examples: --> - <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> - <!-- <depend>roscpp</depend> --> - <!-- Note that this is equivalent to the following: --> - <!-- <build_depend>roscpp</build_depend> --> - <!-- <exec_depend>roscpp</exec_depend> --> - <!-- Use build_depend for packages you need at compile time: --> - <!-- <build_depend>message_generation</build_depend> --> - <!-- Use build_export_depend for packages you need in order to build against this package: --> - <!-- <build_export_depend>message_generation</build_export_depend> --> - <!-- Use buildtool_depend for build tool packages: --> - <!-- <buildtool_depend>catkin</buildtool_depend> --> - <!-- Use exec_depend for packages you need at runtime: --> - <!-- <exec_depend>message_runtime</exec_depend> --> - <!-- Use test_depend for packages you need only for testing: --> - <!-- <test_depend>gtest</test_depend> --> - <!-- Use doc_depend for packages you need only for building documentation: --> - <!-- <doc_depend>doxygen</doc_depend> --> - <buildtool_depend>catkin</buildtool_depend> - <build_depend>message_generation</build_depend> - <build_depend>roscpp</build_depend> - <build_depend>rospy</build_depend> - <build_depend>std_msgs</build_depend> - <build_export_depend>roscpp</build_export_depend> - <build_export_depend>rospy</build_export_depend> - <build_export_depend>std_msgs</build_export_depend> - <exec_depend>roscpp</exec_depend> - <exec_depend>rospy</exec_depend> - <exec_depend>std_msgs</exec_depend> - - - <!-- The export tag contains other, unspecified, tags --> - <export> - <!-- Other tools can request additional information be placed here --> - - </export> -</package> diff --git a/rusty_firmware/src/motor.py b/rusty_firmware/src/motor.py deleted file mode 100644 index a4b0a62..0000000 --- a/rusty_firmware/src/motor.py +++ /dev/null @@ -1,137 +0,0 @@ -#!/usr/bin/env python -import rospy -from geometry_msgs.msg import Twist -import RPi.GPIO as GPIO -import time -from math import pi - -leftEn = 13 # Purple -rightEn = 12 # Red - -leftBackward = 5 # Blue -leftForward = 6 # Green -rightForward = 16 # Yellow -rightBackward = 20 # Orange - -wheel_separation = 0.40 -wheel_diameter = 0.065 -wheel_radius = wheel_diameter/2 -circumference_of_wheel = 2 * pi * wheel_radius - -GPIO.setmode(GPIO.BCM) -GPIO.setwarnings(False) - -GPIO.setup(leftEn, GPIO.OUT) -GPIO.setup(rightEn, GPIO.OUT) -GPIO.setup(leftForward, GPIO.OUT) -GPIO.setup(leftBackward, GPIO.OUT) -GPIO.setup(rightForward, GPIO.OUT) -GPIO.setup(rightBackward, GPIO.OUT) - -pwmL = GPIO.PWM(leftEn, 100) -pwmL.start(0) -pwmR = GPIO.PWM(rightEn, 100) -pwmR.start(0) - -def stop(): - #print('stopping') - pwmL.ChangeDutyCycle(0) - GPIO.output(leftForward, GPIO.HIGH) - GPIO.output(leftBackward, GPIO.HIGH) - pwmR.ChangeDutyCycle(0) - GPIO.output(rightForward, GPIO.HIGH) - GPIO.output(rightBackward, GPIO.HIGH) - -def forward(left_speed, right_speed): - #print('going forward') - lspeed = min(((left_speed/0.2)*100),100) - rspeed = min(((right_speed/0.2)*100),100) - #print(str(left_speed)+" "+str(right_speed)) - pwmL.ChangeDutyCycle(lspeed) - pwmR.ChangeDutyCycle(rspeed) - GPIO.output(leftForward, GPIO.HIGH) - GPIO.output(rightForward, GPIO.HIGH) - GPIO.output(leftBackward, GPIO.LOW) - GPIO.output(rightBackward, GPIO.LOW) - -def backward(left_speed, right_speed): - #print('going backward') - lspeed = min(((left_speed/0.2)*100),100) - rspeed = min(((right_speed/0.2)*100),100) - #print(str(left_speed)+" "+str(right_speed)) - pwmL.ChangeDutyCycle(lspeed) - pwmR.ChangeDutyCycle(rspeed) - GPIO.output(leftForward, GPIO.LOW) - GPIO.output(rightForward, GPIO.LOW) - GPIO.output(leftBackward, GPIO.HIGH) - GPIO.output(rightBackward, GPIO.HIGH) - -def left(left_speed, right_speed): - #print('turning left') - lspeed = min(((left_speed/0.2)*100),100) - rspeed = min(((right_speed/0.2)*100),100) - pwmL.ChangeDutyCycle(lspeed) - pwmR.ChangeDutyCycle(rspeed) - GPIO.output(leftForward, GPIO.LOW) - GPIO.output(leftBackward, GPIO.HIGH) - GPIO.output(rightForward, GPIO.HIGH) - GPIO.output(rightBackward, GPIO.LOW) - -def right(left_speed, right_speed): - #print('turning right') - lspeed = min(((left_speed/0.2)*100),100) - rspeed = min(((right_speed/0.2)*100),100) - pwmL.ChangeDutyCycle(lspeed) - pwmR.ChangeDutyCycle(rspeed) - GPIO.output(leftForward, GPIO.HIGH) - GPIO.output(leftBackward, GPIO.LOW) - GPIO.output(rightForward, GPIO.LOW) - GPIO.output(rightBackward, GPIO.HIGH) - -def callback(data): - - global wheel_radius - global wheel_separation - - linear_vel = data.linear.x - angular_vel = data.angular.z - #print(str(linear)+"\t"+str(angular)) - - rplusl = ( 2 * linear_vel ) / wheel_radius - rminusl = ( angular_vel * wheel_separation ) / wheel_radius - - right_omega = ( rplusl + rminusl ) / 2 - left_omega = rplusl - right_omega - - right_vel = right_omega * wheel_radius - left_vel = left_omega * wheel_radius - - #print (str(left_vel)+"\t"+str(right_vel)) - ''' - left_speed = abs ( linear - ( (wheel_separation/2) * (angular) ) ) - right_speed = abs ( linear - ( (wheel_separation/2) * (angular) ) ) - ''' - - if (left_vel == 0.0 and right_vel == 0.0): - stop() - elif (left_vel >= 0.0 and right_vel >= 0.0): - forward(abs(left_vel), abs(right_vel)) - elif (left_vel <= 0.0 and right_vel <= 0.0): - backward(abs(left_vel), abs(right_vel)) - elif (left_vel < 0.0 and right_vel > 0.0): - left(abs(left_vel), abs(right_vel)) - elif (left_vel > 0.0 and right_vel < 0.0): - right(abs(left_vel), abs(right_vel)) - else: - stop() - - - -def listener(): - rospy.init_node('motorcontrol', anonymous=False) - rospy.Subscriber("/cmd_vel", Twist, callback) - rospy.spin() - -if __name__== '__main__': - print('ARJUN INITIALIZED') - listener() diff --git a/ur_description/CHANGELOG.rst b/ur_description/CHANGELOG.rst deleted file mode 100644 index f6521ae..0000000 --- a/ur_description/CHANGELOG.rst +++ /dev/null @@ -1,134 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package ur_description -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.2.7 (2019-11-23) ------------------- - -1.2.6 (2019-11-19) ------------------- -* Add optional safety_controller tags to all joints in xacro macros (`#437 <https://github.com/ros-industrial/universal_robot/issues/437>`_) -* Migrated all package.xml files to format=2 (`#439 <https://github.com/ros-industrial/universal_robot/issues/439>`_) -* Corrected dimensions and positions of inertias (`#426 <https://github.com/ros-industrial/universal_robot/issues/426>`_) -* Add description view launch files for all descriptions to easily check them (`#435 <https://github.com/ros-industrial/universal_robot/issues/435>`_) -* Contributors: Felix Mauch, JeremyZoss, Miguel Prada, Qiang Qiu, gavanderhoorn - -1.2.5 (2019-04-05) ------------------- -* Add transmission_hw_interface to UR xacro and expose everywhere (`#392 <https://github.com/ros-industrial/universal_robot/issues/392>`_) -* Update maintainer listing: add Miguel (`#410 <https://github.com/ros-industrial/universal_robot/issues/410>`_) -* Updated xacro namespace. -* Update maintainer and author information. -* Updated mesh ambience so the model isn't so dark in Gazebo -* Fix overlapping variable names between robot definition files (`#356 <https://github.com/ros-industrial/universal_robot/issues/356>`_) -* Improve meshes shading (`#233 <https://github.com/ros-industrial/universal_robot/issues/233>`_) -* Added run_depend for xacro -* Using the 'doc' attribute on 'arg' elements. -* Enable self collision in gazebo -* Contributors: Dave Niewinski, Felix von Drigalski, Harsh Deshpande, Joe, Marcel Schnirring, Miguel Prada, MonteroJJ, ipa-fxm - -1.2.1 (2018-01-06) ------------------- -* Merge pull request `#329 <https://github.com//ros-industrial/universal_robot/issues/329>`_ from tecnalia-medical-robotics/joint_limits - Homogenize xacro macro arguments. -* Merge pull request `#332 <https://github.com//ros-industrial/universal_robot/issues/332>`_ from davetcoleman/kinetic_hw_iface_warning - Remove UR3 ROS Control Hardware Interface warning -* Remove UR3 ROS Control Hardware Interface warning -* Extend changes to '_robot.urdf.xacro' variants as well. -* Homogenize xacro macro arguments. - Joint limits for the limited version could be set using arguments for the UR10 - but not for the UR3 and UR5. Same lower and upper limit arguments are added to - the UR3 and UR5 xacro macros. -* Fix elbow joint limits (`#268 <https://github.com//ros-industrial/universal_robot/issues/268>`_) -* Remove warning 'redefining global property: pi' (Jade+) (`#315 <https://github.com//ros-industrial/universal_robot/issues/315>`_) -* Contributors: Beatriz Leon, Dave Coleman, Felix Messmer, Miguel Prada - -1.2.0 (2017-08-04) ------------------- - -1.1.9 (2017-01-02) ------------------- -* reintroduce 'pi', unbrake dependent xacros. -* use '--inorder' to trigger use of jade+ xacro on Indigo. -* Contributors: gavanderhoorn - -1.1.8 (2016-12-30) ------------------- -* all: update maintainers. -* Contributors: gavanderhoorn - -1.1.7 (2016-12-29) ------------------- -* Fix xacro warnings in Jade (`#251 <https://github.com/ros-industrial/universal_robot/issues/251>`_) -* added default values to xacro macro -* tested joint limits modification -* Contributors: Dave Coleman, G.A. vd. Hoorn, philip 14.04 - -1.1.6 (2016-04-01) ------------------- -* unify mesh names -* add color to avoid default color 'red' for collision meshes -* use correct DH parameter + colored meshes -* introducing urdf for ur3 - first draft -* unify common xacro files -* remove obsolete urdf files -* description: add '_joint' suffix to newly introduced joint tags. - This is more in-line with naming of existing joint tags. -* description: add ROS-I base and tool0 frames. Fix `#49 <https://github.com/ros-industrial/universal_robot/issues/49>`_ and `#95 <https://github.com/ros-industrial/universal_robot/issues/95>`_. - Note that 'base' is essentially 'base_link' but rotated by 180 - degrees over the Z-axis. This is necessary as the visual and - collision geometries appear to also have their origins rotated - 180 degrees wrt the real robot. - 'tool0' is similar to 'ee_link', but with its orientation such - that it coincides with an all-zeros TCP setting on the UR - controller. Users are expected to attach their own TCP frames - to this frame, instead of updating it (see also [1]). - [1] http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages#Standardised_links\_.2BAC8_frames -* description: minor whitespace cleanup of UR5 & 10 xacros. -* regenerate urdf files -* use PositionJointInterface as hardwareInterface in transmissions - affects simulation only -* Contributors: gavanderhoorn, ipa-fxm - -1.0.2 (2014-03-31) ------------------- - -1.0.1 (2014-03-31) ------------------- -* changes due to file renaming -* generate urdfs from latest xacros -* file renaming -* adapt launch files in order to be able to use normal/limited xacro -* fixed typo in limits -* add joint_limited urdf.xacros for both robots -* (re-)add ee_link for both robots -* updates for latest gazebo under hydro -* remove ee_link - as in ur10 -* use same xacro params as ur10 -* use new transmission interfaces -* update xml namespaces for hydro -* remove obsolete urdf file -* remove obsolete urdf file -* Contributors: ipa-fxm - -* Update ur10.urdf.xacro - Corrected UR10's urdf to faithfully represent joint effort thresholds, velocity limits, and dynamics parameters. -* Update ur5.urdf.xacro - Corrected effort thresholds and friction values for UR5 urdf. -* added corrected mesh file -* Added definitions for adding tergets in install folder. Issue `#10 <https://github.com/ros-industrial/universal_robot/issues/10>`_. -* Corrected warning on xacro-files in hydro. -* Added definitions for adding tergets in install folder. Issue `#10 <https://github.com/ros-industrial/universal_robot/issues/10>`_. -* Updated to catkin. ur_driver's files were added to nested Python directory for including in other packages. -* fixed name of ur5 transmissions -* patched gazebo.urdf.xacro to be compatible with gazebo 1.5 -* fixed copy&paste error (?) -* prefix versions of gazebo and transmission macros -* Added joint limited urdf and associated moveit package. The joint limited package is friendlier to the default KLD IK solution -* Added ur5 moveit library. The Kinematics used by the ur5 move it library is unreliable and should be replaced with the ur_kinematics -* Updated urdf files use collision/visual models. -* Reorganized meshes to include both collision and visual messhes (like other ROS-I robots). Modified urdf xacro to include new models. Removed extra robot pedestal link from urdf (urdfs should only include the robot itself). -* minor changes on ur5 xacro files -* Removed extra stl files and fixed indentions -* Renamed packages and new groovy version -* Added ur10 and renamed packages -* Contributors: Denis Å togl, IPR-SR2, Kelsey, Mathias Lüdtke, Shaun Edwards, ipa-nhg, jrgnicho, kphawkins, robot diff --git a/ur_description/CMakeLists.txt b/ur_description/CMakeLists.txt deleted file mode 100644 index c6e9dc7..0000000 --- a/ur_description/CMakeLists.txt +++ /dev/null @@ -1,132 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ur_description) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -####################################### -## Declare ROS messages and services ## -####################################### - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES ur_description -# CATKIN_DEPENDS urdf -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) - -## Declare a cpp library -# add_library(ur_description -# src/${PROJECT_NAME}/ur_description.cpp -# ) - -## Declare a cpp executable -# add_executable(ur_description_node src/ur_description_node.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(ur_description_node ur_description_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -# target_link_libraries(ur_description_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ur_description ur_description_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_description.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/ur_description/cfg/view_robot.rviz b/ur_description/cfg/view_robot.rviz deleted file mode 100644 index 02f07ed..0000000 --- a/ur_description/cfg/view_robot.rviz +++ /dev/null @@ -1,280 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /PointCloud21 - Splitter Ratio: 0.5 - Tree Height: 728 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud2 -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: <Fixed Frame> - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: RGB8 - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: /camera/depth/points - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - FRS: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FUS1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FUS2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FUS3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FUS4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FWL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - FWR: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LANT: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LHUS10: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LHUS9: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Link Tree Style: Links in Alphabetic Order - RANT: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RHUS7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RHUS9: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RRS: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RUS5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RUS6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RWL: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RWR: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_rgb_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - ebot_base: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - laser: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 3.6390187740325928 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.6453981399536133 - Target Frame: <Fixed Frame> - Value: Orbit (rviz) - Yaw: 2.1803977489471436 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1025 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 927 - X: 993 - Y: 27 diff --git a/ur_description/launch/ur10_upload.launch b/ur_description/launch/ur10_upload.launch deleted file mode 100644 index cffd27b..0000000 --- a/ur_description/launch/ur10_upload.launch +++ /dev/null @@ -1,8 +0,0 @@ -<?xml version="1.0"?> -<launch> - <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." /> - <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" /> - - <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" /> - <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" /> -</launch> diff --git a/ur_description/launch/ur3_upload.launch b/ur_description/launch/ur3_upload.launch deleted file mode 100644 index c5df8b4..0000000 --- a/ur_description/launch/ur3_upload.launch +++ /dev/null @@ -1,8 +0,0 @@ -<?xml version="1.0"?> -<launch> - <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." /> - <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" /> - - <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" /> - <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" /> -</launch> diff --git a/ur_description/launch/ur5_upload.launch b/ur_description/launch/ur5_upload.launch deleted file mode 100644 index d71b2bb..0000000 --- a/ur_description/launch/ur5_upload.launch +++ /dev/null @@ -1,8 +0,0 @@ -<?xml version="1.0"?> -<launch> - <arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." /> - <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" /> - - <param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" /> - <param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" /> -</launch> diff --git a/ur_description/launch/view_ur10.launch b/ur_description/launch/view_ur10.launch deleted file mode 100644 index 1416e47..0000000 --- a/ur_description/launch/view_ur10.launch +++ /dev/null @@ -1,10 +0,0 @@ -<?xml version="1.0"?> -<launch> - <include file="$(find ur_description)/launch/ur10_upload.launch"/> - - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" > - <param name="use_gui" value="true"/> - </node> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> - <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" /> -</launch> diff --git a/ur_description/launch/view_ur3.launch b/ur_description/launch/view_ur3.launch deleted file mode 100644 index 9b48724..0000000 --- a/ur_description/launch/view_ur3.launch +++ /dev/null @@ -1,10 +0,0 @@ -<?xml version="1.0"?> -<launch> - <include file="$(find ur_description)/launch/ur3_upload.launch"/> - - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" > - <param name="use_gui" value="true"/> - </node> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> - <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" /> -</launch> diff --git a/ur_description/launch/view_ur5.launch b/ur_description/launch/view_ur5.launch deleted file mode 100644 index cae16db..0000000 --- a/ur_description/launch/view_ur5.launch +++ /dev/null @@ -1,10 +0,0 @@ -<?xml version="1.0"?> -<launch> - <include file="$(find ur_description)/launch/ur5_upload.launch"/> - - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" > - <param name="use_gui" value="true"/> - </node> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> - <node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" /> -</launch> diff --git a/ur_description/meshes/ur10/collision/base.stl 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157 1916 753 1917 755 1917 157 1917 948 1918 949 1918 967 1918 953 1919 950 1919 166 1919 951 1920 948 1920 967 1920 706 1921 951 1921 967 1921 952 1922 812 1922 280 1922 753 1923 157 1923 970 1923 950 1924 954 1924 166 1924 953 1925 166 1925 957 1925 956 1926 952 1926 171 1926 952 1927 280 1927 171 1927 857 1928 731 1928 957 1928 731 1929 953 1929 957 1929 776 1930 252 1930 775 1930 954 1931 958 1931 688 1931 166 1932 954 1932 688 1932 691 1933 946 1933 959 1933 280 1934 812 1934 860 1934 813 1935 180 1935 860 1935 812 1936 813 1936 860 1936 955 1937 956 1937 171 1937 979 1938 857 1938 957 1938 252 1939 885 1939 777 1939 775 1940 252 1940 777 1940 958 1941 961 1941 688 1941 875 1942 691 1942 962 1942 691 1943 959 1943 962 1943 180 1944 921 1944 860 1944 955 1945 171 1945 170 1945 777 1946 885 1946 778 1946 187 1947 955 1947 170 1947 961 1948 725 1948 688 1948 875 1949 962 1949 960 1949 778 1950 885 1950 963 1950 965 1951 187 1951 170 1951 876 1952 875 1952 743 1952 875 1953 960 1953 743 1953 688 1954 725 1954 724 1954 963 1955 885 1955 964 1955 688 1956 724 1956 867 1956 876 1957 743 1957 736 1957 885 1958 701 1958 966 1958 965 1959 170 1959 189 1959 964 1960 885 1960 966 1960 970 1961 876 1961 738 1961 876 1962 736 1962 738 1962 966 1963 701 1963 781 1963 970 1964 738 1964 969 1964 781 1965 701 1965 782 1965 701 1966 967 1966 782 1966 867 1967 724 1967 968 1967 189 1968 170 1968 971 1968 170 1969 286 1969 971 1969 970 1970 969 1970 741 1970 867 1971 968 1971 973 1971 971 1972 286 1972 972 1972 869 1973 867 1973 722 1973 867 1974 973 1974 722 1974 286 1975 866 1975 974 1975 972 1976 286 1976 974 1976 869 1977 722 1977 975 1977 983 1978 799 1978 985 1978 860 1979 921 1979 976 1979 826 1980 676 1980 976 1980 676 1981 860 1981 976 1981 850 1982 980 1982 977 1982 980 1983 889 1983 977 1983 274 1984 710 1984 978 1984 957 1985 274 1985 978 1985 979 1986 957 1986 978 1986 891 1987 980 1987 850 1987 676 1988 826 1988 981 1988 985 1989 799 1989 177 1989 673 1990 676 1990 981 1990 799 1991 982 1991 177 1991 710 1992 274 1992 895 1992 274 1993 163 1993 895 1993 984 1994 983 1994 985 1994 892 1995 984 1995 985 1995 974 1996 866 1996 986 1996 866 1997 865 1997 986 1997 989 1998 987 1998 988 1998 988 1999 987 1999 989 1999</p> - </polylist> - </mesh> - </geometry> - </library_geometries> - <library_controllers/> - <library_visual_scenes> - <visual_scene id="Scene" name="Scene"> - <node id="node-shape0-name" name="node-shape0-name" type="NODE"> - <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix> - <instance_geometry url="#shape0_001-mesh"> - <bind_material> - <technique_common> - <instance_material symbol="SWMaterial-2_001-material" target="#SWMaterial-2_001-material"/> - <instance_material symbol="SWMaterial-0_001-material" target="#SWMaterial-0_001-material"/> - <instance_material symbol="SWMaterial-1_001-material" target="#SWMaterial-1_001-material"/> - </technique_common> - </bind_material> - </instance_geometry> - </node> - </visual_scene> - </library_visual_scenes> - <scene> - <instance_visual_scene url="#Scene"/> - </scene> -</COLLADA> \ No newline at end of file diff --git a/ur_description/meshes/ur10/visual/forearm.dae b/ur_description/meshes/ur10/visual/forearm.dae deleted file mode 100644 index d70067a..0000000 --- a/ur_description/meshes/ur10/visual/forearm.dae +++ /dev/null @@ -1,597 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> - <asset> - <contributor> - <author>Blender User</author> - <authoring_tool>Blender 2.79.0</authoring_tool> - </contributor> - <created>2018-07-11T13:36:30</created> - <modified>2018-07-11T13:36:30</modified> - <unit name="meter" meter="1"/> - <up_axis>Z_UP</up_axis> - </asset> - <library_cameras> - <camera id="Camera-camera" name="Camera"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - <camera id="Camera_001-camera" name="Camera.001"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - </library_cameras> - <library_lights> - <light id="Lamp-light" name="Lamp"> - <technique_common> - <point> - <color sid="color">1 1 1</color> - <constant_attenuation>1</constant_attenuation> - <linear_attenuation>0</linear_attenuation> - <quadratic_attenuation>0.00111109</quadratic_attenuation> - </point> - </technique_common> - <extra> - <technique profile="blender"> - <adapt_thresh>0.000999987</adapt_thresh> - <area_shape>1</area_shape> - <area_size>0.1</area_size> - <area_sizey>0.1</area_sizey> - <area_sizez>1</area_sizez> - <atm_distance_factor>1</atm_distance_factor> - <atm_extinction_factor>1</atm_extinction_factor> - <atm_turbidity>2</atm_turbidity> - <att1>0</att1> - <att2>1</att2> - <backscattered_light>1</backscattered_light> - <bias>1</bias> - <blue>1</blue> - <buffers>1</buffers> - <bufflag>0</bufflag> - <bufsize>2880</bufsize> - <buftype>2</buftype> - <clipend>30.002</clipend> - <clipsta>1.000799</clipsta> - <compressthresh>0.04999995</compressthresh> - <dist sid="blender_dist">29.99998</dist> - <energy sid="blender_energy">1</energy> - <falloff_type>2</falloff_type> - <filtertype>0</filtertype> - <flag>0</flag> - <gamma sid="blender_gamma">1</gamma> - <green>1</green> - <halo_intensity sid="blnder_halo_intensity">1</halo_intensity> - <horizon_brightness>1</horizon_brightness> - <mode>8192</mode> - <ray_samp>1</ray_samp> - <ray_samp_method>1</ray_samp_method> - <ray_samp_type>0</ray_samp_type> - <ray_sampy>1</ray_sampy> - <ray_sampz>1</ray_sampz> - <red>1</red> - <samp>3</samp> - <shadhalostep>0</shadhalostep> - <shadow_b sid="blender_shadow_b">0</shadow_b> - <shadow_g sid="blender_shadow_g">0</shadow_g> - <shadow_r sid="blender_shadow_r">0</shadow_r> - <sky_colorspace>0</sky_colorspace> - <sky_exposure>1</sky_exposure> - <skyblendfac>1</skyblendfac> - <skyblendtype>1</skyblendtype> - <soft>3</soft> - <spotblend>0.15</spotblend> - <spotsize>75</spotsize> - <spread>1</spread> - <sun_brightness>1</sun_brightness> - <sun_effect_type>0</sun_effect_type> - <sun_intensity>1</sun_intensity> - <sun_size>1</sun_size> - <type>0</type> - </technique> - </extra> - </light> - <light id="Lamp_001-light" name="Lamp.001"> - <technique_common> - <point> - <color sid="color">1 1 1</color> - <constant_attenuation>1</constant_attenuation> - <linear_attenuation>0</linear_attenuation> - <quadratic_attenuation>0.00111109</quadratic_attenuation> - </point> - </technique_common> - <extra> - <technique profile="blender"> - <adapt_thresh>9.99987e-4</adapt_thresh> - <area_shape>1</area_shape> - <area_size>0.1</area_size> - <area_sizey>0.1</area_sizey> - <area_sizez>1</area_sizez> - <atm_distance_factor>1</atm_distance_factor> - <atm_extinction_factor>1</atm_extinction_factor> - <atm_turbidity>2</atm_turbidity> - <att1>0</att1> - <att2>1</att2> - <backscattered_light>1</backscattered_light> - <bias>1</bias> - <blue>1</blue> - <buffers>1</buffers> - <bufflag>0</bufflag> - <bufsize>2880</bufsize> - <buftype>2</buftype> - <clipend>30.002</clipend> - <clipsta>1.000799</clipsta> - <compressthresh>0.04999995</compressthresh> - <dist sid="blender_dist">29.99998</dist> - <energy sid="blender_energy">1</energy> - <falloff_type>2</falloff_type> - <filtertype>0</filtertype> - <flag>0</flag> - <gamma sid="blender_gamma">1</gamma> - <green>1</green> - <halo_intensity sid="blnder_halo_intensity">1</halo_intensity> - <horizon_brightness>1</horizon_brightness> - <mode>8192</mode> - <ray_samp>1</ray_samp> - <ray_samp_method>1</ray_samp_method> - <ray_samp_type>0</ray_samp_type> - <ray_sampy>1</ray_sampy> - <ray_sampz>1</ray_sampz> - <red>1</red> - <samp>3</samp> - <shadhalostep>0</shadhalostep> - <shadow_b sid="blender_shadow_b">0</shadow_b> - <shadow_g sid="blender_shadow_g">0</shadow_g> - <shadow_r sid="blender_shadow_r">0</shadow_r> - <sky_colorspace>0</sky_colorspace> - <sky_exposure>1</sky_exposure> - <skyblendfac>1</skyblendfac> - <skyblendtype>1</skyblendtype> - <soft>3</soft> - <spotblend>0.15</spotblend> - <spotsize>75</spotsize> - <spread>1</spread> - <sun_brightness>1</sun_brightness> - <sun_effect_type>0</sun_effect_type> - <sun_intensity>1</sun_intensity> - <sun_size>1</sun_size> - <type>0</type> - </technique> - </extra> - </light> - </library_lights> - 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22567d6..0000000 --- a/ur_description/meshes/ur10/visual/shoulder.dae +++ /dev/null @@ -1,445 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> - <asset> - <contributor> - <author>Blender User</author> - <authoring_tool>Blender 2.79.0</authoring_tool> - </contributor> - <created>2018-07-11T13:15:16</created> - <modified>2018-07-11T13:15:16</modified> - <unit name="meter" meter="1"/> - <up_axis>Z_UP</up_axis> - </asset> - <library_cameras> - <camera id="Camera-camera" name="Camera"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - <camera id="Camera_001-camera" 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1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix> - <instance_light url="#Lamp-light"/> - </node> - <node id="Camera_001" name="Camera_001" type="NODE"> - <matrix sid="transform">0.6859207 -0.3240134 0.6515582 7.481132 0.7276763 0.3054208 -0.6141704 -6.50764 -4.01133e-9 0.8953956 0.4452714 5.343665 0 0 0 1</matrix> - <instance_camera url="#Camera_001-camera"/> - </node> - <node id="Lamp_001" name="Lamp_001" type="NODE"> - <matrix sid="transform">-0.2908646 -0.7711008 0.5663933 4.076245 0.9551712 -0.1998833 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix> - <instance_light url="#Lamp_001-light"/> - </node> - <node id="node-shape0-name" name="node-shape0-name" type="NODE"> - <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix> - <instance_geometry url="#shape0-mesh" name="node-shape0-name"> - <bind_material> - <technique_common> - <instance_material symbol="SWMaterial-0-material" target="#SWMaterial-0-material"/> - <instance_material symbol="SWMaterial-1-material" target="#SWMaterial-1-material"/> - <instance_material symbol="SWMaterial-2-material" target="#SWMaterial-2-material"/> - </technique_common> - </bind_material> - </instance_geometry> - </node> - <node id="node-shape1-name" name="node-shape1-name" type="NODE"> - <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix> - <instance_geometry url="#shape1_001-mesh" name="node-shape1-name"> - <bind_material> - <technique_common> - <instance_material symbol="SWMaterial-0-material" target="#SWMaterial-0-material"/> - <instance_material symbol="SWMaterial-1-material" target="#SWMaterial-1-material"/> - <instance_material symbol="SWMaterial-2-material" target="#SWMaterial-2-material"/> - </technique_common> - </bind_material> - </instance_geometry> - </node> - <node id="node-shape2-name" name="node-shape2-name" type="NODE"> - <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix> - <instance_geometry url="#shape2_001-mesh" name="node-shape2-name"> - <bind_material> - <technique_common> - <instance_material symbol="SWMaterial-0-material" target="#SWMaterial-0-material"/> - <instance_material symbol="SWMaterial-1-material" target="#SWMaterial-1-material"/> - <instance_material symbol="SWMaterial-2-material" target="#SWMaterial-2-material"/> - </technique_common> - </bind_material> - </instance_geometry> - </node> - </visual_scene> - </library_visual_scenes> - <scene> - <instance_visual_scene url="#Scene"/> - </scene> -</COLLADA> \ No newline at end of file diff --git a/ur_description/meshes/ur10/visual/upperarm.dae b/ur_description/meshes/ur10/visual/upperarm.dae deleted file mode 100644 index 010ff96..0000000 --- a/ur_description/meshes/ur10/visual/upperarm.dae +++ /dev/null @@ -1,954 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> - <asset> - <contributor> - <author>Blender User</author> - <authoring_tool>Blender 2.79.0</authoring_tool> - </contributor> - <created>2018-07-11T13:48:41</created> - <modified>2018-07-11T13:48:41</modified> - <unit name="meter" meter="1"/> - <up_axis>Z_UP</up_axis> - </asset> - <library_cameras> - <camera id="Camera-camera" name="Camera"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - <camera id="Camera_001-camera" name="Camera.001"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - <camera id="Camera_002-camera" name="Camera.002"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - <camera id="Camera_001-camera" name="Camera.003"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - <camera id="Camera_002-camera" name="Camera.004"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - <camera id="Camera_003-camera" name="Camera.005"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - <camera id="Camera_004-camera" name="Camera.006"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - </library_cameras> - <library_lights> - <light id="Lamp-light" name="Lamp"> - <technique_common> - <point> - <color sid="color">1 1 1</color> - <constant_attenuation>1</constant_attenuation> - <linear_attenuation>0</linear_attenuation> - <quadratic_attenuation>0.00111109</quadratic_attenuation> - </point> - </technique_common> - <extra> - <technique profile="blender"> - <adapt_thresh>0.000999987</adapt_thresh> - <area_shape>1</area_shape> - <area_size>0.1</area_size> - <area_sizey>0.1</area_sizey> - <area_sizez>1</area_sizez> - <atm_distance_factor>1</atm_distance_factor> - <atm_extinction_factor>1</atm_extinction_factor> - <atm_turbidity>2</atm_turbidity> - <att1>0</att1> - <att2>1</att2> - <backscattered_light>1</backscattered_light> - <bias>1</bias> - <blue>1</blue> - <buffers>1</buffers> - <bufflag>0</bufflag> - <bufsize>2880</bufsize> - <buftype>2</buftype> - <clipend>30.002</clipend> - <clipsta>1.000799</clipsta> - <compressthresh>0.04999995</compressthresh> - <dist sid="blender_dist">29.99998</dist> - <energy sid="blender_energy">1</energy> - <falloff_type>2</falloff_type> - <filtertype>0</filtertype> - <flag>0</flag> - <gamma sid="blender_gamma">1</gamma> - <green>1</green> - <halo_intensity sid="blnder_halo_intensity">1</halo_intensity> - <horizon_brightness>1</horizon_brightness> - <mode>8192</mode> - <ray_samp>1</ray_samp> - <ray_samp_method>1</ray_samp_method> - <ray_samp_type>0</ray_samp_type> - <ray_sampy>1</ray_sampy> - <ray_sampz>1</ray_sampz> - <red>1</red> - <samp>3</samp> - <shadhalostep>0</shadhalostep> - <shadow_b sid="blender_shadow_b">0</shadow_b> - <shadow_g sid="blender_shadow_g">0</shadow_g> - <shadow_r 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2953 1322 2994 1326 2528 1327 2975 1322 2994 1219 2869 1328 2870 1451 2996 1035 2997 1197 2998 4239 2999 1347 2962 1358 2964 1379 3000 1355 2988 1316 2976 1331 3001 6446 2659 1332 2768 1331 3001 1332 2768 1207 2786 1331 3001 5539 3002 6446 2659 2792 3003 1336 2597 6273 2702 5539 3002 1331 3001 1207 2786 1333 3004 1319 3004 3006 3004 1364 3005 5147 3005 4763 3005 1399 2884 3871 2906 1400 3006 1340 2767 6274 2725 1337 2686 5816 3007 5722 2986 5145 2987 1340 2767 1339 2827 3368 2955 1340 2767 3368 2955 3012 3008 1340 2767 3012 3008 6274 2725 1351 3009 1323 2981 4900 2995 1363 3010 1354 2970 1301 2835 1363 3010 1301 2835 1342 2881 1360 3011 1343 2958 1320 3012 1360 3011 1345 2978 1343 2958 2793 2584 4565 2583 2791 3013 1417 3014 1345 2978 1360 3011 1417 3014 1317 2989 1345 2978 2650 3015 2795 3016 2790 3017 5399 3018 1358 2964 1323 2981 1361 3019 1347 2962 1330 3020 1361 3019 6397 2990 1347 2962 1362 3021 1342 2881 1376 2895 1362 3021 1363 3010 1342 2881 1356 3022 1355 2988 1379 3000 4459 3023 5399 3018 1323 2981 5628 3024 5625 2967 1352 2966 3645 2451 987 2478 2794 2510 1431 3025 1354 2970 1363 3010 3647 3026 1344 3026 2651 3026 4396 3027 4291 2877 1368 2876 1367 3028 2652 3028 1349 3028 1357 3029 3007 3029 5180 3029 3505 3030 2790 3017 1335 3031 3505 3030 2650 3015 2790 3017 3506 3032 4292 3032 1346 3032 5399 3018 4239 2999 1358 2964 1359 3033 1207 2786 1224 2823 1359 3033 5539 3002 1207 2786 1359 3033 1382 3034 5539 3002 3712 3035 1360 3011 1320 3012 1362 3021 1431 3025 1363 3010 3648 3036 1622 2454 3645 2451 3648 3036 1601 3037 1628 3038 5723 3039 5816 3007 2482 3040 3648 3036 1628 3038 1622 2454 4461 3041 1351 3009 4900 2995 2654 3042 3646 3042 2649 3042 2656 3043 2653 3043 4397 3043 2655 3044 1373 3044 1353 3044 5400 3045 5399 3018 4459 3023 6561 3046 3648 3036 1365 3047 1370 3048 1224 2823 1223 2848 1370 3048 1359 3033 1224 2823 6561 3046 1365 3047 4398 3049 1370 3048 1223 2848 1254 2889 6526 3050 1197 2998 1035 2997 1385 3051 1356 3022 1379 3000 6526 3050 4396 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2940 6063 3069 5400 3045 4460 3058 1390 3070 1414 3056 3712 3035 5122 3071 1391 3054 1378 3055 5122 3071 1378 3055 1392 3072 6128 3073 4460 3058 5817 3074 6128 3073 6063 3069 4460 3058 1536 3075 1197 2998 1368 2876 5818 3076 1385 3051 1379 3000 5818 3076 1379 3000 1393 3077 1462 3078 1386 3068 1377 2940 1462 3078 1377 2940 1318 2960 1387 3079 1254 2889 1381 2912 1387 3079 1382 3034 1370 3048 1387 3079 1370 3048 1254 2889 1387 3079 935 3080 1382 3034 3507 3081 1380 2875 4291 2877 2480 3082 5723 3039 1383 3067 1450 3083 1404 3083 1302 3083 1398 3084 6128 3073 5817 3074 5630 3085 1348 3086 1308 3087 1388 3088 1381 2912 1403 2942 1388 3088 1387 3079 1381 2912 1440 3089 1390 3070 3712 3035 1440 3089 3712 3035 3713 3090 1395 3091 4989 2963 2683 3092 1395 3091 5058 2961 4989 2963 1419 3093 5122 3071 1392 3072 1419 3093 1392 3072 6064 3094 5698 3095 4524 3096 1389 3097 1388 3088 935 3080 1387 3079 1394 3098 5723 3039 2480 3082 6152 3099 1397 3100 1407 3101 6198 3102 5818 3076 1393 3077 1478 3103 1462 3078 1318 2960 1478 3103 1318 2960 1317 2989 6342 3104 2480 3082 1413 3105 6360 3106 6128 3073 1398 3084 1303 2576 6016 2983 1396 2796 6068 3107 1419 3093 6064 3094 6068 3107 6064 3094 1406 3108 5444 3109 6360 3106 1398 3084 1464 3110 1440 3089 3713 3090 1464 3110 3713 3090 1384 3111 1464 3110 1384 3111 5123 3112 1416 3113 1317 2989 1417 3014 1416 3113 1478 3103 1317 2989 6368 3114 5818 3076 6198 3102 6342 3104 1394 3098 2480 3082 1426 2885 1399 2884 1400 3006 1426 2885 1400 3006 1401 3115 1409 3116 1403 2942 1354 2970 1409 3116 1388 3088 1403 2942 3241 3117 6030 2821 2684 3118 3241 3117 2684 3118 3242 3119 5418 3120 6342 3104 1413 3105 1429 3121 1348 3086 5630 3085 1412 3122 6152 3099 1407 3101 1409 3116 935 3080 1388 3088 1409 3116 1434 3123 935 3080 5415 3124 6368 3114 6198 3102 1427 2887 1401 3115 1181 3125 5415 3124 6198 3102 1411 3126 1427 2887 1426 2885 1401 3115 1430 3127 1409 3116 1354 2970 4604 3128 1451 2996 1197 2998 1410 3129 1464 3110 5123 3112 3644 3130 1406 3108 6361 3131 3644 3130 6068 3107 1406 3108 5416 3132 5415 3124 1411 3126 5698 3095 5629 3133 4524 3096 1402 3134 5444 3109 1398 3084 4385 3135 1413 3105 1418 3136 4385 3135 5418 3120 1413 3105 1497 3137 1417 3014 1414 3056 1035 2997 6016 2983 1303 2576 1497 3137 1416 3113 1417 3014 1430 3127 1434 3123 1409 3116 1036 2540 3507 3081 5181 2993 4988 3138 5561 3139 1429 3121 5445 3140 5444 3109 1402 3134 4988 3138 3246 3141 5561 3139 3643 3142 6361 3131 1433 3143 3643 3142 3644 3130 6361 3131 1420 3144 5123 3112 1408 3145 1420 3144 1410 3129 5123 3112 1420 3144 1408 3145 1436 3146 1422 3147 5445 3140 1402 3134 1424 3148 1497 3137 1414 3056 1424 3148 1414 3056 1390 3070 1447 3149 5866 3057 2467 3150 1447 3149 6564 3063 5866 3057 3808 3151 4385 3135 1418 3136 1432 3152 1430 3127 1354 2970 1432 3152 1354 2970 1431 3025 3507 3081 1501 2486 1380 2875 1459 3153 5445 3140 1422 3147 1496 3154 1497 3137 1424 3148 1463 3155 1431 3025 1362 3021 1463 3155 1432 3152 1431 3025 3060 3156 1418 3136 3064 3157 5419 3158 1459 3153 1422 3147 3473 3159 3243 3159 4987 3159 1455 3160 1433 3143 1439 3161 1455 3160 3643 3142 1433 3143 1442 3162 1430 3127 1432 3152 1442 3162 1434 3123 1430 3127 5699 3163 1429 3121 5630 3085 1443 3164 1405 3164 5697 3164 3811 3165 5417 3166 1437 3167 1186 2822 6030 2821 3241 3117 1492 3168 1436 3146 1435 3169 1492 3168 1420 3144 1436 3146 3807 3170 3811 3165 1437 3167 1442 3162 1463 3155 1434 3123 1536 3075 4604 3128 1197 2998 3060 3156 3808 3151 1418 3136 1526 3171 1424 3148 1390 3070 1526 3171 1496 3154 1424 3148 1526 3171 1390 3070 1440 3089 1441 2520 1036 2540 5181 2993 1463 3155 1442 3162 1432 3152 1447 3149 5698 3095 1389 3097 1456 2837 1427 2887 1181 3125 1456 2837 1181 3125 1448 2891 1449 3172 1435 3169 4553 3173 1449 3172 1492 3168 1435 3169 3710 3174 1444 3175 3244 3176 1473 3177 1186 2822 3241 3117 3710 3174 3244 3176 3474 3178 1458 3179 1429 3121 5699 3163 4554 3180 1455 3160 1439 3161 4554 3180 1439 3161 3666 3181 1451 2996 6016 2983 1035 2997 1446 3182 3667 3183 1425 3184 1036 2540 1452 2484 3507 3081 1452 2484 1501 2486 3507 3081 1471 3185 1526 3171 1440 3089 1471 3185 1440 3089 1464 3110 1461 3186 1362 3021 1386 3068 1461 3186 1463 3155 1362 3021 1457 3187 5698 3095 1447 3149 3499 3188 3062 3188 3065 3188 3115 3189 3063 3189 1474 3189 3668 3190 3667 3183 1446 3182 6508 3191 4988 3138 1429 3121 6508 3191 1429 3121 1458 3179 3542 3192 4554 3180 3666 3181 3043 3193 3809 3194 3061 3195 3810 3196 3668 3190 1446 3182 1460 3197 1449 3172 4553 3173 3079 3198 1447 3149 2467 3150 1482 3199 1461 3186 1386 3068 1482 3199 1386 3068 1462 3078 1467 3200 1421 3201 1457 3187 1467 3200 5699 3163 1421 3201 1603 2521 1441 2520 5181 2993 2816 3202 1463 3155 1461 3186 1483 3203 1471 3185 1464 3110 1483 3203 1464 3110 1410 3129 6511 3204 1445 3205 1428 3206 6511 3204 1428 3206 1489 3207 1237 2894 1186 2822 1473 3177 3393 3208 3498 3209 3391 3210 1482 3199 2816 3202 1461 3186 1490 3211 5699 3163 1467 3200 1490 3211 1458 3179 5699 3163 1469 3212 1470 3213 1480 3214 1469 3212 4553 3173 1470 3213 1469 3212 1460 3197 4553 3173 3544 3215 3666 3181 1484 3216 3544 3215 3542 3192 3666 3181 1503 3217 1447 3149 3079 3198 1466 3218 3669 3219 1438 3220 1188 2836 1237 2894 1473 3177 1551 3221 1410 3129 1420 3144 2883 3222 2884 3222 1477 3222 1551 3221 1483 3203 1410 3129 1479 3223 1482 3199 1462 3078 1479 3223 1462 3078 1478 3103 1479 3223 1478 3103 1416 3113 1518 3224 3474 3178 1481 3225 1518 3224 3710 3174 3474 3178 3044 3226 3043 3193 3061 3195 1502 3227 1458 3179 1490 3211 1451 2996 5383 3228 6016 2983 3047 3229 3669 3219 1466 3218 5398 3230 3395 3231 3392 3232 5398 3230 3392 3232 5756 3233 2818 3234 1482 3199 1479 3223 1503 3217 1457 3187 1447 3149 1486 3235 1506 3236 3670 3237 1547 2825 1456 2837 1189 2820 1553 3238 1469 3212 1480 3214 1485 3239 1457 3187 1503 3217 1499 3240 1416 3113 1497 3137 5402 3241 3081 3242 2463 3243 1499 3240 1479 3223 1416 3113 1380 2875 1536 3075 1368 2876 3393 3208 3116 3244 3498 3209 5973 3245 1458 3179 1502 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3269 1481 3225 1500 3251 1537 3270 1502 3227 1495 3253 6457 3271 3118 3271 1475 3271 1521 2443 1504 3249 1523 3258 5363 3272 5396 3262 6001 3261 2624 3273 3543 3256 6542 3274 2624 3273 1491 3255 3543 3256 2624 3273 6542 3274 5605 3275 1577 2845 1189 2820 1185 2819 1517 3276 1485 3239 1503 3217 1517 3276 1503 3217 1505 3257 1507 3277 5405 3278 6362 3279 6133 3264 1517 3276 1505 3257 1548 3280 1508 3259 1496 3154 4604 3128 5383 3228 1451 2996 4647 3281 3394 3282 5397 3283 1513 3284 5973 3245 1502 3227 1513 3284 1502 3227 1537 3270 1507 3277 1510 3285 5405 3278 1530 3286 1517 3276 6133 3264 1517 3276 1495 3253 1485 3239 1533 3287 1449 3172 1460 3197 1533 3287 1523 3258 1449 3172 1507 3277 1527 3266 5403 3265 1508 3259 4503 3267 1499 3240 4319 3288 5606 3288 1493 3288 6455 3289 1534 3290 1472 3291 4647 3281 6456 3292 3394 3282 1525 3293 1500 3251 1516 3252 1525 3293 1516 3252 1513 3284 1531 3294 1537 3270 1495 3253 1531 3294 1495 3253 1517 3276 1198 2842 1518 3224 1522 3269 1198 2842 1194 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1990 3870 1978 3843 1976 3811 3446 3892 5390 3940 1982 3931 1972 3893 5390 3940 1999 3916 2553 3948 2557 3948 3491 3948 3170 3949 1947 3949 3167 3949 6323 3915 1980 3783 1981 3819 1970 3950 5248 3951 2819 3952 4877 3953 4573 3953 2538 3953 2967 3926 3235 3925 3238 3954 1872 3574 2091 3901 1941 3802 1974 3955 2552 3955 2537 3955 1951 3763 1985 3821 2027 3920 6323 3915 1981 3819 2061 3956 1878 3634 2043 3907 2154 3840 1964 3928 1986 3780 1988 3957 1986 3780 2018 3822 1988 3957 5117 3947 1991 3396 2002 3414 1763 3610 1993 3874 2016 3875 1983 3958 2008 3958 3493 3958 2027 3920 1985 3821 2046 3888 3790 3704 5286 3703 2017 3959 3211 3942 5325 3944 3214 3960 2048 3932 1964 3928 1988 3957 4601 3961 2968 3961 3973 3961 5753 3899 1975 3395 1991 3396 1990 3870 1976 3811 2277 3962 3969 3963 4601 3963 3973 3963 1998 3964 1994 3965 5182 3966 5117 3947 2002 3414 2020 3967 2295 3968 1996 3969 2042 3970 1996 3969 2033 3971 2042 3970 1956 3937 1971 3938 2007 3972 2006 3973 1956 3937 2007 3972 1941 3802 2091 3901 2147 3974 1999 3916 5390 3940 2000 3975 3172 3976 3168 3977 2003 3978 6541 3456 1938 3719 2005 3979 2006 3973 2007 3972 2033 3971 1931 3675 2016 3875 2066 3905 3494 3980 3215 3980 6288 3980 1990 3870 2277 3962 2009 3981 1981 3819 1990 3870 2009 3981 2061 3956 1981 3819 2009 3981 1999 3916 2000 3975 6129 3982 2012 3891 1999 3916 6129 3982 4878 3983 4876 3984 2541 3985 2015 3767 2066 3905 1900 3772 2061 3956 2009 3981 2049 3986 1988 3957 2018 3822 2019 3873 3213 3987 1998 3964 2031 3988 1998 3964 5182 3966 2031 3988 1988 3957 2019 3873 5042 3989 2001 3935 1997 3927 2014 3990 4876 3984 2536 3991 2541 3985 4126 3829 6173 3992 5285 3827 1955 3993 3492 3994 2540 3995 1866 3750 3878 3897 3171 3996 2023 3830 1866 3750 3171 3996 5390 3940 6129 3982 2000 3975 2046 3888 1966 3906 2048 3932 1979 3693 1900 3772 5754 3997 3236 3998 2821 3999 4944 4000 3240 4001 3236 3998 4944 4000 1997 3927 2027 3920 2063 4002 1900 3772 2066 3905 2925 4003 3785 4004 3971 4005 5149 4006 5661 4007 3785 4004 5149 4006 2007 3972 1971 3938 2081 4008 1936 4009 2010 4010 3975 4011 2819 3952 5248 3951 2822 4012 6142 3809 3956 4013 1958 3879 1968 4014 3972 4015 5148 4016 2540 3995 3492 3994 6050 4017 2014 3990 1997 3927 2038 4018 5183 4019 2020 3967 1643 3416 2020 3967 2002 3414 1643 3416 2013 4020 2542 4020 2787 4020 5042 3989 2019 3873 6323 3915 2043 3907 1941 3802 2029 4021 2057 4022 6324 4022 5044 4022 2047 4023 3213 3987 2074 4024 3213 3987 2031 3988 2074 4024 2044 4025 1842 4026 5853 4027 6541 3456 2005 3979 6265 3858 2033 3971 2007 3972 2199 4028 2007 3972 2081 4008 2199 4028 2066 3905 2016 3875 3525 4029 1941 3802 2147 3974 2029 4021 1992 4030 6287 4031 6048 4032 2035 4033 2014 3990 2038 4018 1901 3714 1958 3879 6367 4034 2012 3891 6129 3982 2037 4035 1971 3938 2025 3923 2037 4035 2025 3923 2012 3891 2037 4035 2026 4036 2823 4037 4945 4038 2038 4018 1997 3927 2041 4039 1997 3927 2063 4002 2041 4039 2787 4040 2542 4040 2784 4040 3975 4011 2010 4010 2118 4041 2046 3888 2048 3932 2083 4042 3841 3511 5436 3691 4753 4043 2110 4044 2044 4025 2084 4045 2044 4025 5853 4027 2084 4045 2003 3978 3168 3977 3844 4046 5148 4016 3972 4015 6095 4047 1971 3938 2037 4035 2080 4048 2009 3981 2277 3962 2051 4049 2049 3986 2009 3981 2051 4049 2027 3920 2046 3888 2063 4002 2708 4050 4858 4051 2072 3744 2047 4023 2074 4024 5461 4052 2048 3932 1988 3957 2059 4053 1988 3957 5042 3989 2059 4053 6048 4032 6287 4031 4490 4054 1971 3938 2080 4048 2081 4008 6323 3915 2061 3956 5516 4055 2102 4056 2028 4056 2050 4056 5183 4019 1643 3416 1646 3422 5460 4057 5183 4019 1646 3422 1993 3874 926 4058 2016 3875 2049 3986 2051 4049 2060 4059 3841 3511 4753 4043 3573 4060 2042 3970 2033 3971 2179 4061 2063 4002 2046 3888 2087 4062 2042 3970 2179 4061 2295 3968 4858 4051 926 4058 1993 3874 5660 4063 2077 4064 2469 4065 2543 4066 2539 4066 3759 4066 2048 3932 2059 4053 2083 4042 5754 3997 1900 3772 4426 4067 6094 4068 3974 4068 5446 4068 4858 4051 1993 3874 2072 3744 2046 3888 2083 4042 2087 4062 6129 3982 6369 4069 2037 4035 2043 3907 2029 4021 2154 3840 4282 4070 2788 4071 4809 4072 2451 4073 2035 4033 2038 4018 2059 4053 5042 3989 2058 4074 5042 3989 5043 4075 2058 4074 2083 4042 2059 4053 2058 4074 2049 3986 2060 4059 2098 4076 5516 4055 2061 3956 2098 4076 2061 3956 2049 3986 2098 4076 3779 4077 4279 4078 5758 4079 2063 4002 2087 4062 2041 4039 1958 3879 3956 4013 6367 4034 929 4080 2065 4080 2121 4080 2033 3971 2199 4028 2179 4061 2016 3875 926 4058 3525 4029 5853 4027 5285 3827 2082 3457 6173 3992 5707 4081 5285 3827 4426 4067 1900 3772 3709 4082 1987 4083 6049 4083 3760 4083 4279 4078 4808 4084 5758 4079 2083 4042 2058 4074 2085 4085 2023 3830 2036 4086 2076 4087 2071 4088 2023 3830 2076 4087 1901 3714 6367 4034 2011 3872 2104 4089 2072 3744 2105 3857 1995 4090 3851 4091 5447 4092 3850 4093 3239 4093 3848 4093 5460 4057 1646 3422 2093 3427 2075 4094 5460 4057 2093 3427 3239 4095 4946 4095 3848 4095 2041 4039 2087 4062 2086 4096 5285 3827 5707 4081 2082 3457 2047 4023 5461 4052 4488 4097 2469 4065 2077 4064 5150 4098 2030 3389 2295 3968 2096 4099 1900 3772 2925 4003 3709 4082 2022 4100 2071 4088 2149 4101 2071 4088 2076 4087 2149 4101 2788 4071 2785 4102 4809 4072 3709 4082 2925 4003 2926 4103 4945 4038 2823 4037 2271 4104 2085 4085 2058 4074 5043 4075 2080 4048 2037 4035 6369 4069 3168 3977 2079 4105 3844 4046 2786 4106 2054 4107 3762 4108 2003 3978 3844 4046 2153 4109 2034 4110 4491 4111 3761 4112 2038 4018 2041 4039 2086 4096 2076 4087 2036 4086 2109 4113 2928 4114 2064 4114 2067 4114 2925 4003 2066 3905 3525 4029 2076 4087 2109 4113 2149 4101 5447 4092 3851 4091 2107 4115 2039 4116 5709 4117 3847 4118 2087 4062 2083 4042 2085 4085 2086 4096 2087 4062 2085 4085 4488 4097 5461 4052 4493 4119 1633 3390 2030 3389 2129 3468 2030 3389 2096 4099 2129 3468 2451 4073 2038 4018 2123 4120 2453 4121 2451 4073 2123 4120 1640 3404 2070 3403 2092 3495 2075 4094 2093 3427 2094 4122 4492 4123 2075 4094 2094 4122 3781 4124 5759 4124 5439 4124 5043 4075 5516 4055 2112 4125 5516 4055 2098 4076 2112 4125 2078 4126 5148 4016 5643 4127 5148 4016 6095 4047 5643 4127 3573 4060 4753 4043 4384 4128 2098 4076 2060 4059 2283 4129 2098 4076 2283 4129 2282 4130 3761 4112 4491 4111 6245 4131 2079 4105 4428 4132 3844 4046 2295 3968 2179 4061 2217 3453 2085 4085 5043 4075 2112 4125 2086 4096 2085 4085 2127 4133 2054 4107 3758 4134 3762 4108 6265 3858 927 4135 2105 3857 2105 3857 927 4135 2104 4089 2106 4136 2095 4136 2097 4136 2128 3398 5249 4137 2108 3462 2036 4086 2003 3978 2109 4113 2110 4044 2084 4045 2108 3462 2045 4138 4427 4138 3846 4138 2469 4065 5150 4098 2468 4139 2038 4018 2086 4096 2124 3430 2112 4125 2098 4076 2134 4140 2098 4076 2282 4130 2134 4140 2086 4096 2127 4133 2135 4141 2115 4142 2114 4143 5990 4144 2136 4145 2115 4142 5990 4144 2038 4018 2124 3430 2123 4120 1640 3404 2092 3495 2133 3428 2124 3430 2086 4096 2135 4141 2085 4085 2112 4125 2127 4133 2112 4125 2134 4140 2127 4133 2073 4146 2022 4100 2150 4147 2084 4045 5853 4027 1657 3471 2022 4100 2149 4101 2150 4147 2081 4008 2080 4048 2157 4148 927 4135 6265 3858 6159 4149 6265 3858 2005 3979 6159 4149 2295 3968 2217 3453 2096 4099 5853 4027 2082 3457 1657 3471 2117 4150 2073 4146 2146 4151 2073 4146 2150 4147 2146 4151 5632 4152 3852 4153 4111 4154 3852 4153 3849 4155 4111 4154 4425 4156 2120 4156 4429 4156 2159 4157 2068 4157 4431 4157 2468 4139 5150 4098 2122 4158 2120 4159 2090 4159 4429 4159 3847 4118 5709 4117 2229 4160 2080 4048 6369 4069 2157 4148 2078 4126 5643 4127 5301 4161 2149 4101 2109 4113 2166 4162 6369 4069 6490 4163 2157 4148 2135 4141 2127 4133 2155 4164 2113 4165 3764 4166 4807 4167 2453 4121 2123 4120 2284 3429 1350 2668 2453 4121 2284 3429 2146 4151 2150 4147 2173 4168 2127 4133 2134 4140 2144 4169 6367 4034 3794 3406 2011 3872 2155 4164 2127 4133 2144 4169 2153 4109 3844 4046 3845 4170 2070 3403 1633 3390 1667 3470 1633 3390 2129 3468 1667 3470 2267 4171 5249 4137 2128 3398 2081 4008 2157 4148 2199 4028 2123 4120 2124 3430 2284 3429 2119 4172 2088 4173 2175 4174 2088 4173 5771 4175 2175 4174 4492 4123 2094 4122 2131 4176 2134 4140 2282 4130 2281 4177 2111 4178 6247 4178 3765 4178 5448 4179 5633 4180 2141 4181 2163 4182 5448 4179 2141 4181 6248 4183 4489 4183 5054 4183 2089 4184 2130 4184 5056 4184 2011 3872 3794 3406 2091 3901 2134 4140 2281 4177 2288 4185 2144 4169 2134 4140 2288 4185 5301 4161 5643 4127 5587 4186 2135 4141 2155 4164 2124 3430 2155 4164 1375 2685 2124 3430 2136 4145 5990 4144 2187 4187 1938 3719 2137 4188 2125 4189 2005 3979 1938 3719 2125 4189 1938 3719 3268 4190 2137 4188 2975 4191 2138 4192 2137 4188 3268 4190 2975 4191 2137 4188 2100 4193 2139 4194 3845 4170 2139 4194 6249 4195 3845 4170 2141 4181 5633 4180 2181 4196 2117 4150 2146 4151 2161 4197 2143 4198 2117 4150 2161 4197 2155 4164 2144 4169 2145 4199 2144 4169 2288 4185 2145 4199 2146 4151 2173 4168 2161 4197 2003 3978 2153 4109 2160 4200 2109 4113 2003 3978 2160 4200 2143 4198 2161 4197 2148 4201 2164 4202 2278 4203 2148 4201 2278 4203 2143 4198 2148 4201 2187 4187 5990 4144 2222 4204 2109 4113 2160 4200 2170 4205 2166 4162 2109 4113 2170 4205 2150 4147 2149 4101 2168 4206 2149 4101 2166 4162 2168 4206 2150 4147 2168 4206 2173 4168 2155 4164 2145 4199 2151 4207 4807 4167 3764 4166 4810 4208 2468 4139 2122 4158 5985 4209 2153 4109 3845 4170 2160 4200 2084 4045 1657 3471 2108 3462 2155 4164 2151 4207 2188 4210 1375 2685 2155 4164 2188 4210 5441 4211 2099 4212 3034 4213 2199 4028 2157 4148 6490 4163 4492 4123 2131 4176 5057 4214 4685 4215 5632 4152 6289 4216 5632 4152 4111 4154 6289 4216 2119 4172 2175 4174 2177 4217 3845 4170 6249 4195 2160 4200 2070 3403 1667 3470 2092 3495 2170 4205 2160 4200 6249 4195 2175 4174 5771 4175 2212 4218 2171 4219 2167 4220 2174 4221 2171 4219 2174 4221 2176 4222 2164 4202 2148 4201 2172 4223 2179 4061 2199 4028 2220 4224 2164 4202 2172 4223 2167 4220 2168 4206 2166 4162 2165 4225 2166 4162 2170 4205 2165 4225 2173 4168 2168 4206 2182 4226 2168 4206 2165 4225 2182 4226 5985 4209 2122 4158 2243 4227 2148 4201 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1810 3687 1791 3660 2251 4292 1791 3660 2254 4291 2251 4292 2252 3698 1810 3687 2251 4292 2261 4276 2252 3698 2251 4292 2261 4276 2251 4292 2254 4291 2169 4293 2736 3465 4743 3464 2254 4291 2221 4275 2257 4294 2221 4275 1867 3787 2257 4294 1867 3787 1891 3792 2257 4294 1891 3792 2255 3825 2256 4295 2261 4276 2254 4291 2256 4295 2254 4291 2257 4294 2256 4295 1909 3833 2261 4276 2256 4295 2255 3825 1909 3833 2256 4295 2257 4294 1891 3792 2256 4295 2224 3732 2261 4276 2260 3738 2226 4277 2225 3773 2259 3766 2260 3738 2261 4276 2264 4296 2226 4277 2259 3766 2264 4296 2259 3766 2260 3738 2264 4296 2261 4276 2262 3837 2265 3836 2264 4296 2261 4276 2265 3836 1969 3859 1956 3937 2263 4297 2226 4277 2264 4296 2263 4297 4660 4233 1708 3458 2082 3457 1956 3937 2226 4277 2263 4297 2264 4296 2265 3836 2263 4297 2265 3836 1969 3859 2263 4297 5800 4266 2178 4237 5455 3437 1902 3798 2226 4277 2291 3810 2178 4237 2232 3438 5455 3437 2006 3973 2033 3971 2290 4298 2033 3971 1996 3969 2290 4298 2291 3810 2226 4277 2290 4298 2226 4277 2006 3973 2290 4298 5710 4279 2267 4171 2272 4299 2191 3397 2270 4278 2272 4299 2128 3398 2191 3397 2272 4299 2270 4278 5710 4279 2272 4299 2267 4171 2128 3398 2272 4299 2273 3805 2274 4287 2275 4300 1976 3811 2273 3805 2275 4300 2217 3453 2220 4224 4591 3454 2073 4146 2117 4150 2276 4301 2117 4150 2143 4198 2276 4301 2275 4300 2274 4287 2276 4301 2274 4287 2073 4146 2276 4301 2286 4288 2060 4059 2279 4302 2060 4059 2051 4049 2279 4302 2051 4049 2277 3962 2279 4302 2278 4203 2164 4202 2293 4303 2164 4202 2167 4220 2293 4303 2286 4288 2279 4302 2293 4303 2167 4220 2286 4288 2293 4303 2282 4130 2283 4129 2280 4304 2281 4177 2282 4130 2280 4304 2283 4129 2286 4288 2280 4304 2288 4185 2281 4177 2280 4304 2171 4219 2285 4231 2287 4305 2195 4234 2288 4185 2287 4305 2280 4304 2286 4288 2287 4305 2288 4185 2280 4304 2287 4305 2285 4231 2195 4234 2287 4305 2286 4288 2171 4219 2287 4305 2289 3450 5588 4241 1653 3417 5588 4241 2197 4242 1653 3417 1636 3421 1687 3504 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2328 8796 2356 1167 2359 1156 2361 1120 2363 5958 2328 955 2447 8796 2356 2344 2448 2307 2332 1179 2362 9960 2442 1163 2441 1186 2412 1151 2427 6826 2425 1163 2441 2325 2336 1167 2359 1120 2363 4321 2436 1174 2405 1177 2400 8763 2419 8450 2449 1180 2347 1192 2350 8763 2419 1180 2347 1121 2387 6221 2428 1147 2415 9960 2442 1186 2412 1175 2413 4128 2450 9960 2442 1175 2413 8817 2399 8818 2444 4322 2451 4321 2436 1177 2400 1176 2446 4322 2451 4321 2436 1176 2446 4322 2451 8818 2444 1190 2452 1120 2363 1156 2361 1154 2364 5368 2432 7731 2438 2463 2445 1116 2342 1155 2426 1131 2343 8450 2449 7060 2453 1182 2454 8796 2356 955 2447 958 1846 1183 2402 1148 2429 6569 2375 1176 2446 8817 2399 4322 2451 1154 2364 1170 2377 1128 2366 6826 2425 6824 2345 1186 2412 9797 1887 9688 1889 8152 2334 4128 2450 1175 2413 1169 2346 1112 2330 6569 2375 5620 2331 1190 2452 8818 2444 2340 2386 1186 2412 6824 2345 1111 2344 1182 2454 7060 2453 8171 2352 8450 2449 1182 2454 8171 2352 1163 2441 6826 2425 1186 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2683 2827 2685 2859 2684 2966 2681 2951 2682 2930 2684 2966 2686 2949 2701 2961 2723 2964 2682 2930 2683 2827 2684 2966 2685 2859 2720 2897 2684 2966 2873 2940 2657 2803 2611 2765 2569 2749 2811 2891 2872 2967 2703 2905 2569 2749 2872 2967 2689 2944 2647 2908 3186 2968 2647 2908 2688 2941 3186 2968 2670 2952 2689 2944 3186 2968 2662 2932 2663 2943 2708 2969 2697 2957 2662 2932 2708 2969 2663 2943 2670 2952 2708 2969 2717 2660 1395 1533 2866 2970 2664 2909 2693 2882 2690 2971 3440 2936 2702 2947 2704 2972 2691 2928 2672 2935 2701 2961 2664 2909 2690 2971 2700 2973 2620 2895 2591 2777 3203 2974 3440 2936 2704 2972 2714 2975 2591 2777 3159 2863 3203 2974 2694 2976 3440 2936 2714 2975 2709 2960 2698 2955 2731 2977 2718 2910 2696 2854 2722 2978 2696 2854 2703 2905 2722 2978 2614 2527 2991 2875 2777 2883 2670 2952 3186 2968 3187 2979 2634 2920 2726 2965 2698 2955 2620 2895 3203 2974 2721 2980 2720 2897 2620 2895 2721 2980 2708 2969 2670 2952 2699 2981 2701 2961 2672 2935 2712 2982 2687 2946 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2856 3002 2717 2660 2866 2970 2964 2622 2729 2986 2719 2985 2764 3003 2698 2955 2727 3000 2731 2977 2703 2905 2872 2967 2722 2978 2719 2985 2732 2999 2764 3003 2684 2966 2720 2897 2742 3004 2720 2897 2721 2980 2742 3004 2805 2987 2684 2966 2742 3004 2709 2960 2731 2977 2773 2991 2723 2964 2738 2983 2732 2999 2724 2992 2697 2957 2725 3005 2697 2957 2708 2969 2725 3005 2708 2969 2740 2990 2725 3005 2712 2982 2724 2992 2741 3006 2749 2993 2712 2982 2741 3006 2699 2981 2670 2952 2737 3007 2693 2882 2645 2918 2860 3008 2690 2971 2693 2882 2860 3008 2670 2952 3187 2979 2737 3007 2726 2965 2757 1546 2727 3000 2729 2986 2764 3003 2733 2998 2694 2976 2733 2998 2734 3009 2771 3010 2694 2976 2734 3009 2645 2918 2803 2945 2860 3008 2605 2877 2774 2907 2784 3011 2735 2984 2605 2877 2784 3011 2740 2990 2699 2981 2736 3012 2699 2981 2737 3007 2736 3012 2732 2999 2738 2983 2739 3013 2738 2983 2749 2993 2739 3013 2725 3005 2740 2990 2780 3014 2741 3006 2724 2992 2758 3015 2724 2992 2725 3005 2758 3015 2805 2987 2742 3004 2834 3016 2766 2995 2773 2991 2790 3017 2611 2765 2887 2869 2888 3018 2764 3003 2732 2999 2778 3019 2706 2989 2735 2984 2783 3020 2733 2998 2764 3003 2761 3021 2735 2984 2784 3011 2783 3020 2734 3009 2733 2998 2760 3022 2792 3023 2728 2902 2806 3024 2733 2998 2761 3021 2760 3022 2730 2901 2666 2921 2755 3025 3183 2996 2766 2995 2769 3026 2728 2902 2730 2901 2755 3025 2739 3013 2749 2993 2748 3027 2749 2993 2741 3006 2748 3027 3147 2914 3151 2915 2855 3028 2750 3029 3147 2914 2855 3028 2725 3005 2780 3014 2751 3030 2758 3015 2725 3005 2751 3030 2750 3029 2855 3028 3158 3031 2771 3010 2734 3009 2776 3032 2711 2953 2765 2927 2767 3033 2734 3009 2760 3022 2776 3032 2664 2909 2700 2973 2754 2912 2727 3000 2757 1546 2753 3034 2731 2977 2727 3000 2753 3034 2761 3021 2764 3003 2795 3035 2732 2999 2739 3013 2778 3019 2855 3028 3151 2915 2859 3036 2752 3037 2756 3038 2793 3039 3183 2996 2769 3026 2793 3039 2756 3038 3183 2996 2793 3039 2731 2977 2753 3034 2762 1545 2728 2902 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2781 3052 2695 2724 2885 2811 2930 3053 2856 3002 2718 2910 2857 3054 2770 3045 2748 3027 2791 3055 2748 3027 2759 3040 2791 3055 2718 2910 2722 2978 2857 3054 2796 3046 2782 3047 2789 3056 2710 2868 2395 2609 2942 3057 2776 3032 2787 3042 2807 3058 2860 3008 2803 2945 2861 3059 2783 3020 2784 3011 2896 3060 2784 3011 2812 3048 2896 3060 2695 2724 2930 3053 2909 3061 2638 2911 2864 3001 2859 3036 2752 3037 2793 3039 2841 3062 2821 3063 2752 3037 2841 3062 2787 3042 2786 3049 2807 3058 2806 3024 2673 2954 2832 3064 2782 3047 2776 3032 2804 3065 2811 2891 2772 2760 2882 3041 2794 3051 2770 3045 2809 3066 2768 3044 2788 2962 2895 3067 2788 2962 2706 2989 2895 3067 2782 3047 2804 3065 2789 3056 2887 2869 2747 2691 2899 2800 2790 3017 2773 2991 2801 3068 2773 2991 2762 1545 2801 3068 2722 2978 2872 2967 2956 3069 2759 3040 2779 3050 2797 3070 2791 3055 2759 3040 2797 3070 2792 3023 2806 3024 2832 3064 2849 3071 2792 3023 2832 3064 2821 3063 2841 3062 2817 3072 2769 3026 2790 3017 2829 3073 2790 3017 2801 3068 2847 1544 2795 3035 2794 3051 2814 3074 2786 3049 2795 3035 2814 3074 2779 3050 2781 3052 3212 3075 2797 3070 2779 3050 3212 3075 2809 3066 2770 3045 2799 3076 2395 2609 2775 2939 2798 1536 2791 3055 2797 3070 2799 3076 2770 3045 2791 3055 2799 3076 2834 3016 2742 3004 3204 3077 2742 3004 2721 2980 3204 3077 2762 1545 2847 1544 2801 3068 2793 3039 2769 3026 2840 3078 2769 3026 2829 3073 2840 3078 2395 2609 2798 1536 2942 3057 2825 1512 2802 2929 2858 1513 2789 3056 2804 3065 2826 3079 2857 3054 2722 2978 2862 3080 2790 3017 2847 1544 2829 3073 2804 3065 2776 3032 2808 3081 2776 3032 2807 3058 2808 3081 2861 3059 2803 2945 2883 3082 2803 2945 2856 3002 2883 3082 2811 2891 2882 3041 2891 3083 2807 3058 2786 3049 2824 3084 2804 3065 2808 3081 2826 3079 2681 2951 2805 2987 2833 3085 2812 3048 2681 2951 2833 3085 2676 2830 2743 2948 2992 3086 2796 3046 2789 3056 2852 3087 2572 2836 2676 2830 2992 3086 2810 3088 2796 3046 2852 3087 2814 3074 2794 3051 2846 3089 2794 3051 2809 3066 2846 3089 2873 2940 2611 2765 2957 3090 2858 1513 2802 2929 2989 1514 2896 3060 2812 3048 2813 3091 2793 3039 2840 3078 2841 3062 2812 3048 2833 3085 2813 3091 2700 2973 2690 2971 2892 3092 2690 2971 2860 3008 2892 3092 2799 3076 2797 3070 2870 3093 2895 3067 2706 2989 2848 3094 2808 3081 2807 3058 2880 3095 2807 3058 2824 3084 2880 3095 2810 3088 2852 3087 2839 3096 2673 2954 2711 2953 2853 3097 2789 3056 2826 3079 2852 3087 2814 3074 2846 3089 2824 3084 2786 3049 2814 3074 2824 3084 2797 3070 3212 3075 2843 3098 2834 3016 3204 3077 2835 3099 2826 3079 2808 3081 2842 3100 2809 3066 2799 3076 2846 3089 2808 3081 2880 3095 2842 3100 2818 3101 2754 2912 2823 3102 2821 3063 2817 3072 2851 3103 2820 3104 2822 3105 2851 3103 2822 3105 2821 3063 2851 3103 2818 3101 2823 3102 2830 3106 2824 3084 2846 3089 2876 3107 2745 1511 2744 2988 2825 1512 2832 3064 2673 2954 2863 3108 2754 2912 2700 2973 2823 3102 2840 3078 2829 3073 2867 3109 2829 3073 2847 1544 2867 3109 2883 3082 2856 3002 2922 3110 2695 2724 2909 3061 2899 2800 2572 2836 2992 3086 2970 2562 2673 2954 2853 3097 2863 3108 2799 3076 2870 3093 2869 3111 2849 3071 2832 3064 2831 3112 2846 3089 2799 3076 2869 3111 2710 2868 2942 3057 2800 2700 3196 3113 2820 3104 2881 3114 2820 3104 2851 3103 2881 3114 2832 3064 2863 3108 2854 3115 2840 3078 2867 3109 1398 1543 2833 3085 2805 2987 2836 3116 2834 3016 2835 3099 2836 3116 2805 2987 2834 3016 2836 3116 2892 3092 2860 3008 2901 3117 2886 3118 2810 3088 2837 3119 2815 3120 2849 3071 2831 3112 2838 3121 2815 3120 2831 3112 2817 3072 2841 3062 2884 3122 2840 3078 1398 1543 2841 3062 2810 3088 2839 3096 2837 3119 2842 3100 2880 3095 2879 3123 2870 3093 2797 3070 2844 2520 2797 3070 2843 3098 2844 2520 2813 3091 2833 3085 2845 3124 2833 3085 2836 3116 2845 3124 2846 3089 2869 3111 2876 3107 2706 2989 2783 3020 2874 3125 2848 3094 2706 2989 2874 3125 2745 1511 1390 1510 2744 2988 2832 3064 2854 3115 2831 3112 3154 3126 3158 3031 2850 3127 2744 2988 1390 1510 1388 1509 2852 3087 2826 3079 2865 3128 2826 3079 2842 3100 2865 3128 2839 3096 2852 3087 2865 3128 2711 2953 2767 3033 2877 3129 2853 3097 2711 2953 2877 3129 2630 2884 2828 2864 2964 2622 2926 3130 3154 3126 3002 3131 3154 3126 2850 3127 3002 3131 2831 3112 2854 3115 2936 3132 2847 1544 1398 1543 2867 3109 2850 3127 3158 3031 2937 3133 3158 3031 2855 3028 2937 3133 2767 3033 2768 3044 2877 3129 2922 3110 2856 3002 2923 3134 2857 3054 2862 3080 2923 3134 2856 3002 2857 3054 2923 3134 2937 3133 2855 3028 2859 3036 2864 3001 2612 2886 2873 2940 2824 3084 2876 3107 2890 3135 2880 3095 2824 3084 2890 3135 2901 3117 2860 3008 2902 3136 2860 3008 2861 3059 2902 3136 2862 3080 2722 2978 3016 3137 2611 2765 2888 3018 2950 1524 2722 2978 2956 3069 3016 3137 2611 2765 2950 1524 2957 3090 2876 3107 2869 3111 2928 3138 2823 3102 2700 2973 2889 3139 2853 3097 2877 3129 2868 3140 2863 3108 2853 3097 2868 3140 2882 3041 2744 2988 1388 1509 2864 3001 2873 2940 2945 3141 2839 3096 2865 3128 2878 3142 2927 3143 2823 3102 2889 3139 2842 3100 2879 3123 2865 3128 2863 3108 2868 3140 2854 3115 2964 2622 2866 2970 2958 1532 2868 3140 2877 3129 2924 3144 2630 2884 2964 2622 2802 2929 2869 3111 2870 3093 2871 2516 2870 3093 2844 2520 2871 2516 2872 2967 2811 2891 2994 3145 2811 2891 2891 3083 2994 3145 2874 3125 2783 3020 2875 3146 2783 3020 2896 3060 2875 3146 2874 3125 2875 3146 2915 3147 2859 3036 2864 3001 2948 3148 3196 3113 2881 3114 2949 3149 2768 3044 2895 3067 2905 3150 2877 3129 2768 3044 2905 3150 2878 3142 2865 3128 2908 3151 2879 3123 2880 3095 2893 3152 2880 3095 2890 3135 2893 3152 2923 3134 2862 3080 3006 3153 2888 3018 2887 2869 2900 1526 2884 3122 2841 3062 2921 3154 2841 3062 1398 1543 2921 3154 2837 3119 2839 3096 2919 3155 2838 3121 2831 3112 2906 3156 3444 3157 2838 3121 2906 3156 2883 3082 2922 3110 2951 3158 2902 3136 2861 3059 2951 3158 2851 3103 2817 3072 2944 3159 2817 3072 2884 3122 2944 3159 2861 3059 2883 3082 2951 3158 2839 3096 2878 3142 2919 3155 2828 2864 2827 2768 2717 2660 3470 3160 2886 3118 2940 3161 3196 3113 2949 3149 3070 3162 2935 3163 3196 3113 3070 3162 2872 2967 2994 3145 2904 3164 2877 3129 2905 3150 2924 3144 2886 3118 2837 3119 2940 3161 2889 3139 2700 2973 2903 3165 2964 2622 2958 1532 2785 350 2700 2973 2892 3092 2903 3165 2890 3135 2876 3107 2966 3166 2876 3107 2928 3138 2966 3166 2937 3133 2859 3036 2985 3167 2864 3001 2945 3141 2948 3148 2892 3092 2901 3117 2903 3165 2836 3116 2835 3099 2898 3168 2572 2836 2970 2562 2827 2768 2936 3132 2854 3115 2918 3169 2879 3123 2893 3152 2932 3170 2854 3115 2868 3140 2918 3169 2865 3128 2879 3123 2932 3170 2908 3151 2865 3128 2932 3170 2980 1528 2894 1527 2909 3061 2905 3150 2895 3067 2925 3171 2895 3067 2848 3094 2925 3171 2896 3060 2813 3091 2971 3172 2875 3146 2896 3060 2971 3172 2831 3112 2936 3132 2906 3156 2869 3111 2871 2516 2897 2515 2928 3138 2869 3111 2897 2515 2900 1526 2920 1525 2888 3018 2915 3147 2875 3146 2971 3172 2828 2864 2717 2660 2964 2622 2845 3124 2836 3116 3036 3173 2836 3116 2898 3168 3036 3173 2851 3103 2944 3159 2881 3114 2830 3106 2823 3102 2927 3143 2951 3158 2922 3110 2931 3174 2887 2869 2899 2800 2900 1526 2868 3140 2924 3144 2918 3169 2777 2883 2991 2875 2910 1530 2903 3165 2901 3117 2987 3175 2894 1527 2900 1526 2899 2800 2901 3117 2902 3136 2987 3175 2905 3150 2925 3171 2924 3144 2939 3176 2907 3177 2997 3178 2884 3122 2921 3154 2914 1542 2891 3083 2882 3041 2614 2527 2878 3142 2908 3151 2919 3155 2777 2883 2910 1530 2912 2774 2894 1527 2899 2800 2909 3061 2837 3119 2919 3155 2940 3161 2893 3152 2890 3135 2911 3179 2890 3135 2966 3166 2911 3179 1398 1543 2914 1542 2921 3154 2918 3169 2924 3144 2961 3180 2798 1536 3020 1535 2942 3057 3444 3157 2906 3156 2993 3181 2959 3182 3444 3157 2993 3181 2848 3094 2874 3125 2952 3183 2874 3125 2915 3147 2952 3183 2925 3171 2848 3094 2952 3183 2971 3172 2813 3091 2916 3184 2813 3091 2845 3124 2916 3184 3038 1507 2882 3041 2917 1508 2882 3041 1388 1509 2917 1508 2918 3169 2961 3180 2972 3185 2936 3132 2918 3169 2972 3185 3470 3160 2940 3161 2907 3177 2971 3172 2916 3184 3025 3186 2919 3155 2908 3151 3001 3187 2981 1529 2912 2774 3011 3188 2912 2774 2910 1530 3011 3188 2873 2940 2957 3090 2945 3141 2987 3175 2902 3136 2929 3189 2931 3174 2922 3110 2955 3190 2908 3151 2932 3170 3026 3191 2923 3134 3006 3153 2955 3190 2922 3110 2923 3134 2955 3190 2925 3171 2952 3183 2960 3192 2924 3144 2925 3171 2960 3192 2926 3130 3002 3131 3206 3193 2928 3138 2897 2515 2965 2534 2966 3166 2928 3138 2965 2534 2850 3127 2937 3133 2943 3194 2932 3170 2893 3152 2933 3195 2980 1528 2909 3061 2930 3053 2893 3152 2911 3179 2933 3195 3026 3191 2932 3170 2933 3195 2995 3196 3206 3193 2996 3197 2934 3198 2935 3163 2941 3199 2935 3163 3070 3162 2941 3199 2936 3132 2972 3185 2906 3156 2862 3080 3016 3137 3200 3200 3006 3153 2862 3080 3200 3200 2907 3177 2940 3161 3081 3201 2907 3177 3081 3201 2997 3178 2889 3139 2903 3165 2938 3202 2927 3143 2889 3139 2938 3202 2850 3127 2943 3194 3014 3203 2940 3161 2919 3155 2986 3204 3002 3131 2850 3127 3014 3203 2944 3159 2884 3122 3037 3205 2802 2929 2964 2622 2998 1515 2881 3114 2944 3159 3037 3205 2945 3141 2957 3090 2974 3206 2989 1514 2802 2929 2998 1515 2952 3183 2915 3147 2953 3207 2885 2811 2912 2774 2946 3208 2980 1528 2930 3053 2946 3208 2930 3053 2885 2811 2946 3208 2859 3036 2948 3148 2967 3209 2985 3167 2859 3036 2967 3209 2906 3156 2972 3185 2999 3210 2939 3176 2997 3178 2976 2564 2888 3018 2920 1525 2950 1524 2902 3136 2951 3158 3039 3211 2929 3189 2902 3136 3039 3211 2951 3158 2931 3174 3039 3211 2952 3183 2953 3207 2954 3212 2960 3192 2952 3183 2954 3212 2955 3190 3006 3153 3067 3213 2872 2967 2904 3164 3050 3214 2956 3069 2872 2967 3050 3214 3016 3137 2956 3069 3050 3214 2910 1530 2991 2875 3040 3215 2785 350 2958 1532 2819 352 2948 3148 2945 3141 3022 1522 2743 2948 2800 2700 3215 2541 2993 3181 2906 3156 2999 3210 3026 3191 2933 3195 3061 3216 2933 3195 2911 3179 3061 3216 3198 3217 2934 3198 2968 3218 3445 3219 2959 3182 2993 3181 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2979 3225 3000 3233 2972 3185 2962 3221 3012 3234 2999 3210 2972 3185 3012 3234 2946 3208 2912 2774 2980 1528 2912 2774 2981 1529 2980 1528 2891 3083 2614 2527 2994 3145 2993 3181 3028 3226 3027 3235 2830 3106 2927 3143 3052 3236 2927 3143 2938 3202 3052 3236 2819 352 2983 356 2982 355 2913 353 2819 352 2982 355 3012 3234 2962 3221 2984 3237 2960 3192 2954 3212 2984 3237 2962 3221 2960 3192 2984 3237 2717 2660 2827 2768 2970 2562 2919 3155 3001 3187 2977 3231 2940 3161 2986 3204 3081 3201 2988 3222 2987 3175 3045 3238 2987 3175 2929 3189 3045 3238 2898 3168 2835 3099 3046 3239 3014 3203 2943 3194 2990 3240 2979 3225 3025 3186 3032 3241 2999 3210 3012 3234 3031 3242 3445 3219 2993 3181 3209 3243 2993 3181 3027 3235 3209 3243 3015 3244 3445 3219 3209 3243 2904 3164 2994 3145 3148 2772 2995 3196 2996 3197 3208 3245 2979 3225 3032 3241 3018 3246 3000 3233 2979 3225 3018 3246 2997 3178 3081 3201 3136 2542 2931 3174 2955 3190 3021 3247 2984 3237 2954 3212 3013 3248 2954 3212 3000 3233 3013 3248 3001 3187 2908 3151 3034 3249 2955 3190 3067 3213 3021 3247 3012 3234 2984 3237 3013 3248 3003 3232 2931 3174 3021 3247 2908 3151 3026 3191 3034 3249 3206 3193 3002 3131 3004 3250 3002 3131 3014 3203 3004 3250 2976 2564 2997 3178 3136 2542 2999 3210 3031 3242 3028 3226 3206 3193 3004 3250 3076 3251 2996 3197 3206 3193 3076 3251 3045 3238 2929 3189 3091 3252 3052 3236 2938 3202 3007 3253 2816 366 2947 365 2978 1531 3006 3153 3200 3200 3066 3254 3067 3213 3006 3153 3066 3254 3215 2541 2800 2700 3020 1535 2800 2700 2942 3057 3020 1535 2967 3209 2948 3148 3008 3255 3058 3224 2967 3209 3008 3255 3007 3253 2938 3202 3009 3256 2945 3141 2974 3206 3022 1522 2943 3194 2985 3167 3024 3257 2914 1542 3010 1541 3037 3205 2943 3194 3024 3257 2990 3240 2910 1530 2981 1529 3011 3188 3012 3234 3013 3248 3056 3258 3031 3242 3012 3234 3056 3258 3004 3250 3014 3203 3055 3259 2743 2948 3215 2541 2992 3086 1981 1858 3015 3244 3209 3243 3004 3250 3055 3259 3076 3251 2948 3148 3022 1522 3008 3255 3016 3137 3050 3214 3109 3260 2963 3220 2968 3218 2384 2613 3056 3258 3013 3248 3019 3261 3017 3262 2963 3220 2384 2613 3013 3248 3000 3233 3019 3261 3000 3233 3018 3246 3019 3261 3028 3226 3031 3242 3029 2558 3021 3247 3067 3213 3068 3263 3061 3216 2911 3179 3048 2531 2911 3179 3023 2532 3048 2531 2985 3167 3058 3224 3024 3257 3058 3224 3008 3255 3059 3264 3091 3252 2929 3189 3090 3265 2929 3189 3039 3211 3090 3265 3442 3229 3062 3230 3463 2560 3031 3242 3056 3258 3042 3266 3014 3203 2990 3240 3055 3259 3025 3186 2975 3228 3087 3267 3032 3241 3025 3186 3087 3267 215 363 3005 362 2947 365 3007 3253 3009 3256 3030 3268 3009 3256 2938 3202 3030 3268 2938 3202 2988 3222 3030 3268 3027 3235 3028 3226 3029 2558 3070 3162 2949 3149 3195 3269 2949 3149 2969 3223 3195 3269 3018 3246 3032 3241 3033 3270 2988 3222 3045 3238 3030 3268 3032 3241 3087 3267 3033 3270 3019 3261 3018 3246 3033 3270 2898 3168 3046 3239 3035 3271 3036 3173 2898 3168 3035 3271 2947 365 3005 362 1394 360 3031 3242 3042 3266 3029 2558 3042 3266 3104 1902 3029 2558 2968 3218 2941 3199 3094 2588 2941 3199 3070 3162 3094 2588 3039 3211 3003 3232 3041 3272 3090 3265 3039 3211 3041 3272 3036 3173 3035 3271 3049 3273 2973 3227 3036 3173 3049 3273 2978 1531 2910 1530 3040 3215 2947 365 1394 360 2978 1531 2882 3041 3038 1507 3113 1506 2614 2527 2882 3041 3113 1506 3022 1522 3044 1521 3008 3255 3044 1521 3069 1520 3059 3264 3008 3255 3044 1521 3059 3264 3030 3268 3045 3238 3102 3274 3208 3245 2996 3197 3054 3275 2996 3197 3076 3251 3054 3275 3046 3239 3208 3245 3054 3275 3061 3216 3048 2531 2359 2585 3035 3271 3046 3239 3047 3276 3019 3261 3033 3270 3057 3277 3056 3258 3019 3261 3057 3277 2904 3164 3148 2772 3051 2725 3050 3214 2904 3164 3051 2725 3035 3271 3047 3276 3049 3273 3024 3257 3058 3224 3059 3264 2990 3240 3024 3257 3059 3264 3046 3239 3054 3275 3060 3278 2986 3204 2977 3231 3063 2565 3047 3276 3046 3239 3060 3278 3109 3260 3050 3214 3051 2725 3081 3201 2986 3204 3063 2565 3052 3236 3007 3253 3053 3279 3043 3280 3052 3236 3053 3279 2990 3240 3059 3264 3075 3281 3055 3259 2990 3240 3064 3282 3055 3259 3064 3282 3076 3251 3042 3266 3056 3258 3097 3283 3056 3258 3057 3277 3097 3283 3070 3162 3195 3269 1397 1540 3037 3205 3010 1541 2969 3223 3003 3232 3021 3247 3083 3284 3041 3272 3003 3232 3083 3284 3034 3249 3026 3191 3073 3285 3026 3191 3061 3216 3073 3285 2990 3240 3075 3281 3064 3282 3042 3266 3097 3283 3103 3286 3104 1902 3042 3266 3103 3286 3076 3251 3064 3282 3065 3287 3017 3262 2384 2613 2354 2642 3067 3213 3066 3254 3138 3288 3068 3263 3067 3213 3138 3288 3045 3238 3091 3252 3192 3289 3060 3278 3054 3275 3085 3290 3102 3274 3045 3238 3192 3289 2973 3227 3049 3273 3071 3291 3070 3162 1397 1540 3094 2588 2973 3227 3071 3291 3072 3292 2975 3228 2973 3227 3072 3292 3075 3281 3059 3264 3084 3293 3059 3264 3069 1520 3084 3293 3071 3291 3049 3273 3074 3294 3071 3291 3074 3294 3108 3295 3072 3292 3071 3291 3108 3295 2992 3086 3215 2541 2344 2540 3047 3276 3060 3278 3092 3296 3053 3279 3007 3253 3078 3297 3049 3273 3047 3276 3079 3298 3047 3276 3092 3296 3079 3298 3074 3294 3049 3273 3079 3298 3064 3282 3075 3281 3082 3299 3065 3287 3064 3282 3082 3299 3054 3275 3076 3251 3080 3300 3085 3290 3054 3275 3080 3300 3076 3251 3065 3287 3080 3300 3065 3287 3082 3299 3089 3301 3089 3301 3082 3299 3077 1518 3079 3298 3092 3296 3093 3302 3065 3287 3089 3301 3080 3300 2992 3086 2344 2540 2970 2562 3060 3278 3085 3290 3092 3296 3081 3201 3063 2565 3136 2542 3463 2560 3062 3230 3149 2521 2975 3228 3072 3292 3088 3303 3087 3267 2975 3228 3088 3303 3069 1520 3077 1518 3084 3293 3021 3247 3068 3263 3086 3304 3077 1518 3082 3299 3084 3293 3083 3284 3021 3247 3086 3304 3082 3299 3075 3281 3084 3293 2970 2562 2344 2540 3125 2556 3057 3277 3033 3270 3099 3305 3087 3267 3088 3303 3099 3305 3033 3270 3087 3267 3099 3305 3072 3292 3108 3295 3088 3303 3080 3300 3089 3301 3095 3306 3090 3265 3041 3272 3107 3307 3091 3252 3090 3265 3107 3307 3085 3290 3080 3300 3095 3306 3192 3289 3091 3252 3107 3307 3074 3294 3079 3298 3106 3308 3108 3295 3074 3294 3116 3309 3074 3294 3106 3308 3116 3309 3001 3187 3034 3249 3169 2566 2977 3231 3001 3187 3169 2566 3089 3301 3077 1518 3095 3306 3097 3283 3057 3277 3100 3310 3057 3277 3099 3305 3100 3310 3092 3296 3085 3290 3098 3311 3093 3302 3092 3296 3098 3311 3096 1516 2998 1515 2964 2622 3085 3290 3095 3306 3101 1517 3079 3298 3093 3302 3106 3308 3007 3253 3030 3268 3105 2524 3078 3297 3007 3253 3105 2524 3078 3297 3105 2524 2358 2526 3077 1518 3101 1517 3095 3306 3103 3286 3097 3283 3117 3312 3097 3283 3100 3310 3117 3312 3085 3290 3101 1517 3098 3311 3211 346 3096 1516 2964 2622 3093 3302 3098 3311 3121 1588 3030 3268 3102 3274 3105 2524 3103 3286 3117 3312 3119 3313 3104 1902 3103 3286 3110 3314 3103 3286 3119 3313 3110 3314 1695 1975 3104 1902 3110 3314 3107 3307 3041 3272 3194 2547 3088 3303 3108 3295 3112 3315 3136 2542 3063 2565 2388 2543 3108 3295 3116 3309 3112 3315 3109 3260 3051 2725 2377 2723 1695 1975 3110 3314 3119 3313 3453 2537 3043 3280 3111 2539 3098 3311 3101 1517 3114 3316 3121 1588 3098 3311 3114 3316 3100 3310 3099 3305 3118 3317 3088 3303 3112 3315 3118 3317 3099 3305 3088 3303 3118 3317 3109 3260 2377 2723 3199 2529 3106 3308 3093 3302 3115 3318 3043 3280 3053 3279 3111 2539 3053 3279 3078 3297 3111 2539 3116 3309 3106 3308 3124 3319 3106 3308 3115 3318 3124 3319 3216 3320 3217 2697 2369 2608 3199 2529 2377 2723 2525 2545 3101 1517 3121 1588 3114 3316 3093 3302 3121 1588 3115 3318 3105 2524 3102 3274 3129 2525 3117 3312 3100 3310 3128 3321 3100 3310 3118 3317 3128 3321 3148 2772 2994 3145 2392 2773 3017 3262 2354 2642 2339 2517 2994 3145 2614 2527 2392 2773 3116 3309 3124 3319 3112 3315 3119 3313 3117 3312 3131 3322 3117 3312 3128 3321 3131 3322 3115 3318 3121 1588 3123 3323 3124 3319 3115 3318 3123 3323 3112 3315 3124 3319 3126 3324 3124 3319 3123 3323 3122 1587 3073 3285 3061 3216 3157 2578 3061 3216 2359 2585 3157 2578 3041 3272 3083 3284 3120 2573 3194 2547 3041 3272 3120 2573 3083 3284 3086 3304 3120 2573 3121 1588 3122 1587 3123 3323 3112 3315 3126 3324 3118 3317 3068 3263 3138 3288 3145 2569 3086 3304 3068 3263 3145 2569 3124 3319 3122 1587 3126 3324 3062 3230 2976 2564 2349 2522 1695 1975 3119 3313 3127 3325 1906 1551 1695 1975 3127 3325 3122 1587 3130 1586 3126 3324 3126 3324 3130 1586 3118 3317 2897 2515 3216 3320 3210 2535 2965 2534 2897 2515 3210 2535 2717 2660 2970 2562 3143 2563 3118 3317 3130 1586 3128 3321 3128 3321 3130 1586 3131 3322 3129 2525 3102 3274 3197 2574 3119 3313 3131 3322 3132 3326 3102 3274 3192 3289 3197 2574 3127 3325 3119 3313 3132 3326 3131 3322 3130 1586 3132 3326 1906 1551 3127 3325 3132 3326 3130 1586 1906 1551 3132 3326 3010 1541 1397 1540 3195 3269 2969 3223 3010 1541 3195 3269 2535 2807 3162 2763 3167 3327 3166 2919 2674 2922 3167 3327 3111 2539 3078 3297 2352 2554 2705 2997 3183 2996 3182 3328 3177 2893 3133 2855 3182 3328 3186 2968 2688 2941 3134 3329 2821 3063 2822 3105 3134 3329 2763 3043 2736 3012 3193 3330 2935 3163 2934 3198 3193 3330 3066 3254 3200 3200 3135 3331 3078 3297 2358 2526 2352 2554 3202 2528 2357 2594 3135 3331 3138 3288 3066 3254 3137 3332 3135 3331 2357 2594 3137 3332 2357 2594 2423 2673 3137 3332 3066 3254 3135 3331 3137 3332 3145 2569 3138 3288 3142 3333 3138 3288 3137 3332 3142 3333 3137 3332 2423 2673 3142 3333 2423 2673 3139 2678 3142 3333 3139 2678 2533 2802 3142 3333 3140 2571 2346 2570 3141 3334 3142 3333 2533 2802 3141 3334 2533 2802 3144 2790 3141 3334 3144 2790 2523 2789 3141 3334 3145 2569 3142 3333 3141 3334 2346 2570 3145 2569 3141 3334 3140 2571 3141 3334 3146 3335 2465 2627 3140 2571 3146 3335 3149 2521 3062 3230 2349 2522 2523 2789 3147 2914 3146 3335 3141 3334 2523 2789 3146 3335 3146 3335 3147 2914 3150 3336 3147 2914 2750 3029 3150 3336 2465 2627 3146 3335 3150 3336 3153 2722 2465 2627 3150 3336 2859 3036 3151 2915 3152 3337 2638 2911 2859 3036 3152 3337 3151 2915 2524 2791 3152 3337 2524 2791 2638 2911 3152 3337 3156 2728 3153 2722 3160 3338 3159 2863 3155 2853 3160 3338 3158 3031 3154 3126 3160 3338 3034 3249 3073 3285 3169 2566 3155 2853 3156 2728 3160 3338 3073 3285 3157 2578 3169 2566 3154 3126 2926 3130 3160 3338 2750 3029 3158 3031 3160 3338 3153 2722 3150 3336 3160 3338 3150 3336 2750 3029 3160 3338 3203 2974 3159 2863 3161 3339 3160 3338 2926 3130 3161 3339 2926 3130 3206 3193 3161 3339 3159 2863 3160 3338 3161 3339 3167 3327 3162 2763 3168 3340 2478 2736 3163 2732 3168 3340 3162 2763 3164 2758 3168 3340 3164 2758 2478 2736 3168 3340 2632 2873 2599 2916 3165 3341 3167 3327 3168 3340 3165 3341 2599 2916 3166 2919 3165 3341 3166 2919 3167 3327 3165 3341 3168 3340 3163 2732 3165 3341 2562 2816 2632 2873 3165 3341 3163 2732 2562 2816 3165 3341 2535 2807 3167 3327 3170 3342 2552 2814 2535 2807 3170 3342 2573 2846 2552 2814 3171 3343 3133 2855 2573 2846 3171 3343 3182 3328 3133 2855 3171 3343 2552 2814 3170 3342 3171 3343 3182 3328 3171 3343 3174 3344 3171 3343 3170 3342 3174 3344 3170 3342 3167 3327 3174 3344 3120 2573 3086 3304 3172 2568 3086 3304 3145 2569 3172 2568 3174 3344 3167 3327 3175 3345 3167 3327 2674 2922 3175 3345 2674 2922 2668 2956 3175 3345 3175 3345 2668 2956 3173 3346 3174 3344 3175 3345 3173 3346 3182 3328 3174 3344 3173 3346 2668 2956 3176 2959 3173 3346 3176 2959 2705 2997 3173 3346 2705 2997 3182 3328 3173 3346 3177 2893 3182 3328 3181 3347 3179 2900 3177 2893 3181 3347 3178 2934 3179 2900 3180 3348 2688 2941 3178 2934 3180 3348 3134 3329 2688 2941 3180 3348 3179 2900 3181 3347 3180 3348 3134 3329 3180 3348 3181 3347 3181 3347 3182 3328 3184 3349 3182 3328 3183 2996 3184 3349 3183 2996 2756 3038 3184 3349 2821 3063 3134 3329 3185 3350 2752 3037 2821 3063 3185 3350 3134 3329 3181 3347 3185 3350 3184 3349 2756 3038 3185 3350 3181 3347 3184 3349 3185 3350 2756 3038 2752 3037 3185 3350 3186 2968 3134 3329 3187 2979 3193 3330 2736 3012 3188 3351 2736 3012 2737 3007 3188 3351 2737 3007 3187 2979 3188 3351 3187 2979 3134 3329 3189 3352 3188 3351 3187 2979 3189 3352 3193 3330 3188 3351 3189 3352 3197 2574 3192 3289 2355 2546 2822 3105 2820 3104 3190 3353 3189 3352 3134 3329 3190 3353 3134 3329 2822 3105 3190 3353 3189 3352 3190 3353 3191 3354 2820 3104 3196 3113 3191 3354 3192 3289 3107 3307 2355 2546 3193 3330 3189 3352 3191 3354 3107 3307 3194 2547 2355 2546 3190 3353 2820 3104 3191 3354 2935 3163 3193 3330 3191 3354 3196 3113 2935 3163 3191 3354 2781 3052 2763 3043 3213 3355 3212 3075 2781 3052 3213 3355 2763 3043 3193 3330 3213 3355 3213 3355 3193 3330 3198 3217 3193 3330 2934 3198 3198 3217 3109 3260 3199 2529 3201 3356 3016 3137 3109 3260 3201 3356 3135 3331 3200 3200 3201 3356 3200 3200 3016 3137 3201 3356 3199 2529 3202 2528 3201 3356 3202 2528 3135 3331 3201 3356 3203 2974 3161 3339 3205 3357 2835 3099 3204 3077 3205 3357 2721 2980 3203 2974 3205 3357 2384 2613 2968 3218 2375 1539 3204 3077 2721 2980 3205 3357 3046 3239 2835 3099 3205 3357 2968 3218 3094 2588 2375 1539 3161 3339 3206 3193 3207 3358 3206 3193 2995 3196 3207 3358 3208 3245 3046 3239 3207 3358 3046 3239 3205 3357 3207 3358 2995 3196 3208 3245 3207 3358 3205 3357 3161 3339 3207 3358 3209 3243 3027 3235 2343 2557 3027 3235 3029 2558 2343 2557 1981 1858 3209 3243 2343 2557 2401 2555 2393 2549 2342 2550 3198 3217 2963 3220 2340 2519 2963 3220 3017 3262 2340 2519 3213 3355 3198 3217 2340 2519 3216 3320 2369 2608 3210 2535 2977 3231 3169 2566 3063 2565 2843 3098 3212 3075 3214 2518 3212 3075 3213 3355 3214 2518 2844 2520 2843 3098 3214 2518 3213 3355 2340 2519 3214 2518 2844 2520 3214 2518 2339 2517 3216 3320 2897 2515 2339 2517 2340 2519 3017 3262 2339 2517 3217 2697 3216 3320 2339 2517 3312 3359 3218 3360 3219 3361 3223 3362 1412 1423 3221 1596 3223 3362 3317 3363 1412 1423 3224 1597 3316 3364 3220 1590 3223 3362 3312 3359 3317 3363 3226 3365 3316 3364 3224 1597 3223 3362 3218 3360 3312 3359 3223 3362 3221 1596 1417 1504 3316 3364 198 299 3222 295 3226 3365 198 299 3316 3364 3225 3366 3223 3362 1417 1504 3228 3367 3226 3365 3224 1597 3229 3368 3223 3362 3225 3366 3229 3368 3227 3369 3218 3360 3229 3368 3218 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3384 3246 3380 3238 3378 3245 3384 3441 3385 3246 3380 3248 3383 3244 3381 3237 3376 3253 3386 3247 1347 3252 1603 3248 3383 3256 3387 3244 3381 3254 3388 3248 3383 3249 1605 3253 3386 3245 3384 3247 1347 3255 3389 3245 3384 3253 3386 3254 3388 3249 1605 3257 1609 3250 3382 3251 311 3241 3377 3441 3385 3245 3384 3255 3389 3256 3387 3248 3383 3254 3388 3259 3390 3250 3382 3258 1611 3255 3389 3471 3391 3441 3385 3501 3392 3256 3387 3254 3388 3259 3390 200 315 3251 311 3259 3390 3251 311 3250 3382 3261 3393 3259 3390 3258 1611 3263 3394 3254 3388 3257 1609 3260 3395 3253 3386 3252 1603 3260 3395 3255 3389 3253 3386 3261 3393 200 315 3259 3390 3471 3391 3255 3389 3260 3395 3501 3392 3254 3388 3263 3394 3260 3395 3252 1603 1418 1487 3260 3395 1418 1487 3265 1474 3272 317 200 315 3261 3393 3266 1613 3261 3393 3258 1611 3262 3396 3263 3394 3257 1609 3262 3396 3257 1609 3271 1478 3268 3397 3261 3393 3266 1613 3267 3398 3471 3391 3260 3395 3267 3398 3260 3395 3265 1474 3267 3398 3264 3399 3471 3391 3272 317 3261 3393 3268 3397 3270 3400 3265 1474 1415 1475 3262 3396 3501 3392 3263 3394 3270 3400 3267 3398 3265 1474 3490 3401 3501 3392 3262 3396 3264 3399 3267 3398 3270 3400 3269 3402 3273 3403 3264 3399 3269 3402 3264 3399 3270 3400 3276 3404 3270 3400 1415 1475 3276 3404 3269 3402 3270 3400 3277 1614 3262 3396 3271 1478 3281 3405 3269 3402 3276 3404 3275 3406 205 326 3272 317 3275 3406 3268 3397 3266 1613 3275 3406 3272 317 3268 3397 3281 3405 3273 3403 3269 3402 3274 3407 3262 3396 3277 1614 3279 3408 3262 3396 3274 3407 3279 3408 3490 3401 3262 3396 3279 3408 3494 271 3490 3401 1411 1454 3276 3404 1415 1475 3275 3406 3286 335 205 326 3283 3409 3275 3406 3266 1613 3283 3409 3266 1613 3291 1470 3278 3410 3276 3404 1411 1454 3279 3408 3280 272 3494 271 3274 3407 3277 1614 1431 1465 3286 335 3275 3406 3283 3409 3278 3410 3281 3405 3276 3404 3280 272 3279 3408 3274 3407 3281 3405 3473 3411 3273 3403 3278 3410 3473 3411 3281 3405 3284 3412 3278 3410 1411 1454 3282 3413 3274 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diff --git a/ur_description/meshes/ur3/visual/base.dae b/ur_description/meshes/ur3/visual/base.dae deleted file mode 100644 index f3d4a50..0000000 --- a/ur_description/meshes/ur3/visual/base.dae +++ /dev/null @@ -1,233 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> - <asset> - <contributor> - <author>Blender User</author> - <authoring_tool>Blender 2.79.0</authoring_tool> - </contributor> - <created>2018-07-11T15:00:03</created> - <modified>2018-07-11T15:00:03</modified> - <unit name="meter" meter="1"/> - <up_axis>Z_UP</up_axis> - </asset> - <library_cameras> - <camera id="Camera-camera" name="Camera"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - 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4189 3331 1739 3341 4190 3329 4188 3338 1789 3339 4189 3336 1813 3338 1789 3259 4108 3327 2523 3332 1156 3345 1790 3336 1813 3342 1854 3332 1156 3343 1158 3850 4191 3848 4192 3849 4193 3344 1697 3318 4185 3335 1977 3344 1697 3317 2730 3318 4185 3258 4107 3338 1789 3257 1791 3541 4194 3539 4195 3544 4196 3987 2664 3988 4197 3990 815 3901 235 3900 4198 3898 1676 3346 4199 3340 1695 3341 4190 3347 2517 3342 1854 3343 1158 3346 4199 3341 4190 3348 4200 3347 2517 3343 1158 3349 4201 3350 1696 3317 2730 3344 1697 3329 4188 3340 1695 3344 1697 1921 2462 1916 2457 1914 2453 3350 1696 3316 2731 3317 2730 3257 1791 3345 1790 3256 4105 3351 2516 3255 4103 3256 4105 3351 2516 3345 1790 3342 1854 3352 4202 3348 4200 3353 4203 3354 2489 3349 4201 3355 2490 3352 4202 3346 4199 3348 4200 3354 2489 3347 2517 3349 4201 3356 4204 3316 2731 3350 1696 3356 4204 3350 1696 3340 1695 3356 4204 3315 4181 3316 2731 3357 4205 3351 2516 3347 2517 3356 4204 3340 1695 3346 4199 3354 2489 3363 4206 3347 2517 3357 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2014 159 1057 1184 1901 163 1072 1196 1045 1170 1075 1199 1098 1223 1095 1220 1069 1193 1098 1223 1069 1193 1076 1200 1099 1224 1086 1208 1034 1159 1100 1225 1047 1172 1046 1171 1101 1226 1057 1184 2014 159 1085 1213 1022 1147 1038 1164 1101 1226 1076 1200 1057 1184 1102 1227 1097 1227 132 1227 1103 1228 1024 1149 1047 1172 1103 1228 1042 1167 1024 1149 1001 1127 1664 1194 991 1111 1095 1220 1072 1196 1075 1199 1099 1224 1034 1159 2232 96 1104 1229 1020 1219 1040 1218 1105 1230 1101 1226 2014 159 1105 1230 2014 159 2015 1231 1106 1232 1095 1220 1098 1223 1086 1208 1100 1225 1046 1171 1107 1233 1011 1154 1020 1219 1073 1203 1085 1213 1038 1164 1073 1203 1038 1164 1045 1170 1665 1234 1664 1194 1001 1127 1109 1235 1098 1223 1076 1200 1109 1235 1076 1200 1101 1226 1103 1228 1047 1172 1100 1225 1096 1222 1104 1229 1040 1218 1110 1236 980 1095 978 1094 1110 1236 1096 1222 980 1095 1111 1237 1105 1230 2015 1231 1111 1237 2015 1231 2161 155 1112 1238 1101 1226 1105 1230 1072 1196 1073 1203 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+++ /dev/null @@ -1,311 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> - <asset> - <contributor> - <author>Blender User</author> - <authoring_tool>Blender 2.79.0</authoring_tool> - </contributor> - <created>2018-07-11T15:02:17</created> - <modified>2018-07-11T15:02:17</modified> - <unit name="meter" meter="1"/> - <up_axis>Z_UP</up_axis> - </asset> - <library_cameras> - <camera id="Camera-camera" name="Camera"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar sid="zfar">100</zfar> - </perspective> - </technique_common> - </optics> - <extra> - <technique profile="blender"> - <YF_dofdist>0</YF_dofdist> - <shiftx>0</shiftx> - <shifty>0</shifty> - </technique> - </extra> - </camera> - </library_cameras> - <library_lights> - <light id="Lamp-light" name="Lamp"> - <technique_common> - <point> - <color 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1973 2049 1978 2050 1979 2057 2001 2049 2046 2057 2046 2048 2046 2048 2047 2057 2047 2056 2047 2048 1977 2056 1997 2055 1996 2046 1973 2047 1974 2054 2040 2054 2040 2047 1974 2048 1977 2054 2040 2048 1977 2053 1998 2053 1998 2048 1977 2055 1996 2054 2040 2051 2048 2490 2037 2490 2037 2051 2048 2052 2049 2490 2037 2052 2049 2233 1223 2233 1223 2059 2050 2490 2037 2490 2037 2059 2050 2058 2051 2490 2037 2058 2051 2072 2052 2061 2009 2498 2013 2463 2053 2061 2009 2463 2053 2062 2010 2072 2052 2071 2054 2490 2037 2490 2037 2071 2054 2062 2010 2490 2037 2062 2010 2310 2055 2310 2055 2062 2010 2463 2053 2310 2055 2463 2053 2301 2056 2498 2013 2064 2012 2463 2053 2463 2053 2064 2012 2063 2057 2463 2053 2063 2057 2065 2058 2065 2058 2360 2059 2463 2053 2463 2053 2360 2059 2372 2060 2463 2053 2372 2060 2068 2061 2068 2061 2395 2062 2463 2053 2463 2053 2395 2062 2070 2063 2463 2053 2070 2063 2446 2064 2553 2065 2552 2066 2460 2067 2460 2067 2562 2068 2553 2065 2553 2065 2562 2068 2467 2069 2553 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1933 2459 2149 2471 2131 1981 1939 1978 1940 1974 1933 1974 1933 1978 1940 1977 2150 1974 1933 1977 2150 2096 2148 2096 2151 1977 2151 2337 2151 2096 2152 2337 2152 2416 2152 0 2153 1 2153 2110 2153 3 2154 4 2154 2110 2154 2110 2155 4 2155 2132 2155 6 2156 7 2156 8 2156 8 2157 7 2157 9 2157 10 2156 2285 2156 2110 2156 2110 2156 2285 2156 12 2156 1 2158 2202 2158 2110 2158 2110 2159 2202 2159 2186 2159 2110 2160 2186 2160 3 2160 2132 2156 15 2156 2110 2156 2110 2161 15 2161 2219 2161 2110 2162 2219 2162 17 2162 18 2163 19 2163 20 2163 20 2156 19 2156 21 2156 20 2164 21 2164 22 2164 22 2156 23 2156 20 2156 20 2156 23 2156 24 2156 20 2156 24 2156 25 2156 6 2165 8 2165 2110 2165 2110 2166 8 2166 26 2166 2110 2167 26 2167 10 2167 12 2156 27 2156 2110 2156 2110 2168 27 2168 28 2168 2110 2169 28 2169 0 2169 29 2170 30 2170 31 2170 31 2156 30 2156 32 2156 18 2156 2404 2156 19 2156 19 2156 2404 2156 32 2156 19 2171 32 2171 34 2171 34 2156 32 2156 30 2156 17 2156 35 2156 2110 2156 2110 2156 35 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2235 565 2235 565 2236 564 2236 2494 2236 2494 2237 564 2237 562 2237 2494 2238 562 2238 561 2238 561 2239 566 2239 2494 2239 2494 2240 566 2240 2342 2240 2494 2241 2342 2241 2305 2241 607 2242 608 2242 2494 2242 2494 2243 608 2243 610 2243 610 2244 612 2244 2494 2244 2494 2245 612 2245 613 2245 2494 2246 613 2246 615 2246 615 2247 618 2247 2494 2247 2494 2248 618 2248 617 2248 2494 2249 617 2249 623 2249 397 2250 396 2250 2494 2250 2494 2251 396 2251 2475 2251 2494 2252 2475 2252 2524 2252 661 2253 2407 2253 2494 2253 2494 2254 2407 2254 662 2254 2494 2255 662 2255 664 2255 692 2256 2296 2256 2494 2256 2494 2257 2296 2257 2293 2257 2494 2258 2293 2258 2294 2258 1996 2259 2494 2259 2002 2259 2002 2260 2494 2260 2003 2260 2002 2261 2003 2261 2004 2261 2576 2262 603 2262 2494 2262 2494 2263 603 2263 605 2263 2494 2264 605 2264 607 2264 2524 2265 2554 2265 2494 2265 2494 2266 2554 2266 2540 2266 2494 2267 2540 2267 2539 2267 664 2268 665 2268 2494 2268 2494 2269 665 2269 667 2269 2494 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</node> - </visual_scene> - </library_visual_scenes> - <scene> - <instance_visual_scene url="#Scene"/> - </scene> -</COLLADA> diff --git a/ur_description/meshes/ur5/visual/wrist1.dae b/ur_description/meshes/ur5/visual/wrist1.dae deleted file mode 100644 index 547920b..0000000 --- a/ur_description/meshes/ur5/visual/wrist1.dae +++ /dev/null @@ -1,304 +0,0 @@ -<?xml version="1.0" encoding="utf-8"?> -<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> - <asset> - <contributor> - <author>Blender User</author> - <authoring_tool>Blender 2.79.0</authoring_tool> - </contributor> - <created>2018-07-11T13:55:14</created> - <modified>2018-07-11T13:55:14</modified> - <unit name="meter" meter="1"/> - <up_axis>Z_UP</up_axis> - </asset> - <library_cameras> - <camera id="Camera-camera" name="Camera"> - <optics> - <technique_common> - <perspective> - <xfov sid="xfov">49.13434</xfov> - <aspect_ratio>1.777778</aspect_ratio> - <znear sid="znear">0.1</znear> - <zfar 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z6h}BtK(a46mX^{39H*u90OxY0u!lP2fLpGG3koA$hwjH~*^dWDZl&v_I0tt5(*1~5 z#_~~^keGunjTM1QuaCf`*GKYEKG0Gg3C~VVb%Fkl?w&6GOf;}`4@K7*q7d&B$O3Yi hK;*s9hb4%25C;MR9sL8DC;+)BocB>vGn#I!_&>W+V<i9p diff --git a/ur_description/package.xml b/ur_description/package.xml deleted file mode 100644 index 9a344c5..0000000 --- a/ur_description/package.xml +++ /dev/null @@ -1,30 +0,0 @@ -<?xml version="1.0"?> -<package format="2"> - <name>ur_description</name> - <version>1.2.7</version> - <description> - URDF description for Universal UR5/10 robot arms - </description> - - <author>Wim Meeussen</author> - <author>Kelsey Hawkins</author> - <author>Mathias Ludtke</author> - <author>Felix Messmer</author> - <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn</maintainer> - <maintainer email="miguel.prada@tecnalia.com">Miguel Prada Sarasola</maintainer> - <maintainer email="nhg@ipa.fhg.de">Nadia Hammoudeh Garcia</maintainer> - - <license>BSD</license> - - <url type="website">http://ros.org/wiki/ur_description</url> - - <buildtool_depend>catkin</buildtool_depend> - <exec_depend>joint_state_publisher</exec_depend> - <exec_depend>robot_state_publisher</exec_depend> - <exec_depend>rviz</exec_depend> - <exec_depend>urdf</exec_depend> - <exec_depend>xacro</exec_depend> - - <export> - </export> -</package> diff --git a/ur_description/urdf/common.gazebo.xacro b/ur_description/urdf/common.gazebo.xacro deleted file mode 100644 index 28b66de..0000000 --- a/ur_description/urdf/common.gazebo.xacro +++ /dev/null @@ -1,27 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro"> - - <gazebo> - <plugin name="ros_control" filename="libgazebo_ros_control.so"> - -<!-- <robotNamespace>/MYROBOT</robotNamespace> - <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> --> - </plugin> - -<!-- - <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so"> - <alwaysOn>true</alwaysOn> - <updateRate>1.0</updateRate> - <timeout>5</timeout> - <powerStateTopic>power_state</powerStateTopic> - <powerStateRate>10.0</powerStateRate> - <fullChargeCapacity>87.78</fullChargeCapacity> - <dischargeRate>-474</dischargeRate> - <chargeRate>525</chargeRate> - <dischargeVoltage>15.52</dischargeVoltage> - <chargeVoltage>16.41</chargeVoltage> - </plugin> ---> - </gazebo> - -</robot> diff --git a/ur_description/urdf/e_ur5.urdf.xacro b/ur_description/urdf/e_ur5.urdf.xacro deleted file mode 100644 index 1bdf5be..0000000 --- a/ur_description/urdf/e_ur5.urdf.xacro +++ /dev/null @@ -1,395 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro"> - - <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" /> - <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" /> - - <xacro:macro name="cylinder_inertial" params="radius length mass *origin"> - <inertial> - <mass value="${mass}" /> - <xacro:insert_block name="origin" /> - <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0" - iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0" - izz="${0.5 * mass * radius * radius}" /> - </inertial> - </xacro:macro> - - <xacro:macro name="ur5_robot" params="prefix joint_limited - shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi} - shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi} - elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} - wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} - wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} - wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} - transmission_hw_interface:=hardware_interface/PositionJointInterface - safety_limits:=false safety_pos_margin:=0.15 - safety_k_position:=20"> - - <!-- Inertia parameters --> - <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> - <xacro:property name="shoulder_mass" value="3.7000" /> - <xacro:property name="upper_arm_mass" value="8.3930" /> - <xacro:property name="forearm_mass" value="2.2750" /> - <xacro:property name="wrist_1_mass" value="1.2190" /> - <xacro:property name="wrist_2_mass" value="1.2190" /> - <xacro:property name="wrist_3_mass" value="0.1879" /> - - <xacro:property name="shoulder_cog" value="0.0 0.00193 -0.02561" /> - <xacro:property name="upper_arm_cog" value="0.0 -0.024201 0.2125" /> - <xacro:property name="forearm_cog" value="0.0 0.0265 0.11993" /> - <xacro:property name="wrist_1_cog" value="0.0 0.110949 0.01634" /> - <xacro:property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> - <xacro:property name="wrist_3_cog" value="0.0 0.001159 0.0" /> - - <!-- Kinematic model --> - <!-- Properties from urcontrol.conf --> - <!-- - DH for UR5: - a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000] - d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823] - alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ] - q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0] - joint_direction = [-1, -1, 1, 1, 1, 1] - mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879] - center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ] - --> - <xacro:property name="d1" value="0.089159" /> - <xacro:property name="a2" value="-0.42500" /> - <xacro:property name="a3" value="-0.39225" /> - <xacro:property name="d4" value="0.10915" /> - <xacro:property name="d5" value="0.09465" /> - <xacro:property name="d6" value="0.0823" /> - - <!-- Arbitrary offsets for shoulder/elbow joints --> - <xacro:property name="shoulder_offset" value="0.13585" /> <!-- measured from model --> - <xacro:property name="elbow_offset" value="-0.1197" /> <!-- measured from model --> - - <!-- link lengths used in model --> - <xacro:property name="shoulder_height" value="${d1}" /> - <xacro:property name="upper_arm_length" value="${-a2}" /> - <xacro:property name="forearm_length" value="${-a3}" /> - <xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" /> - <xacro:property name="wrist_2_length" value="${d5}" /> - <xacro:property name="wrist_3_length" value="${d6}" /> - <!--property name="shoulder_height" value="0.089159" /--> - <!--property name="shoulder_offset" value="0.13585" /--> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 --> - <!--property name="upper_arm_length" value="0.42500" /--> - <!--property name="elbow_offset" value="0.1197" /--> <!-- CAD measured --> - <!--property name="forearm_length" value="0.39225" /--> - <!--property name="wrist_1_length" value="0.093" /--> <!-- CAD measured --> - <!--property name="wrist_2_length" value="0.09465" /--> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 --> - <!--property name="wrist_3_length" value="0.0823" /--> - - <xacro:property name="shoulder_radius" value="0.060" /> <!-- manually measured --> - <xacro:property name="upper_arm_radius" value="0.054" /> <!-- manually measured --> - <xacro:property name="elbow_radius" value="0.060" /> <!-- manually measured --> - <xacro:property name="forearm_radius" value="0.040" /> <!-- manually measured --> - <xacro:property name="wrist_radius" value="0.045" /> <!-- manually measured --> - - - <link name="${prefix}base_link" > - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/base.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - - <geometry> -<!-- <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" /> --> - <cylinder length="0.024" radius="0.0735"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_pan_joint" type="revolute"> - <parent link="${prefix}base_link" /> - <child link = "${prefix}shoulder_link" /> - <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}shoulder_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/shoulder.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" /> --> - <cylinder length="0.134" radius="0.0595"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_lift_joint" type="revolute"> - <parent link="${prefix}shoulder_link" /> - <child link = "${prefix}upper_arm_link" /> - <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 -${pi/4} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}upper_arm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0.0 0.0 0.22"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl" /> --> - <cylinder length="0.545" radius="0.0450"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}"> - <origin xyz="0.0 0.0 0.28" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}elbow_joint" type="revolute"> - <parent link="${prefix}upper_arm_link" /> - <child link = "${prefix}forearm_link" /> - <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 ${3*pi/4} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}forearm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0.0 0.0 0.18"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" /> --> - <cylinder length="0.489" radius="0.0380"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="${-a3}" mass="${forearm_mass}"> - <origin xyz="0.0 0.0 ${-a3/2}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_1_joint" type="revolute"> - <parent link="${prefix}forearm_link" /> - <child link = "${prefix}wrist_1_link" /> - <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_1_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0.0 0.093 0.008"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" /> --> - <cylinder length="0.100" radius="0.0320"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_1_mass}"> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_2_joint" type="revolute"> - <parent link="${prefix}wrist_1_link" /> - <child link = "${prefix}wrist_2_link" /> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 ${pi/2}" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_2_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="1.57 0 0" xyz="0.0 0.0 0.09465"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" /> --> - <cylinder length="0.105" radius="0.0320"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_2_mass}"> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_3_joint" type="revolute"> - <parent link="${prefix}wrist_2_link" /> - <child link = "${prefix}wrist_3_link" /> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_3_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="1.57 0.0 0" xyz="0.0 0.067 0.0"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" /> --> - <cylinder length="0.0245" radius="0.0320"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.0375" length="0.0345" mass="${wrist_3_mass}"> - <origin xyz="0.0 ${wrist_3_length - 0.0345/2} 0.0" rpy="${pi/2} 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}ee_fixed_joint" type="fixed"> - <parent link="${prefix}wrist_3_link" /> - <child link = "${prefix}ee_link" /> - <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" /> - </joint> - - <link name="${prefix}ee_link"> - <collision> - <geometry> - <box size="0.01 0.01 0.01"/> - </geometry> - <origin rpy="0 0 0" xyz="-0.01 0 0"/> - </collision> - </link> - - <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" /> - <xacro:ur_arm_gazebo prefix="${prefix}" /> - - <!-- ROS base_link to UR 'Base' Coordinates transform --> - <link name="${prefix}base"/> - <joint name="${prefix}base_link-base_fixed_joint" type="fixed"> - <!-- NOTE: this rotation is only needed as long as base_link itself is - not corrected wrt the real robot (ie: rotated over 180 - degrees) - --> - <origin xyz="0 0 0" rpy="0 0 ${-pi}"/> - <parent link="${prefix}base_link"/> - <child link="${prefix}base"/> - </joint> - - <!-- Frame coincident with all-zeros TCP on UR controller --> - <link name="${prefix}tool0"/> - <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed"> - <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/> - <parent link="${prefix}wrist_3_link"/> - <child link="${prefix}tool0"/> - </joint> - - </xacro:macro> -</robot> diff --git a/ur_description/urdf/hardware_ur5.urdf.xacro b/ur_description/urdf/hardware_ur5.urdf.xacro deleted file mode 100644 index e5c06bb..0000000 --- a/ur_description/urdf/hardware_ur5.urdf.xacro +++ /dev/null @@ -1,395 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro"> - - <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" /> - <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" /> - - <xacro:macro name="cylinder_inertial" params="radius length mass *origin"> - <inertial> - <mass value="${mass}" /> - <xacro:insert_block name="origin" /> - <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0" - iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0" - izz="${0.5 * mass * radius * radius}" /> - </inertial> - </xacro:macro> - - <xacro:macro name="ur5_robot" params="prefix joint_limited - shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi} - shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi} - elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} - wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} - wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} - wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} - transmission_hw_interface:=hardware_interface/PositionJointInterface - safety_limits:=false safety_pos_margin:=0.15 - safety_k_position:=20"> - - <!-- Inertia parameters --> - <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> - <xacro:property name="shoulder_mass" value="3.7000" /> - <xacro:property name="upper_arm_mass" value="8.3930" /> - <xacro:property name="forearm_mass" value="2.2750" /> - <xacro:property name="wrist_1_mass" value="1.2190" /> - <xacro:property name="wrist_2_mass" value="1.2190" /> - <xacro:property name="wrist_3_mass" value="0.1879" /> - - <xacro:property name="shoulder_cog" value="0.0 0.00193 -0.02561" /> - <xacro:property name="upper_arm_cog" value="0.0 -0.024201 0.2125" /> - <xacro:property name="forearm_cog" value="0.0 0.0265 0.11993" /> - <xacro:property name="wrist_1_cog" value="0.0 0.110949 0.01634" /> - <xacro:property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> - <xacro:property name="wrist_3_cog" value="0.0 0.001159 0.0" /> - - <!-- Kinematic model --> - <!-- Properties from urcontrol.conf --> - <!-- - DH for UR5: - a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000] - d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823] - alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ] - q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0] - joint_direction = [-1, -1, 1, 1, 1, 1] - mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879] - center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ] - --> - <xacro:property name="d1" value="0.089159" /> - <xacro:property name="a2" value="-0.42500" /> - <xacro:property name="a3" value="-0.39225" /> - <xacro:property name="d4" value="0.10915" /> - <xacro:property name="d5" value="0.09465" /> - <xacro:property name="d6" value="0.0823" /> - - <!-- Arbitrary offsets for shoulder/elbow joints --> - <xacro:property name="shoulder_offset" value="0.13585" /> <!-- measured from model --> - <xacro:property name="elbow_offset" value="-0.1197" /> <!-- measured from model --> - - <!-- link lengths used in model --> - <xacro:property name="shoulder_height" value="${d1}" /> - <xacro:property name="upper_arm_length" value="${-a2}" /> - <xacro:property name="forearm_length" value="${-a3}" /> - <xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" /> - <xacro:property name="wrist_2_length" value="${d5}" /> - <xacro:property name="wrist_3_length" value="${d6}" /> - <!--property name="shoulder_height" value="0.089159" /--> - <!--property name="shoulder_offset" value="0.13585" /--> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 --> - <!--property name="upper_arm_length" value="0.42500" /--> - <!--property name="elbow_offset" value="0.1197" /--> <!-- CAD measured --> - <!--property name="forearm_length" value="0.39225" /--> - <!--property name="wrist_1_length" value="0.093" /--> <!-- CAD measured --> - <!--property name="wrist_2_length" value="0.09465" /--> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 --> - <!--property name="wrist_3_length" value="0.0823" /--> - - <xacro:property name="shoulder_radius" value="0.060" /> <!-- manually measured --> - <xacro:property name="upper_arm_radius" value="0.054" /> <!-- manually measured --> - <xacro:property name="elbow_radius" value="0.060" /> <!-- manually measured --> - <xacro:property name="forearm_radius" value="0.040" /> <!-- manually measured --> - <xacro:property name="wrist_radius" value="0.045" /> <!-- manually measured --> - - - <link name="${prefix}base_link" > - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/base.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - - <geometry> -<!-- <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" /> --> - <cylinder length="0.024" radius="0.0735"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_pan_joint" type="revolute"> - <parent link="${prefix}base_link" /> - <child link = "${prefix}shoulder_link" /> - <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}shoulder_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/shoulder.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" /> --> - <cylinder length="0.134" radius="0.0595"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_lift_joint" type="revolute"> - <parent link="${prefix}shoulder_link" /> - <child link = "${prefix}upper_arm_link" /> - <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 -${4*pi/9} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}upper_arm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0.0 0.0 0.22"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl" /> --> - <cylinder length="0.545" radius="0.0450"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}"> - <origin xyz="0.0 0.0 0.28" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}elbow_joint" type="revolute"> - <parent link="${prefix}upper_arm_link" /> - <child link = "${prefix}forearm_link" /> - <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 ${5/6*pi} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}forearm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0.0 0.0 0.18"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" /> --> - <cylinder length="0.489" radius="0.0380"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="${-a3}" mass="${forearm_mass}"> - <origin xyz="0.0 0.0 ${-a3/2}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_1_joint" type="revolute"> - <parent link="${prefix}forearm_link" /> - <child link = "${prefix}wrist_1_link" /> - <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_1_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="0 0 0" xyz="0.0 0.093 0.008"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" /> --> - <cylinder length="0.100" radius="0.0320"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_1_mass}"> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_2_joint" type="revolute"> - <parent link="${prefix}wrist_1_link" /> - <child link = "${prefix}wrist_2_link" /> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_2_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="1.57 0 0" xyz="0.0 0.0 0.09465"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" /> --> - <cylinder length="0.105" radius="0.0320"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_2_mass}"> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_3_joint" type="revolute"> - <parent link="${prefix}wrist_2_link" /> - <child link = "${prefix}wrist_3_link" /> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_3_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <origin rpy="1.57 0.0 0" xyz="0.0 0.067 0.0"/> - <geometry> - <!-- <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" /> --> - <cylinder length="0.0245" radius="0.0320"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.0375" length="0.0345" mass="${wrist_3_mass}"> - <origin xyz="0.0 ${wrist_3_length - 0.0345/2} 0.0" rpy="${pi/2} 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}ee_fixed_joint" type="fixed"> - <parent link="${prefix}wrist_3_link" /> - <child link = "${prefix}ee_link" /> - <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" /> - </joint> - - <link name="${prefix}ee_link"> - <collision> - <geometry> - <box size="0.01 0.01 0.01"/> - </geometry> - <origin rpy="0 0 0" xyz="-0.01 0 0"/> - </collision> - </link> - - <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" /> - <xacro:ur_arm_gazebo prefix="${prefix}" /> - - <!-- ROS base_link to UR 'Base' Coordinates transform --> - <link name="${prefix}base"/> - <joint name="${prefix}base_link-base_fixed_joint" type="fixed"> - <!-- NOTE: this rotation is only needed as long as base_link itself is - not corrected wrt the real robot (ie: rotated over 180 - degrees) - --> - <origin xyz="0 0 0" rpy="0 0 ${-pi}"/> - <parent link="${prefix}base_link"/> - <child link="${prefix}base"/> - </joint> - - <!-- Frame coincident with all-zeros TCP on UR controller --> - <link name="${prefix}tool0"/> - <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed"> - <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/> - <parent link="${prefix}wrist_3_link"/> - <child link="${prefix}tool0"/> - </joint> - - </xacro:macro> -</robot> diff --git a/ur_description/urdf/ur.gazebo.xacro b/ur_description/urdf/ur.gazebo.xacro deleted file mode 100644 index ed0ce6b..0000000 --- a/ur_description/urdf/ur.gazebo.xacro +++ /dev/null @@ -1,30 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro"> - - <xacro:macro name="ur_arm_gazebo" params="prefix"> - - <gazebo reference="${prefix}shoulder_link"> - <selfCollide>true</selfCollide> - </gazebo> - <gazebo reference="${prefix}upper_arm_link"> - <selfCollide>true</selfCollide> - </gazebo> - <gazebo reference="${prefix}forearm_link"> - <selfCollide>true</selfCollide> - </gazebo> - <gazebo reference="${prefix}wrist_1_link"> - <selfCollide>true</selfCollide> - </gazebo> - <gazebo reference="${prefix}wrist_3_link"> - <selfCollide>true</selfCollide> - </gazebo> - <gazebo reference="${prefix}wrist_2_link"> - <selfCollide>true</selfCollide> - </gazebo> - <gazebo reference="${prefix}ee_link"> - <selfCollide>true</selfCollide> - </gazebo> - - </xacro:macro> - -</robot> diff --git a/ur_description/urdf/ur.transmission.xacro b/ur_description/urdf/ur.transmission.xacro deleted file mode 100644 index b85cc6e..0000000 --- a/ur_description/urdf/ur.transmission.xacro +++ /dev/null @@ -1,68 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro"> - - <xacro:macro name="ur_arm_transmission" params="prefix hw_interface"> - - <transmission name="${prefix}shoulder_pan_trans"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="${prefix}shoulder_pan_joint"> - <hardwareInterface>${hw_interface}</hardwareInterface> - </joint> - <actuator name="${prefix}shoulder_pan_motor"> - <mechanicalReduction>1</mechanicalReduction> - </actuator> - </transmission> - - <transmission name="${prefix}shoulder_lift_trans"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="${prefix}shoulder_lift_joint"> - <hardwareInterface>${hw_interface}</hardwareInterface> - </joint> - <actuator name="${prefix}shoulder_lift_motor"> - <mechanicalReduction>1</mechanicalReduction> - </actuator> - </transmission> - - <transmission name="${prefix}elbow_trans"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="${prefix}elbow_joint"> - <hardwareInterface>${hw_interface}</hardwareInterface> - </joint> - <actuator name="${prefix}elbow_motor"> - <mechanicalReduction>1</mechanicalReduction> - </actuator> - </transmission> - - <transmission name="${prefix}wrist_1_trans"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="${prefix}wrist_1_joint"> - <hardwareInterface>${hw_interface}</hardwareInterface> - </joint> - <actuator name="${prefix}wrist_1_motor"> - <mechanicalReduction>1</mechanicalReduction> - </actuator> - </transmission> - - <transmission name="${prefix}wrist_2_trans"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="${prefix}wrist_2_joint"> - <hardwareInterface>${hw_interface}</hardwareInterface> - </joint> - <actuator name="${prefix}wrist_2_motor"> - <mechanicalReduction>1</mechanicalReduction> - </actuator> - </transmission> - - <transmission name="${prefix}wrist_3_trans"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="${prefix}wrist_3_joint"> - <hardwareInterface>${hw_interface}</hardwareInterface> - </joint> - <actuator name="${prefix}wrist_3_motor"> - <mechanicalReduction>1</mechanicalReduction> - </actuator> - </transmission> - - </xacro:macro> - -</robot> diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro deleted file mode 100644 index f8c86c4..0000000 --- a/ur_description/urdf/ur10.urdf.xacro +++ /dev/null @@ -1,367 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro"> - -<!-- - Author: Kelsey Hawkins - Contributers: Jimmy Da Silva, Ajit Krisshna N L, Muhammad Asif Rana ---> - - <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" /> - <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" /> - - <xacro:macro name="cylinder_inertial" params="radius length mass *origin"> - <inertial> - <mass value="${mass}" /> - <xacro:insert_block name="origin" /> - <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0" - iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0" - izz="${0.5 * mass * radius * radius}" /> - </inertial> - </xacro:macro> - - <xacro:macro name="ur10_robot" params="prefix joint_limited - shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi} - shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi} - elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} - wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} - wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} - wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} - transmission_hw_interface:=hardware_interface/PositionJointInterface - safety_limits:=false safety_pos_margin:=0.15 - safety_k_position:=20"> - - <!-- Inertia parameters --> - <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> - <xacro:property name="shoulder_mass" value="7.778" /> - <xacro:property name="upper_arm_mass" value="12.93" /> - <xacro:property name="forearm_mass" value="3.87" /> - <xacro:property name="wrist_1_mass" value="1.96" /> - <xacro:property name="wrist_2_mass" value="1.96" /> - <xacro:property name="wrist_3_mass" value="0.202" /> - - <!-- These parameters are borrowed from the urcontrol.conf file - but are not verified for the correct permutation. - The permutation was guessed by looking at the UR5 parameters. - Serious use of these parameters needs further inspection. --> - <xacro:property name="shoulder_cog" value="0.00008 0.00244 -0.037" /> - <xacro:property name="upper_arm_cog" value="0.00001 0.15061 0.38757" /> - <xacro:property name="forearm_cog" value="-0.00012 0.06112 0.1984" /> - <xacro:property name="wrist_1_cog" value="-0.00021 -0.00112 0.02269" /> - <xacro:property name="wrist_2_cog" value="-0.00021 0.00112 0.002269" /> - <xacro:property name="wrist_3_cog" value="0 -0.001156 -0.00149" /> - - <!-- Kinematic model --> - <!-- Properties from urcontrol.conf --> - <xacro:property name="d1" value="0.1273" /> - <xacro:property name="a2" value="-0.612" /> - <xacro:property name="a3" value="-0.5723" /> - <xacro:property name="d4" value="0.163941" /> - <xacro:property name="d5" value="0.1157" /> - <xacro:property name="d6" value="0.0922" /> - - <!-- Arbitrary offsets for shoulder/elbow joints --> - <xacro:property name="shoulder_offset" value="0.220941" /> <!-- measured from model --> - <xacro:property name="elbow_offset" value="-0.1719" /> <!-- measured from model --> - <xacro:property name="upper_arm_inertia_offset" value="0.045" /> <!-- measured from model --> - - <!-- link lengths used in model --> - <xacro:property name="shoulder_height" value="${d1}" /> - <xacro:property name="upper_arm_length" value="${-a2}" /> - <xacro:property name="forearm_length" value="${-a3}" /> - <xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" /> - <xacro:property name="wrist_2_length" value="${d5}" /> - <xacro:property name="wrist_3_length" value="${d6}" /> - - <link name="${prefix}base_link" > - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/visual/base.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_pan_joint" type="revolute"> - <parent link="${prefix}base_link" /> - <child link = "${prefix}shoulder_link" /> - <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="2.16"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}shoulder_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/visual/shoulder.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_lift_joint" type="revolute"> - <parent link="${prefix}shoulder_link" /> - <child link = "${prefix}upper_arm_link" /> - <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="2.16"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}upper_arm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/visual/upperarm.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/collision/upperarm.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="${-a2}" mass="${upper_arm_mass}"> - <origin xyz="0.0 ${-upper_arm_inertia_offset} ${-a2/2.0}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}elbow_joint" type="revolute"> - <parent link="${prefix}upper_arm_link" /> - <child link = "${prefix}forearm_link" /> - <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}forearm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/visual/forearm.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="${-a3}" mass="${forearm_mass}"> - <origin xyz="0.0 0.0 ${-a3/2.0}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_1_joint" type="revolute"> - <parent link="${prefix}forearm_link" /> - <child link = "${prefix}wrist_1_link" /> - <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_1_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/visual/wrist1.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/collision/wrist1.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}"> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_2_joint" type="revolute"> - <parent link="${prefix}wrist_1_link" /> - <child link = "${prefix}wrist_2_link" /> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_2_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/visual/wrist2.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/collision/wrist2.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}"> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_3_joint" type="revolute"> - <parent link="${prefix}wrist_2_link" /> - <child link = "${prefix}wrist_3_link" /> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_3_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/visual/wrist3.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur10/collision/wrist3.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.045" length="0.0305" mass="${wrist_3_mass}"> - <origin xyz="0.0 ${wrist_3_length - 0.0305/2} 0.0" rpy="${pi/2} 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}ee_fixed_joint" type="fixed"> - <parent link="${prefix}wrist_3_link" /> - <child link = "${prefix}ee_link" /> - <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" /> - </joint> - - <link name="${prefix}ee_link"> - <collision> - <geometry> - <box size="0.01 0.01 0.01"/> - </geometry> - <origin rpy="0 0 0" xyz="-0.01 0 0"/> - </collision> - </link> - - <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" /> - <xacro:ur_arm_gazebo prefix="${prefix}" /> - - <!-- ROS base_link to UR 'Base' Coordinates transform --> - <link name="${prefix}base"/> - <joint name="${prefix}base_link-base_fixed_joint" type="fixed"> - <!-- NOTE: this rotation is only needed as long as base_link itself is - not corrected wrt the real robot (ie: rotated over 180 - degrees) - --> - <origin xyz="0 0 0" rpy="0 0 ${-pi}"/> - <parent link="${prefix}base_link"/> - <child link="${prefix}base"/> - </joint> - - <!-- Frame coincident with all-zeros TCP on UR controller --> - <link name="${prefix}tool0"/> - <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed"> - <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/> - <parent link="${prefix}wrist_3_link"/> - <child link="${prefix}tool0"/> - </joint> - - </xacro:macro> -</robot> diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro deleted file mode 100644 index 3aebf14..0000000 --- a/ur_description/urdf/ur10_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,32 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro" - name="ur10" > - - <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/> - - <!-- common stuff --> - <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" /> - - <!-- ur10 --> - <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" /> - - <!-- arm --> - <xacro:ur10_robot prefix="" joint_limited="true" - shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}" - shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}" - elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}" - wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}" - wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}" - wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}" - transmission_hw_interface="$(arg transmission_hw_interface)" -/> - - <link name="world" /> - - <joint name="world_joint" type="fixed"> - <parent link="world" /> - <child link = "base_link" /> - <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> - </joint> - -</robot> diff --git a/ur_description/urdf/ur10_robot.urdf.xacro b/ur_description/urdf/ur10_robot.urdf.xacro deleted file mode 100644 index 188021c..0000000 --- a/ur_description/urdf/ur10_robot.urdf.xacro +++ /dev/null @@ -1,26 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro" - name="ur10" > - - <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/> - - <!-- common stuff --> - <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" /> - - <!-- ur10 --> - <xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" /> - - <!-- arm --> - <xacro:ur10_robot prefix="" joint_limited="false" - transmission_hw_interface="$(arg transmission_hw_interface)" - /> - - <link name="world" /> - - <joint name="world_joint" type="fixed"> - <parent link="world" /> - <child link = "base_link" /> - <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> - </joint> - -</robot> diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro deleted file mode 100644 index 839cc06..0000000 --- a/ur_description/urdf/ur3.urdf.xacro +++ /dev/null @@ -1,365 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro"> - -<!-- - Author: Felix Messmer ---> - - <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" /> - <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" /> - - <xacro:macro name="cylinder_inertial" params="radius length mass *origin"> - <inertial> - <mass value="${mass}" /> - <xacro:insert_block name="origin" /> - <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0" - iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0" - izz="${0.5 * mass * radius * radius}" /> - </inertial> - </xacro:macro> - - <xacro:macro name="ur3_robot" params="prefix joint_limited - shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi} - shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi} - elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} - wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} - wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} - wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} - transmission_hw_interface:=hardware_interface/PositionJointInterface - safety_limits:=false safety_pos_margin:=0.15 - safety_k_position:=20"> - - <!-- Inertia parameters --> - <xacro:property name="base_mass" value="2.0" /> <!-- This mass might be incorrect --> - <xacro:property name="shoulder_mass" value="2.0" /> - <xacro:property name="upper_arm_mass" value="3.42" /> - <xacro:property name="forearm_mass" value="1.26" /> - <xacro:property name="wrist_1_mass" value="0.8" /> - <xacro:property name="wrist_2_mass" value="0.8" /> - <xacro:property name="wrist_3_mass" value="0.35" /> - - <!-- These parameters are borrowed from the urcontrol.conf file - but are not verified for the correct permutation. - The permutation was guessed by looking at the UR5 parameters. - Serious use of these parameters needs further inspection. --> - <xacro:property name="shoulder_cog" value="0.0 -0.02 0.0" /> - <xacro:property name="upper_arm_cog" value="0.13 0.0 0.1157" /> - <xacro:property name="forearm_cog" value="0.05 0.0 0.0238" /> - <xacro:property name="wrist_1_cog" value="0.0 0.0 0.01" /> - <xacro:property name="wrist_2_cog" value="0.0 0.0 0.01" /> - <xacro:property name="wrist_3_cog" value="0.0 0.0 -0.02" /> - - <!-- Kinematic model --> - <!-- Properties from urcontrol.conf --> - <xacro:property name="d1" value="0.1519" /> - <xacro:property name="a2" value="-0.24365" /> - <xacro:property name="a3" value="-0.21325" /> - <xacro:property name="d4" value="0.11235" /> - <xacro:property name="d5" value="0.08535" /> - <xacro:property name="d6" value="0.0819" /> - - <!-- Arbitrary offsets for shoulder/elbow joints --> - <xacro:property name="shoulder_offset" value="0.1198" /> <!-- measured from model --> - <xacro:property name="elbow_offset" value="-0.0925" /> <!-- measured from model --> - - <!-- link lengths used in model --> - <xacro:property name="shoulder_height" value="${d1}" /> - <xacro:property name="upper_arm_length" value="${-a2}" /> - <xacro:property name="forearm_length" value="${-a3}" /> - <xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" /> - <xacro:property name="wrist_2_length" value="${d5}" /> - <xacro:property name="wrist_3_length" value="${d6}" /> - - <link name="${prefix}base_link" > - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/visual/base.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/collision/base.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_pan_joint" type="revolute"> - <parent link="${prefix}base_link" /> - <child link = "${prefix}shoulder_link" /> - <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="330.0" velocity="2.16"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}shoulder_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/visual/shoulder.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/collision/shoulder.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_lift_joint" type="revolute"> - <parent link="${prefix}shoulder_link" /> - <child link = "${prefix}upper_arm_link" /> - <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="330.0" velocity="2.16"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}upper_arm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/visual/upperarm.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/collision/upperarm.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="${-a2}" mass="${upper_arm_mass}"> - <origin xyz="0.0 0.0 ${-a2/2.0}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}elbow_joint" type="revolute"> - <parent link="${prefix}upper_arm_link" /> - <child link = "${prefix}forearm_link" /> - <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}forearm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/visual/forearm.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/collision/forearm.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="${-a3}" mass="${forearm_mass}"> - <origin xyz="0.0 0.0 ${-a3/2.0}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_1_joint" type="revolute"> - <parent link="${prefix}forearm_link" /> - <child link = "${prefix}wrist_1_link" /> - <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_1_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/visual/wrist1.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/collision/wrist1.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}"> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_2_joint" type="revolute"> - <parent link="${prefix}wrist_1_link" /> - <child link = "${prefix}wrist_2_link" /> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_2_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/visual/wrist2.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/collision/wrist2.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}"> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_3_joint" type="revolute"> - <parent link="${prefix}wrist_2_link" /> - <child link = "${prefix}wrist_3_link" /> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="54.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_3_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/visual/wrist3.dae"/> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur3/collision/wrist3.stl"/> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.032" length="0.04" mass="${wrist_3_mass}"> - <origin xyz="0.0 ${wrist_3_length - 0.02} 0.0" rpy="${pi/2} 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}ee_fixed_joint" type="fixed"> - <parent link="${prefix}wrist_3_link" /> - <child link = "${prefix}ee_link" /> - <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" /> - </joint> - - <link name="${prefix}ee_link"> - <collision> - <geometry> - <box size="0.01 0.01 0.01"/> - </geometry> - <origin rpy="0 0 0" xyz="-0.01 0 0"/> - </collision> - </link> - - <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" /> - <xacro:ur_arm_gazebo prefix="${prefix}" /> - - <!-- ROS base_link to UR 'Base' Coordinates transform --> - <link name="${prefix}base"/> - <joint name="${prefix}base_link-base_fixed_joint" type="fixed"> - <!-- NOTE: this rotation is only needed as long as base_link itself is - not corrected wrt the real robot (ie: rotated over 180 - degrees) - --> - <origin xyz="0 0 0" rpy="0 0 ${-pi}"/> - <parent link="${prefix}base_link"/> - <child link="${prefix}base"/> - </joint> - - <!-- Frame coincident with all-zeros TCP on UR controller --> - <link name="${prefix}tool0"/> - <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed"> - <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/> - <parent link="${prefix}wrist_3_link"/> - <child link="${prefix}tool0"/> - </joint> - - </xacro:macro> -</robot> diff --git a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro deleted file mode 100644 index 7b482e2..0000000 --- a/ur_description/urdf/ur3_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,32 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro" - name="ur3" > - - <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/> - - <!-- common stuff --> - <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" /> - - <!-- ur3 --> - <xacro:include filename="$(find ur_description)/urdf/ur3.urdf.xacro" /> - - <!-- arm --> - <xacro:ur3_robot prefix="" joint_limited="true" - shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}" - shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}" - elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}" - wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}" - wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}" - wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}" - transmission_hw_interface="$(arg transmission_hw_interface)" - /> - - <link name="world" /> - - <joint name="world_joint" type="fixed"> - <parent link="world" /> - <child link = "base_link" /> - <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> - </joint> - -</robot> diff --git a/ur_description/urdf/ur3_robot.urdf.xacro b/ur_description/urdf/ur3_robot.urdf.xacro deleted file mode 100644 index 72d5e3e..0000000 --- a/ur_description/urdf/ur3_robot.urdf.xacro +++ /dev/null @@ -1,26 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro" - name="ur3" > - - <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/> - - <!-- common stuff --> - <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" /> - - <!-- ur3 --> - <xacro:include filename="$(find ur_description)/urdf/ur3.urdf.xacro" /> - - <!-- arm --> - <xacro:ur3_robot prefix="" joint_limited="false" - transmission_hw_interface="$(arg transmission_hw_interface)" - /> - - <!-- <link name="world" /> - - <joint name="world_joint" type="fixed"> - <parent link="world" /> - <child link = "base_link" /> - <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> - </joint> --> - -</robot> diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro deleted file mode 100644 index 909f923..0000000 --- a/ur_description/urdf/ur5.urdf.xacro +++ /dev/null @@ -1,382 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro"> - - <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" /> - <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" /> - - <xacro:macro name="cylinder_inertial" params="radius length mass *origin"> - <inertial> - <mass value="${mass}" /> - <xacro:insert_block name="origin" /> - <inertia ixx="${0.0833333 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0" - iyy="${0.0833333 * mass * (3 * radius * radius + length * length)}" iyz="0.0" - izz="${0.5 * mass * radius * radius}" /> - </inertial> - </xacro:macro> - - <xacro:macro name="ur5_robot" params="prefix joint_limited - shoulder_pan_lower_limit:=${-pi} shoulder_pan_upper_limit:=${pi} - shoulder_lift_lower_limit:=${-pi} shoulder_lift_upper_limit:=${pi} - elbow_joint_lower_limit:=${-pi} elbow_joint_upper_limit:=${pi} - wrist_1_lower_limit:=${-pi} wrist_1_upper_limit:=${pi} - wrist_2_lower_limit:=${-pi} wrist_2_upper_limit:=${pi} - wrist_3_lower_limit:=${-pi} wrist_3_upper_limit:=${pi} - transmission_hw_interface:=hardware_interface/PositionJointInterface - safety_limits:=false safety_pos_margin:=0.15 - safety_k_position:=20"> - - <!-- Inertia parameters --> - <xacro:property name="base_mass" value="4.0" /> <!-- This mass might be incorrect --> - <xacro:property name="shoulder_mass" value="3.7000" /> - <xacro:property name="upper_arm_mass" value="8.3930" /> - <xacro:property name="forearm_mass" value="2.2750" /> - <xacro:property name="wrist_1_mass" value="1.2190" /> - <xacro:property name="wrist_2_mass" value="1.2190" /> - <xacro:property name="wrist_3_mass" value="0.1879" /> - - <xacro:property name="shoulder_cog" value="0.0 0.00193 -0.02561" /> - <xacro:property name="upper_arm_cog" value="0.0 -0.024201 0.2125" /> - <xacro:property name="forearm_cog" value="0.0 0.0265 0.11993" /> - <xacro:property name="wrist_1_cog" value="0.0 0.110949 0.01634" /> - <xacro:property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> - <xacro:property name="wrist_3_cog" value="0.0 0.001159 0.0" /> - - <!-- Kinematic model --> - <!-- Properties from urcontrol.conf --> - <!-- - DH for UR5: - a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000] - d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823] - alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ] - q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0] - joint_direction = [-1, -1, 1, 1, 1, 1] - mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879] - center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ] - --> - <xacro:property name="d1" value="0.089159" /> - <xacro:property name="a2" value="-0.42500" /> - <xacro:property name="a3" value="-0.39225" /> - <xacro:property name="d4" value="0.10915" /> - <xacro:property name="d5" value="0.09465" /> - <xacro:property name="d6" value="0.0823" /> - - <!-- Arbitrary offsets for shoulder/elbow joints --> - <xacro:property name="shoulder_offset" value="0.13585" /> <!-- measured from model --> - <xacro:property name="elbow_offset" value="-0.1197" /> <!-- measured from model --> - - <!-- link lengths used in model --> - <xacro:property name="shoulder_height" value="${d1}" /> - <xacro:property name="upper_arm_length" value="${-a2}" /> - <xacro:property name="forearm_length" value="${-a3}" /> - <xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" /> - <xacro:property name="wrist_2_length" value="${d5}" /> - <xacro:property name="wrist_3_length" value="${d6}" /> - <!--property name="shoulder_height" value="0.089159" /--> - <!--property name="shoulder_offset" value="0.13585" /--> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 --> - <!--property name="upper_arm_length" value="0.42500" /--> - <!--property name="elbow_offset" value="0.1197" /--> <!-- CAD measured --> - <!--property name="forearm_length" value="0.39225" /--> - <!--property name="wrist_1_length" value="0.093" /--> <!-- CAD measured --> - <!--property name="wrist_2_length" value="0.09465" /--> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 --> - <!--property name="wrist_3_length" value="0.0823" /--> - - <xacro:property name="shoulder_radius" value="0.060" /> <!-- manually measured --> - <xacro:property name="upper_arm_radius" value="0.054" /> <!-- manually measured --> - <xacro:property name="elbow_radius" value="0.060" /> <!-- manually measured --> - <xacro:property name="forearm_radius" value="0.040" /> <!-- manually measured --> - <xacro:property name="wrist_radius" value="0.045" /> <!-- manually measured --> - - - <link name="${prefix}base_link" > - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/base.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" /> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_pan_joint" type="revolute"> - <parent link="${prefix}base_link" /> - <child link = "${prefix}shoulder_link" /> - <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_pan_lower_limit}" upper="${shoulder_pan_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_pan_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_pan_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}shoulder_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/shoulder.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" /> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}"> - <origin xyz="0.0 0.0 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}shoulder_lift_joint" type="revolute"> - <parent link="${prefix}shoulder_link" /> - <child link = "${prefix}upper_arm_link" /> - <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${shoulder_lift_lower_limit}" upper="${shoulder_lift_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${shoulder_lift_lower_limit + safety_pos_margin}" soft_upper_limit="${shoulder_lift_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}upper_arm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl" /> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}"> - <origin xyz="0.0 0.0 0.28" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}elbow_joint" type="revolute"> - <parent link="${prefix}upper_arm_link" /> - <child link = "${prefix}forearm_link" /> - <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${elbow_joint_lower_limit}" upper="${elbow_joint_upper_limit}" effort="150.0" velocity="3.15"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${elbow_joint_lower_limit + safety_pos_margin}" soft_upper_limit="${elbow_joint_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}forearm_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" /> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="${-a3}" mass="${forearm_mass}"> - <origin xyz="0.0 0.0 ${-a3/2}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_1_joint" type="revolute"> - <parent link="${prefix}forearm_link" /> - <child link = "${prefix}wrist_1_link" /> - <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_1_lower_limit}" upper="${wrist_1_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_1_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_1_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_1_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" /> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_1_mass}"> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_2_joint" type="revolute"> - <parent link="${prefix}wrist_1_link" /> - <child link = "${prefix}wrist_2_link" /> - <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" /> - <axis xyz="0 0 1" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_2_lower_limit}" upper="${wrist_2_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_2_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_2_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_2_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" /> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.06" length="0.12" mass="${wrist_2_mass}"> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}wrist_3_joint" type="revolute"> - <parent link="${prefix}wrist_2_link" /> - <child link = "${prefix}wrist_3_link" /> - <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" /> - <axis xyz="0 1 0" /> - <xacro:unless value="${joint_limited}"> - <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${-2.0 * pi + safety_pos_margin}" soft_upper_limit="${2.0 * pi - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:unless> - <xacro:if value="${joint_limited}"> - <limit lower="${wrist_3_lower_limit}" upper="${wrist_3_upper_limit}" effort="28.0" velocity="3.2"/> - <xacro:if value="${safety_limits}"> - <safety_controller soft_lower_limit="${wrist_3_lower_limit + safety_pos_margin}" soft_upper_limit="${wrist_3_upper_limit - safety_pos_margin}" k_position="${safety_k_position}" k_velocity="0.0"/> - </xacro:if> - </xacro:if> - <dynamics damping="0.0" friction="0.0"/> - </joint> - - <link name="${prefix}wrist_3_link"> - <visual> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae" /> - </geometry> - <material name="LightGrey"> - <color rgba="0.7 0.7 0.7 1.0"/> - </material> - </visual> - <collision> - <geometry> - <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" /> - </geometry> - </collision> - <xacro:cylinder_inertial radius="0.0375" length="0.0345" mass="${wrist_3_mass}"> - <origin xyz="0.0 ${wrist_3_length - 0.0345/2} 0.0" rpy="${pi/2} 0 0" /> - </xacro:cylinder_inertial> - </link> - - <joint name="${prefix}ee_fixed_joint" type="fixed"> - <parent link="${prefix}wrist_3_link" /> - <child link = "${prefix}ee_link" /> - <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" /> - </joint> - - <link name="${prefix}ee_link"> - <collision> - <geometry> - <box size="0.01 0.01 0.01"/> - </geometry> - <origin rpy="0 0 0" xyz="-0.01 0 0"/> - </collision> - </link> - - <xacro:ur_arm_transmission prefix="${prefix}" hw_interface="${transmission_hw_interface}" /> - <xacro:ur_arm_gazebo prefix="${prefix}" /> - - <!-- ROS base_link to UR 'Base' Coordinates transform --> - <link name="${prefix}base"/> - <joint name="${prefix}base_link-base_fixed_joint" type="fixed"> - <!-- NOTE: this rotation is only needed as long as base_link itself is - not corrected wrt the real robot (ie: rotated over 180 - degrees) - --> - <origin xyz="0 0 0" rpy="0 0 ${-pi}"/> - <parent link="${prefix}base_link"/> - <child link="${prefix}base"/> - </joint> - - <!-- Frame coincident with all-zeros TCP on UR controller --> - <link name="${prefix}tool0"/> - <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed"> - <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/> - <parent link="${prefix}wrist_3_link"/> - <child link="${prefix}tool0"/> - </joint> - - </xacro:macro> -</robot> diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro b/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro deleted file mode 100644 index 9d81d00..0000000 --- a/ur_description/urdf/ur5_joint_limited_robot.urdf.xacro +++ /dev/null @@ -1,32 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro" - name="ur5" > - - <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/> - - <!-- common stuff --> - <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" /> - - <!-- ur5 --> - <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" /> - - <!-- arm --> - <xacro:ur5_robot prefix="" joint_limited="true" - shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}" - shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}" - elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}" - wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}" - wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}" - wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}" - transmission_hw_interface="$(arg transmission_hw_interface)" - /> - - <link name="world" /> - - <joint name="world_joint" type="fixed"> - <parent link="world" /> - <child link = "base_link" /> - <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> - </joint> - -</robot> diff --git a/ur_description/urdf/ur5_robot.urdf.xacro b/ur_description/urdf/ur5_robot.urdf.xacro deleted file mode 100644 index 1c81fb5..0000000 --- a/ur_description/urdf/ur5_robot.urdf.xacro +++ /dev/null @@ -1,26 +0,0 @@ -<?xml version="1.0"?> -<robot xmlns:xacro="http://wiki.ros.org/xacro" - name="ur5" > - - <xacro:arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface"/> - - <!-- common stuff --> - <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" /> - - <!-- ur5 --> - <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" /> - - <!-- arm --> - <xacro:ur5_robot prefix="" joint_limited="false" - transmission_hw_interface="$(arg transmission_hw_interface)" - /> - - <link name="world" /> - - <joint name="world_joint" type="fixed"> - <parent link="world" /> - <child link = "base_link" /> - <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /> - </joint> - -</robot> From a9f4d019c7c26efd99e39a33a018a0e252722e98 Mon Sep 17 00:00:00 2001 From: Siddarh09 <siddarth.dayasagar@gmail.com> Date: Fri, 29 Sep 2023 13:04:30 +0530 Subject: [PATCH 03/15] delete all --- rusty_description/CMakeLists.txt | 197 -- rusty_description/config/display.rviz | 237 -- rusty_description/launch/controller.launch | 9 - rusty_description/launch/controller.yaml | 23 - rusty_description/launch/display.launch | 10 - rusty_description/launch/display.launch.py | 64 - rusty_description/launch/gazebo.launch | 11 - rusty_description/launch/gazebo.launch.py | 80 - rusty_description/launch/rusty_display.rviz | 281 -- rusty_description/launch/urdf.rviz | 422 --- rusty_description/meshes/Camera_1.stl | Bin 20384 -> 0 bytes rusty_description/meshes/Holder_1.stl | Bin 7884 -> 0 bytes rusty_description/meshes/LW1_1.stl | Bin 13084 -> 0 bytes rusty_description/meshes/LW2_1.stl | Bin 13084 -> 0 bytes rusty_description/meshes/Lidar_1.stl | Bin 7884 -> 0 bytes rusty_description/meshes/RW1_1.stl | Bin 13084 -> 0 bytes rusty_description/meshes/RW2_1.stl | Bin 13084 -> 0 bytes rusty_description/meshes/base_link.stl | Bin 37684 -> 0 bytes rusty_description/package.xml | 24 - rusty_description/resource/rusty_description | 0 .../rusty_description/__init__.py | 0 rusty_description/setup.cfg | 4 - rusty_description/setup.py | 31 - rusty_description/test/test_copyright.py | 23 - rusty_description/test/test_flake8.py | 25 - rusty_description/test/test_pep257.py | 23 - rusty_description/urdf/materials.xacro | 8 - rusty_description/urdf/rusty.gazebo | 66 - rusty_description/urdf/rusty.trans | 48 - rusty_description/urdf/rusty.xacro | 221 -- rusty_description/urdf/rusty_ur5.xacro | 24 - rusty_description/world/godown.world | 2527 ----------------- rusty_description/world/house.world | 2176 -------------- rusty_description/world/office_layout.world | 1547 ---------- 34 files changed, 8081 deletions(-) delete mode 100644 rusty_description/CMakeLists.txt delete mode 100644 rusty_description/config/display.rviz delete mode 100644 rusty_description/launch/controller.launch delete mode 100644 rusty_description/launch/controller.yaml delete mode 100644 rusty_description/launch/display.launch delete mode 100644 rusty_description/launch/display.launch.py delete mode 100644 rusty_description/launch/gazebo.launch delete mode 100644 rusty_description/launch/gazebo.launch.py delete mode 100644 rusty_description/launch/rusty_display.rviz delete mode 100644 rusty_description/launch/urdf.rviz delete mode 100644 rusty_description/meshes/Camera_1.stl delete mode 100644 rusty_description/meshes/Holder_1.stl delete mode 100644 rusty_description/meshes/LW1_1.stl delete mode 100644 rusty_description/meshes/LW2_1.stl delete mode 100644 rusty_description/meshes/Lidar_1.stl delete mode 100644 rusty_description/meshes/RW1_1.stl delete mode 100644 rusty_description/meshes/RW2_1.stl delete mode 100644 rusty_description/meshes/base_link.stl delete mode 100644 rusty_description/package.xml delete mode 100644 rusty_description/resource/rusty_description delete mode 100644 rusty_description/rusty_description/__init__.py delete mode 100644 rusty_description/setup.cfg delete mode 100644 rusty_description/setup.py delete mode 100644 rusty_description/test/test_copyright.py delete mode 100644 rusty_description/test/test_flake8.py delete mode 100644 rusty_description/test/test_pep257.py delete mode 100644 rusty_description/urdf/materials.xacro delete mode 100644 rusty_description/urdf/rusty.gazebo delete mode 100644 rusty_description/urdf/rusty.trans delete mode 100644 rusty_description/urdf/rusty.xacro delete mode 100644 rusty_description/urdf/rusty_ur5.xacro delete mode 100644 rusty_description/world/godown.world delete mode 100644 rusty_description/world/house.world delete mode 100644 rusty_description/world/office_layout.world diff --git a/rusty_description/CMakeLists.txt b/rusty_description/CMakeLists.txt deleted file mode 100644 index fe399d5..0000000 --- a/rusty_description/CMakeLists.txt +++ /dev/null @@ -1,197 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(rusty_description) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - rospy -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs # Or other packages containing msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES fusion2urdf -# CATKIN_DEPENDS rospy -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/fusion2urdf.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/fusion2urdf_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_fusion2urdf.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/rusty_description/config/display.rviz b/rusty_description/config/display.rviz deleted file mode 100644 index e7136f0..0000000 --- a/rusty_description/config/display.rviz +++ /dev/null @@ -1,237 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 617 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: <Fixed Frame> - Value: true - - Alpha: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - back_motor_left_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - back_motor_right_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - back_wheel_left_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - back_wheel_right_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_motor_left_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_motor_right_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_wheel_left_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_wheel_right_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz_default_plugins/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - back_motor_left_2: - Value: true - back_motor_right_2: - Value: true - back_wheel_left_2: - Value: true - back_wheel_right_2: - Value: true - base_link: - Value: true - front_motor_left_2: - Value: true - front_motor_right_2: - Value: true - front_wheel_left_2: - Value: true - front_wheel_right_2: - Value: true - Marker Scale: 0.5 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - base_link: - back_motor_right_2: - back_wheel_right_2: - {} - back_wheel_left_2: - back_motor_left_2: - {} - front_motor_left_2: - front_wheel_left_2: - {} - front_motor_right_2: - front_wheel_right_2: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint - Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Class: rviz_default_plugins/Orbit - Distance: 0.8402727246284485 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.6097970008850098 - Target Frame: <Fixed Frame> - Value: Orbit (rviz) - Yaw: 0.5103846192359924 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 201 - Y: 69 diff --git a/rusty_description/launch/controller.launch b/rusty_description/launch/controller.launch deleted file mode 100644 index 5fc12e9..0000000 --- a/rusty_description/launch/controller.launch +++ /dev/null @@ -1,9 +0,0 @@ -<launch> - -<rosparam file="$(find rusty_description)/launch/controller.yaml" command="load"/> -<node args="RW2_position_controller RW1_position_controller LW2_position_controller LW1_position_controller joint_state_controller " name="controller_spawner" ns="rusty" output="screen" pkg="controller_manager" respawn="false" type="spawner"/> -<node name="robot_state_publisher" output="screen" pkg="robot_state_publisher" respawn="false" type="robot_state_publisher"> - <remap from="/joint_states" to="/rusty/joint_states"/> -</node> - -</launch> \ No newline at end of file diff --git a/rusty_description/launch/controller.yaml b/rusty_description/launch/controller.yaml deleted file mode 100644 index dcd016b..0000000 --- a/rusty_description/launch/controller.yaml +++ /dev/null @@ -1,23 +0,0 @@ -rusty_controller: - # Publish all joint states ----------------------------------- - joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 - - # Position Controllers -------------------------------------- - RW2_position_controller: - type: effort_controllers/JointPositionController - joint: RW2 - pid: {p: 100.0, i: 0.01, d: 10.0} - RW1_position_controller: - type: effort_controllers/JointPositionController - joint: RW1 - pid: {p: 100.0, i: 0.01, d: 10.0} - LW2_position_controller: - type: effort_controllers/JointPositionController - joint: LW2 - pid: {p: 100.0, i: 0.01, d: 10.0} - LW1_position_controller: - type: effort_controllers/JointPositionController - joint: LW1 - pid: {p: 100.0, i: 0.01, d: 10.0} diff --git a/rusty_description/launch/display.launch b/rusty_description/launch/display.launch deleted file mode 100644 index d4a11b6..0000000 --- a/rusty_description/launch/display.launch +++ /dev/null @@ -1,10 +0,0 @@ -<launch> - <arg default="$(find rusty_description)/urdf/rusty.xacro" name="model"/> - <arg default="true" name="gui"/> - <arg default="$(find rusty_description)/launch/urdf.rviz" name="rvizconfig"/> - <param command="$(find xacro)/xacro $(arg model)" name="robot_description"/> - <param name="use_gui" value="$(arg gui)"/> - <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/> - <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> - <node args="-d $(arg rvizconfig)" name="rviz" pkg="rviz" required="true" type="rviz"/> -</launch> diff --git a/rusty_description/launch/display.launch.py b/rusty_description/launch/display.launch.py deleted file mode 100644 index 20a283d..0000000 --- a/rusty_description/launch/display.launch.py +++ /dev/null @@ -1,64 +0,0 @@ -from launch_ros.actions import Node -from launch import LaunchDescription -from launch.actions import DeclareLaunchArgument -from launch.substitutions import LaunchConfiguration -from launch.conditions import IfCondition, UnlessCondition -import xacro -import os -from ament_index_python.packages import get_package_share_directory - - -def generate_launch_description(): - share_dir = get_package_share_directory('rusty_description') - - xacro_file = os.path.join(share_dir, 'urdf', 'rusty.xacro') - robot_description_config = xacro.process_file(xacro_file) - robot_urdf = robot_description_config.toxml() - - rviz_config_file = os.path.join(share_dir, 'config', 'display.rviz') - - gui_arg = DeclareLaunchArgument( - name='gui', - default_value='True' - ) - - show_gui = LaunchConfiguration('gui') - - robot_state_publisher_node = Node( - package='robot_state_publisher', - executable='robot_state_publisher', - name='robot_state_publisher', - parameters=[ - {'robot_description': robot_urdf} - ] - ) - - joint_state_publisher_node = Node( - condition=UnlessCondition(show_gui), - package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher' - ) - - joint_state_publisher_gui_node = Node( - condition=IfCondition(show_gui), - package='joint_state_publisher_gui', - executable='joint_state_publisher_gui', - name='joint_state_publisher_gui' - ) - - rviz_node = Node( - package='rviz2', - executable='rviz2', - name='rviz2', - arguments=['-d', rviz_config_file], - output='screen' - ) - - return LaunchDescription([ - gui_arg, - robot_state_publisher_node, - joint_state_publisher_node, - joint_state_publisher_gui_node, - rviz_node - ]) diff --git a/rusty_description/launch/gazebo.launch b/rusty_description/launch/gazebo.launch deleted file mode 100644 index a2f3cf0..0000000 --- a/rusty_description/launch/gazebo.launch +++ /dev/null @@ -1,11 +0,0 @@ -<launch> - <param command="$(find xacro)/xacro $(find rusty_description)/urdf/rusty.xacro" name="robot_description"/> - <node args="-param robot_description -urdf -model rusty" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/> - <include file="$(find gazebo_ros)/launch/empty_world.launch"> - <arg name="paused" value="false"/> - <arg name="use_sim_time" value="true"/> - <arg name="gui" value="true"/> - <arg name="headless" value="false"/> - <arg name="debug" value="false"/> - </include> -</launch> diff --git a/rusty_description/launch/gazebo.launch.py b/rusty_description/launch/gazebo.launch.py deleted file mode 100644 index 58ddc3a..0000000 --- a/rusty_description/launch/gazebo.launch.py +++ /dev/null @@ -1,80 +0,0 @@ -from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import PathJoinSubstitution -import launch -from launch.substitutions import Command, LaunchConfiguration -import launch_ros -from launch_ros.actions import Node -import os -import xacro -from ament_index_python.packages import get_package_share_directory - - -def generate_launch_description(): - share_dir = get_package_share_directory('rusty_description') - pkg_share = launch_ros.substitutions.FindPackageShare(package='rusty_description').find('rusty_description') - xacro_file = os.path.join(share_dir, 'urdf', 'rusty.xacro') - robot_description_config = xacro.process_file(xacro_file) - robot_urdf = robot_description_config.toxml() - - robot_state_publisher_node = Node( - package='robot_state_publisher', - executable='robot_state_publisher', - name='robot_state_publisher', - parameters=[ - {'robot_description': robot_urdf} - ] - ) - - joint_state_publisher_node = Node( - package='joint_state_publisher', - executable='joint_state_publisher', - name='joint_state_publisher' - ) - - gazebo_server = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ - PathJoinSubstitution([ - FindPackageShare('gazebo_ros'), - 'launch', - 'gzserver.launch.py' - ]) - ]), - launch_arguments={ - 'pause': 'true' - }.items() - ) - - gazebo_client = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ - PathJoinSubstitution([ - FindPackageShare('gazebo_ros'), - 'launch', - 'gzclient.launch.py' - ]) - ]) - ) - - urdf_spawn_node = Node( - package='gazebo_ros', - executable='spawn_entity.py', - arguments=[ - '-entity', 'rusty', - '-topic', 'robot_description' - ], - output='screen' - ) - - return LaunchDescription([ - robot_state_publisher_node, - joint_state_publisher_node, - gazebo_server, - gazebo_client, - urdf_spawn_node, - ]) - - - diff --git a/rusty_description/launch/rusty_display.rviz b/rusty_description/launch/rusty_display.rviz deleted file mode 100644 index 16d838a..0000000 --- a/rusty_description/launch/rusty_display.rviz +++ /dev/null @@ -1,281 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 296 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: <Fixed Frame> - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Camera_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Holder_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LW1_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - LW2_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Lidar_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Link Tree Style: Links in Alphabetic Order - RW1_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - RW2_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Alpha: 1 - Marker Scale: 0.5 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: EKF path - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /ekfpath - Unreliable: false - Value: true - - Alpha: 1 - Buffer Length: 1 - Class: rviz/Path - Color: 25; 255; 0 - Enabled: true - Head Diameter: 0.30000001192092896 - Head Length: 0.20000000298023224 - Length: 0.30000001192092896 - Line Style: Lines - Line Width: 0.029999999329447746 - Name: OdomPath - Offset: - X: 0 - Y: 0 - Z: 0 - Pose Color: 255; 85; 255 - Pose Style: None - Queue Size: 10 - Radius: 0.029999999329447746 - Shaft Diameter: 0.10000000149011612 - Shaft Length: 0.10000000149011612 - Topic: /odompath - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 3.845639944076538 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: -0.0016349668148905039 - Y: -0.014781012199819088 - Z: 0.017814036458730698 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.46039658784866333 - Target Frame: <Fixed Frame> - Yaw: 1.1785812377929688 - Saved: - - Class: rviz/Orbit - Distance: 1.7002171277999878 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: -0.0016349668148905039 - Y: -0.014781012199819088 - Z: 0.017814036458730698 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Orbit - Near Clip Distance: 0.009999999776482582 - Pitch: 0.4403969943523407 - Target Frame: <Fixed Frame> - Yaw: 0.8235810995101929 - - Class: rviz/Orbit - Distance: 1.7002171277999878 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: -0.0016349668148905039 - Y: -0.014781012199819088 - Z: 0.017814036458730698 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Orbit - Near Clip Distance: 0.009999999776482582 - Pitch: 0.4403969943523407 - Target Frame: <Fixed Frame> - Yaw: 0.8235810995101929 -Window Geometry: - Displays: - collapsed: false - Height: 599 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1294 - X: 72 - Y: 27 diff --git a/rusty_description/launch/urdf.rviz b/rusty_description/launch/urdf.rviz deleted file mode 100644 index b80bcfa..0000000 --- a/rusty_description/launch/urdf.rviz +++ /dev/null @@ -1,422 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 591 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: <Fixed Frame> - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - 2dofknuckle_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_10: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - 2dofknuckle_link_9: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - bucket_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - face_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - facebracket_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hcsr04_cans_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hcsr04_chips_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - hcsr04_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - leg_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - leg_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - leg_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - leg_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - lipo_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_10: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mg90_link_9: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mpu9250_cap_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mpu9250_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - mpu9250_mpu_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pizerow_cam_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pizerow_con_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pizerow_cpu_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - pizerow_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - raspicam_cam_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - raspicam_chips_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - raspicam_con_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - raspicam_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_10: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_2: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_3: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_4: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_5: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_6: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_7: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_8: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - servobottom_link_9: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - shell_link_1: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 0.5 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - Enabled: true - Global Options: - Background Color: 48; 48; 48 - Default Light: true - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 0.34426525235176086 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.0016349668148905039 - Y: -0.014781012199819088 - Z: 0.017814036458730698 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.46039697527885437 - Target Frame: <Fixed Frame> - Value: Orbit (rviz) - Yaw: 0.593582272529602 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 882 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 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- Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1216 - X: 700 - Y: 385 diff --git a/rusty_description/meshes/Camera_1.stl b/rusty_description/meshes/Camera_1.stl deleted file mode 100644 index 05f76b79a0572191f71f47fc9a9a61e06201d967..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 20384 zcmb8150F*mdB(5&ZNv3XP1s_9h)#=%u?j@MUCTZ7UP_QaRUkGa)!5vY1!DQT*tHSa z8EOVuKoqsDiXv)O6aFNbA#^Y7J+Lx`ibQB*RMKci(!?~~;3V3KSZmL7-t(OA`R>`X zGi8$T8{YT#J?A^;JJ0ui=bpp7`LoO8uA4t&+{8&&PQ3cc30F>>G<96%hS@jFowj}Z z_K(K>fB!skP9gsD*-P&U&iv@Vd%BudRo313Sb6>5461ZBt(NwxO7En{%7wz9O0@_? z2}XQkwNG>;#58Cq;o7F%e(yP^;So40M4;gaJ3>b^-?}XLr_Fmy90v)d&wcK(@&y+r z8ij<YldzGmsvzr~KL0G($Q|LIA0^l};=(<1gYVq&J0Xsp5$I`q=GBjv@0~X|IlFlT zv(OXUrm?8^GePSUL9D?DG_-ww-{a-mo~1?}!7OO7Z5or_=_>`hz7lIN0u60Hb7Wh& z_69Zb2xdWpZPU2?{MDsr?{AMa7=ebi=kI%>JpF&Dkw-8K8f=?}&H0X4gAr(G`>Nef 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zK8@@7lZ4ljY<n)G9}(4s&+oc+sU<?tkF2{{OM0xVa6WEksL>f+uL>YlG83GSsJHbt zN5;gTv$S^f$`x!nHhYv+Y+u_h34KbSy&>%E(?qnRS6iEBANK<@sgjuhoo63<&fVE1 zZ57sF#IVjjMW|#Z;_0^Sn@BwtqZ=!jxp3knV^-Dg=%;7n>a7&)gO^zWl3-qej`b0K zWVR>Kl05q)jqCIy*C6(D)1gH7>a{5+OD9yq^#MzIJ%Y#zXXDo%WtK3n;{7<SN>xRj zP)W~!?Iku6@=A3mp*g13jyhDLMC&{4NA0y{N!50r%~6L&SI5<S+xnsNp*f~`g{ayd j<+18<`H6+m?TWFrswEwTZQWHJv^VNiSlG3TRrLP=Avg~r diff --git a/rusty_description/package.xml b/rusty_description/package.xml deleted file mode 100644 index 93f7649..0000000 --- a/rusty_description/package.xml +++ /dev/null @@ -1,24 +0,0 @@ -<?xml version="1.0"?> -<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> -<package format="3"> -<name>rusty_description</name> - <version>0.0.0</version> -<description>The rusty_description package</description> - <maintainer email="todo@todo.com">author</maintainer> - <license>TODO: License declaration</license> - - <depend>xacro</depend> - <depend>rviz2</depend> - <depend>robot_state_publisher</depend> - <depend>joint_state_publisher</depend> - <depend>joint_state_publisher_gui</depend> - - <test_depend>ament_copyright</test_depend> - <test_depend>ament_flake8</test_depend> - <test_depend>ament_pep257</test_depend> - <test_depend>python3-pytest</test_depend> - - <export> - <build_type>ament_python</build_type> - </export> -</package> diff --git a/rusty_description/resource/rusty_description b/rusty_description/resource/rusty_description deleted file mode 100644 index e69de29..0000000 diff --git a/rusty_description/rusty_description/__init__.py b/rusty_description/rusty_description/__init__.py deleted file mode 100644 index e69de29..0000000 diff --git a/rusty_description/setup.cfg b/rusty_description/setup.cfg deleted file mode 100644 index 497a02b..0000000 --- a/rusty_description/setup.cfg +++ /dev/null @@ -1,4 +0,0 @@ -[develop] -script-dir=$base/lib/rusty_description -[install] -install-scripts=$base/lib/rusty_description diff --git a/rusty_description/setup.py b/rusty_description/setup.py deleted file mode 100644 index c51c0fa..0000000 --- a/rusty_description/setup.py +++ /dev/null @@ -1,31 +0,0 @@ -from setuptools import setup -import os -from glob import glob - -package_name = 'rusty_description' - -setup( - name=package_name, - version='0.0.0', - packages=[package_name], - data_files=[ - ('share/ament_index/resource_index/packages', - ['resource/' + package_name]), - ('share/' + package_name, ['package.xml']), - (os.path.join('share', package_name), glob('launch/*launch.[pxy][yma]*')), - (os.path.join('share', package_name, 'urdf'), glob('urdf/*')), - (os.path.join('share', package_name, 'meshes'), glob('meshes/*')), - (os.path.join('share', package_name, 'config'), glob('config/*')) - ], - install_requires=['setuptools'], - zip_safe=True, - maintainer='author', - maintainer_email='todo@todo.com', - description='The ' + package_name + ' package', - license='TODO: License declaration', - tests_require=['pytest'], - entry_points={ - 'console_scripts': [ - ], - }, -) diff --git a/rusty_description/test/test_copyright.py b/rusty_description/test/test_copyright.py deleted file mode 100644 index cc8ff03..0000000 --- a/rusty_description/test/test_copyright.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_copyright.main import main -import pytest - - -@pytest.mark.copyright -@pytest.mark.linter -def test_copyright(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found errors' diff --git a/rusty_description/test/test_flake8.py b/rusty_description/test/test_flake8.py deleted file mode 100644 index 27ee107..0000000 --- a/rusty_description/test/test_flake8.py +++ /dev/null @@ -1,25 +0,0 @@ -# Copyright 2017 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_flake8.main import main_with_errors -import pytest - - -@pytest.mark.flake8 -@pytest.mark.linter -def test_flake8(): - rc, errors = main_with_errors(argv=[]) - assert rc == 0, \ - 'Found %d code style errors / warnings:\n' % len(errors) + \ - '\n'.join(errors) diff --git a/rusty_description/test/test_pep257.py b/rusty_description/test/test_pep257.py deleted file mode 100644 index b234a38..0000000 --- a/rusty_description/test/test_pep257.py +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2015 Open Source Robotics Foundation, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -from ament_pep257.main import main -import pytest - - -@pytest.mark.linter -@pytest.mark.pep257 -def test_pep257(): - rc = main(argv=['.', 'test']) - assert rc == 0, 'Found code style errors / warnings' diff --git a/rusty_description/urdf/materials.xacro b/rusty_description/urdf/materials.xacro deleted file mode 100644 index e4cab9f..0000000 --- a/rusty_description/urdf/materials.xacro +++ /dev/null @@ -1,8 +0,0 @@ -<?xml version="1.0" ?> -<robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > - -<material name="silver"> - <color rgba="0.700 0.700 0.700 1.000"/> -</material> - -</robot> diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo deleted file mode 100644 index f2f8772..0000000 --- a/rusty_description/urdf/rusty.gazebo +++ /dev/null @@ -1,66 +0,0 @@ -<?xml version="1.0" ?> -<robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > - -<xacro:property name="body_color" value="Gazebo/Silver" /> - -<gazebo> - <plugin name="control" filename="libgazebo_ros_control.so"/> -</gazebo> -<gazebo reference="base_link"> - <material>${body_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> - <self_collide>true</self_collide> - <gravity>true</gravity> -</gazebo> - -<gazebo reference="RW2_1"> - <material>${body_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> - <self_collide>true</self_collide> -</gazebo> - -<gazebo reference="RW1_1"> - <material>${body_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> - <self_collide>true</self_collide> -</gazebo> - -<gazebo reference="LW2_1"> - <material>${body_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> - <self_collide>true</self_collide> -</gazebo> - -<gazebo reference="LW1_1"> - <material>${body_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> - <self_collide>true</self_collide> -</gazebo> - -<gazebo reference="Holder_1"> - <material>${body_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> - <self_collide>true</self_collide> -</gazebo> - -<gazebo reference="Lidar_1"> - <material>${body_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> - <self_collide>true</self_collide> -</gazebo> - -<gazebo reference="Camera_1"> - <material>${body_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> - <self_collide>true</self_collide> -</gazebo> - -</robot> diff --git a/rusty_description/urdf/rusty.trans b/rusty_description/urdf/rusty.trans deleted file mode 100644 index 2ce6ef5..0000000 --- a/rusty_description/urdf/rusty.trans +++ /dev/null @@ -1,48 +0,0 @@ -<?xml version="1.0" ?> -<robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > - -<transmission name="RW2_tran"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="RW2"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> - </joint> - <actuator name="RW2_actr"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> - <mechanicalReduction>1</mechanicalReduction> - </actuator> -</transmission> - -<transmission name="RW1_tran"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="RW1"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> - </joint> - <actuator name="RW1_actr"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> - <mechanicalReduction>1</mechanicalReduction> - </actuator> -</transmission> - -<transmission name="LW2_tran"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="LW2"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> - </joint> - <actuator name="LW2_actr"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> - <mechanicalReduction>1</mechanicalReduction> - </actuator> -</transmission> - -<transmission name="LW1_tran"> - <type>transmission_interface/SimpleTransmission</type> - <joint name="LW1"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> - </joint> - <actuator name="LW1_actr"> - <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> - <mechanicalReduction>1</mechanicalReduction> - </actuator> -</transmission> - -</robot> diff --git a/rusty_description/urdf/rusty.xacro b/rusty_description/urdf/rusty.xacro deleted file mode 100644 index ef29e4f..0000000 --- a/rusty_description/urdf/rusty.xacro +++ /dev/null @@ -1,221 +0,0 @@ -<?xml version="1.0" ?> -<robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro"> - -<xacro:include filename="$(find rusty_description)/urdf/materials.xacro" /> -<xacro:include filename="$(find rusty_description)/urdf/rusty.trans" /> -<xacro:include filename="$(find rusty_description)/urdf/rusty.gazebo" /> -<link name="base_link"> - <inertial> - <origin xyz="0.0002544970294304579 -2.7411733823236023e-17 0.08341254857000653" rpy="0 0 0"/> - <mass value="14.333340375312384"/> - <inertia ixx="0.173307" iyy="0.373229" izz="0.490917" ixy="0.0" iyz="0.0" ixz="-0.000171"/> - </inertial> - <visual> - <origin xyz="0 0 0" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="silver"/> - </visual> - <collision> - <origin xyz="0 0 0" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/> - </geometry> - </collision> -</link> - -<link name="RW2_1"> - <inertial> - <origin xyz="1.3877787807814457e-17 -0.012499999999999983 0.0" rpy="0 0 0"/> - <mass value="0.18260507298990683"/> - <inertia ixx="0.000124" iyy="0.000228" izz="0.000124" ixy="-0.0" iyz="0.0" ixz="0.0"/> - </inertial> - <visual> - <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="silver"/> - </visual> - <collision> - <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - </collision> -</link> - -<link name="RW1_1"> - <inertial> - <origin xyz="-1.3877787807814457e-17 -0.012499999999999983 6.938893903907228e-18" rpy="0 0 0"/> - <mass value="0.1826050729899068"/> - <inertia ixx="0.000124" iyy="0.000228" izz="0.000124" ixy="-0.0" iyz="0.0" ixz="-0.0"/> - </inertial> - <visual> - <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="silver"/> - </visual> - <collision> - <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - </collision> -</link> - -<link name="LW2_1"> - <inertial> - <origin xyz="0.0 0.012499999999999928 0.0" rpy="0 0 0"/> - <mass value="0.18260507298990683"/> - <inertia ixx="0.000124" iyy="0.000228" izz="0.000124" ixy="0.0" iyz="-0.0" ixz="-0.0"/> - </inertial> - <visual> - <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="silver"/> - </visual> - <collision> - <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - </collision> -</link> - -<link name="LW1_1"> - <inertial> - <origin xyz="2.7755575615628914e-17 0.012500000000000039 2.0816681711721685e-17" rpy="0 0 0"/> - <mass value="0.1826050729899069"/> - <inertia ixx="0.000124" iyy="0.000228" izz="0.000124" ixy="0.0" iyz="0.0" ixz="0.0"/> - </inertial> - <visual> - <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="silver"/> - </visual> - <collision> - <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - </collision> -</link> - -<link name="Holder_1"> - <inertial> - <origin xyz="-4.445233212745621e-17 0.0 0.012500000000000011" rpy="0 0 0"/> - <mass value="25.69775961700859"/> - <inertia ixx="0.165882" iyy="0.4688" izz="0.632005" ixy="0.0" iyz="0.0" ixz="-0.0"/> - </inertial> - <visual> - <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="silver"/> - </visual> - <collision> - <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - </collision> -</link> - -<link name="Lidar_1"> - <inertial> - <origin xyz="0.007402159277225678 -0.00023091322011423596 0.0050000000000000044" rpy="0 0 0"/> - <mass value="0.008257286244679606"/> - <inertia ixx="1e-06" iyy="0.0" izz="1e-06" ixy="-0.0" iyz="0.0" ixz="0.0"/> - </inertial> - <visual> - <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="silver"/> - </visual> - <collision> - <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - </collision> -</link> - -<link name="Camera_1"> - <inertial> - <origin xyz="0.015039497744837121 0.0750001326555918 -0.02024300342659574" rpy="0 0 0"/> - <mass value="0.007791207915918992"/> - <inertia ixx="1e-06" iyy="0.0" izz="1e-06" ixy="-0.0" iyz="0.0" ixz="-0.0"/> - </inertial> - <visual> - <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - <material name="silver"/> - </visual> - <collision> - <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> - <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> - </geometry> - </collision> -</link> - -<joint name="RW2" type="continuous"> - <origin xyz="-0.095 -0.16 0.05" rpy="0 0 0"/> - <parent link="base_link"/> - <child link="RW2_1"/> - <axis xyz="0.0 -1.0 0.0"/> -</joint> - -<joint name="RW1" type="continuous"> - <origin xyz="0.095 -0.16 0.05" rpy="0 0 0"/> - <parent link="base_link"/> - <child link="RW1_1"/> - <axis xyz="0.0 1.0 0.0"/> -</joint> - -<joint name="LW2" type="continuous"> - <origin xyz="-0.095 0.16 0.05" rpy="0 0 0"/> - <parent link="base_link"/> - <child link="LW2_1"/> - <axis xyz="0.0 -1.0 0.0"/> -</joint> - -<joint name="LW1" type="continuous"> - <origin xyz="0.095 0.16 0.05" rpy="0 0 0"/> - <parent link="base_link"/> - <child link="LW1_1"/> - <axis xyz="0.0 1.0 0.0"/> -</joint> - -<joint name="Rigid 10" type="fixed"> - <origin xyz="0.0 0.0 0.15" rpy="0 0 0"/> - <parent link="base_link"/> - <child link="Holder_1"/> -</joint> - -<joint name="Rigid 11" type="fixed"> - <origin xyz="0.235 0.0 0.135" rpy="0 0 0"/> - <parent link="base_link"/> - <child link="Lidar_1"/> -</joint> - -<joint name="Rigid 12" type="fixed"> - <origin xyz="0.222588 0.012099 0.15" rpy="0 0 0"/> - <parent link="base_link"/> - <child link="Camera_1"/> -</joint> - -</robot> diff --git a/rusty_description/urdf/rusty_ur5.xacro b/rusty_description/urdf/rusty_ur5.xacro deleted file mode 100644 index ac1a049..0000000 --- a/rusty_description/urdf/rusty_ur5.xacro +++ /dev/null @@ -1,24 +0,0 @@ -<?xml version="1.0"?> - -<!-- - Project Name: Rusty with ur5 - Created on: 3.8.22 - Author: Siddarth - Maintainer: ROS team - ---> -<robot name="rusry" xmlns:xacro="http://www.ros.org/wiki/xacro"> - - <xacro:include filename="$(find rusty_description)/urdf/rusty.xacro" /> - <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" /> - <xacro:include filename="$(find ur_description)/urdf/e_ur5.urdf.xacro" /> - - <xacro:ur5_robot prefix="" joint_limited="false"/> - - <joint name="arm_joint" type="fixed"> - <parent link="rusty_base" /> - <child link = "base_link" /> - <origin xyz="0.06 0 0.18" rpy="0.0 0.0 0" /> <!--576 height from ground--> - </joint> - -</robot> \ No newline at end of file diff --git a/rusty_description/world/godown.world b/rusty_description/world/godown.world deleted file mode 100644 index 15c5ced..0000000 --- a/rusty_description/world/godown.world +++ /dev/null @@ -1,2527 +0,0 @@ -<sdf version='1.7'> - <world name='default'> - <light name='sun' type='directional'> - <cast_shadows>1</cast_shadows> - <pose>0 0 10 0 -0 0</pose> - <diffuse>0.8 0.8 0.8 1</diffuse> - <specular>0.2 0.2 0.2 1</specular> - <attenuation> - <range>1000</range> - <constant>0.9</constant> - <linear>0.01</linear> - <quadratic>0.001</quadratic> - </attenuation> - <direction>-0.5 0.1 -0.9</direction> - <spot> - <inner_angle>0</inner_angle> - <outer_angle>0</outer_angle> - <falloff>0</falloff> - </spot> - </light> - <model name='ground_plane'> - <static>1</static> - <link name='link'> - <collision name='collision'> - <geometry> - <plane> - <normal>0 0 1</normal> - <size>100 100</size> - </plane> - </geometry> - <surface> - <contact> - <collide_bitmask>65535</collide_bitmask> - <ode/> - </contact> - <friction> - <ode> - <mu>100</mu> - <mu2>50</mu2> - </ode> - <torsional> - <ode/> - </torsional> - </friction> - <bounce/> - </surface> - <max_contacts>10</max_contacts> - </collision> - <visual name='visual'> - <cast_shadows>0</cast_shadows> - <geometry> - <plane> - <normal>0 0 1</normal> - <size>100 100</size> - </plane> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - </model> - <gravity>0 0 -9.8</gravity> - <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> - <atmosphere type='adiabatic'/> - <physics type='ode'> - <max_step_size>0.001</max_step_size> - <real_time_factor>1</real_time_factor> - <real_time_update_rate>1000</real_time_update_rate> - </physics> - <scene> - <ambient>0.4 0.4 0.4 1</ambient> - <background>0.7 0.7 0.7 1</background> - <shadows>1</shadows> - </scene> - <wind/> - <spherical_coordinates> - <surface_model>EARTH_WGS84</surface_model> - <latitude_deg>0</latitude_deg> - <longitude_deg>0</longitude_deg> - <elevation>0</elevation> - <heading_deg>0</heading_deg> - </spherical_coordinates> - <model name='Untitled'> - <pose>-7.8631 4.769 0 0 -0 0</pose> - <link name='Wall_0'> - <collision name='Wall_0_Collision'> - <geometry> - <box> - <size>8.25 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_0_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>8.25 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>0.996078 0.47451 0.0196078 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-6.425 -6.1324 0 0 -0 -1.5708</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_1'> - <collision name='Wall_1_Collision'> - <geometry> - <box> - <size>24 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_1_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>24 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>0.435294 0.796078 0.67451 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>5.5 -10.1824 0 0 -0 0</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_10'> - <collision name='Wall_10_Collision'> - <geometry> - <box> - <size>6.5 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_10_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>6.5 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>1 1 1 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>4.425 -5.2574 0 0 -0 -1.5708</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_12'> - <collision name='Wall_12_Collision'> - <geometry> - <box> - <size>17 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_12_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>17 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>1 1 1 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>11.4854 1.7574 0 0 -0 -1.5708</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_2'> - <collision name='Wall_2_Collision'> - <geometry> - <box> - <size>20.25 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_2_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>20.25 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>0.996078 0.47451 0.0196078 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>17.425 -0.1324 0 0 -0 1.5708</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_3'> - <collision name='Wall_3_Collision'> - <geometry> - <box> - <size>35 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_3_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>35 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>0.435294 0.796078 0.67451 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-0 9.9176 0 0 -0 3.14159</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_4'> - <collision name='Wall_4_Collision'> - <geometry> - <box> - <size>13.5 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_4_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>13.5 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>0.996078 0.47451 0.0196078 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-17.425 3.2426 0 0 -0 -1.5708</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_5'> - <collision name='Wall_5_Collision'> - <geometry> - <box> - <size>8.5 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_5_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>8.5 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>0.435294 0.796078 0.67451 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-13.25 -3.4324 0 0 -0 0</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_6'> - <collision name='Wall_6_Collision'> - <geometry> - <box> - <size>1.5 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_6_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>1.5 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>1 1 1 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-9.075 -2.7574 0 0 -0 1.5708</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_7'> - <collision name='Wall_7_Collision'> - <geometry> - <box> - <size>2.8 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_7_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>2.8 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>0.435294 0.796078 0.67451 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-7.75 -2.0824 0 0 -0 0</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_9'> - <collision name='Wall_9_Collision'> - <geometry> - <box> - <size>11 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_9_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>11 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>1 1 1 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-1 -2.0824 0 0 -0 0</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <static>1</static> - </model> - <model name='Dumpster'> - <link name='link'> - <collision name='collision'> - <geometry> - <mesh> - <scale>1.5 1.5 1.5</scale> - <uri>model://dumpster/meshes/dumpster.dae</uri> - </mesh> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual 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name='frc2016_portcullis'> - <pose>-6.99522 5.60878 -0 0 -0 0.041996</pose> - <scale>1 1 1</scale> - <link name='base'> - <pose>-6.99522 5.60878 -0 0 -0 0.041996</pose> - <velocity>0.000171 0.00024 -0.000832 0.000951 0.002303 0.00083</velocity> - <acceleration>1.66046 -1.2205 -2.9343 1.2359 1.44878 0.347362</acceleration> - <wrench>83.0229 -61.0249 -146.715 0 -0 0</wrench> - </link> - <link name='gate'> - <pose>-7.0251 5.6364 0.933269 0 1e-06 0.041997</pose> - <velocity>0.002296 -0.000668 -0.000595 0.000957 0.002311 0.00061</velocity> - <acceleration>1.51862 -1.14253 -2.89923 1.02791 1.47321 -0.061788</acceleration> - <wrench>3.03723 -2.28507 -5.79845 0 -0 0</wrench> - </link> - </model> - <model name='ground_plane'> - <pose>0 0 0 0 -0 0</pose> - <scale>1 1 1</scale> - <link name='link'> - <pose>0 0 0 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <model name='ladder_60deg_0rails'> - <pose>-0.417421 11.5049 0 0 -0 0</pose> - <scale>1 1 1</scale> - <link name='landing'> - <pose>-0.417421 13.1905 2.4 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='left_side_wall'> - <pose>-0.867421 12.1977 1.2 1.0472 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='right_side_wall'> - <pose>0.032579 12.1977 1.2 1.0472 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='step0'> - <pose>-0.417421 11.6589 0.266667 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='step1'> - <pose>-0.417421 11.8128 0.533333 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='step2'> - <pose>-0.417421 11.9668 0.8 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='step3'> - <pose>-0.417421 12.1207 1.06667 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='step4'> - <pose>-0.417421 12.2747 1.33333 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='step5'> - <pose>-0.417421 12.4287 1.6 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='step6'> - <pose>-0.417421 12.5826 1.86667 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='step7'> - <pose>-0.417421 12.7366 2.13333 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <model name='oak_tree'> - <pose>-7.78233 17.1372 0 0 -0 0</pose> - <scale>1 1 1</scale> - <link name='link'> - <pose>-7.78233 17.1372 0 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <model name='suv'> - <pose>1.54626 18.0452 0 0 -0 0</pose> - <scale>1 1 1</scale> - <link name='link'> - <pose>1.54626 18.0452 0 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <model name='table_marble'> - <pose>3.9489 4.54687 0.648 0 -0 0</pose> - <scale>1 1 1</scale> - <link name='link'> - <pose>3.9489 4.54687 0.648 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <light name='sun'> - <pose>0 0 10 0 -0 0</pose> - </light> - </state> - <gui fullscreen='0'> - <camera name='user_camera'> - <pose>21.7403 5.12818 24.4902 0 0.863643 -3.10699</pose> - <view_controller>orbit</view_controller> - <projection_type>perspective</projection_type> - </camera> - </gui> - </world> -</sdf> diff --git a/rusty_description/world/house.world b/rusty_description/world/house.world deleted file mode 100644 index 70c1522..0000000 --- a/rusty_description/world/house.world +++ /dev/null @@ -1,2176 +0,0 @@ -<sdf version='1.7'> - <world name='default'> - <light name='sun' type='directional'> - <cast_shadows>1</cast_shadows> - <pose>0 0 10 0 -0 0</pose> - <diffuse>0.8 0.8 0.8 1</diffuse> - <specular>0.2 0.2 0.2 1</specular> - <attenuation> - <range>1000</range> - <constant>0.9</constant> - <linear>0.01</linear> - <quadratic>0.001</quadratic> - </attenuation> - <direction>-0.5 0.1 -0.9</direction> - <spot> - <inner_angle>0</inner_angle> - <outer_angle>0</outer_angle> - <falloff>0</falloff> - </spot> - </light> - <model name='ground_plane'> - <static>1</static> - <link name='link'> - <collision name='collision'> - <geometry> - <plane> - <normal>0 0 1</normal> - <size>100 100</size> - </plane> - </geometry> - <surface> - <contact> - <collide_bitmask>65535</collide_bitmask> - <ode/> - </contact> - <friction> - <ode> - <mu>100</mu> - <mu2>50</mu2> - </ode> - <torsional> - <ode/> - </torsional> - </friction> - <bounce/> - </surface> - <max_contacts>10</max_contacts> - </collision> - <visual name='visual'> - <cast_shadows>0</cast_shadows> - <geometry> - <plane> - <normal>0 0 1</normal> - <size>100 100</size> - </plane> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - </model> - <gravity>0 0 -9.8</gravity> - <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> - <atmosphere type='adiabatic'/> - <physics type='ode'> - <max_step_size>0.001</max_step_size> - <real_time_factor>1</real_time_factor> - <real_time_update_rate>1000</real_time_update_rate> - </physics> - <scene> - <ambient>0.4 0.4 0.4 1</ambient> - <background>0.7 0.7 0.7 1</background> - <shadows>1</shadows> - </scene> - <wind/> - <spherical_coordinates> - <surface_model>EARTH_WGS84</surface_model> - <latitude_deg>0</latitude_deg> - <longitude_deg>0</longitude_deg> - <elevation>0</elevation> - <heading_deg>0</heading_deg> - </spherical_coordinates> - <model name='myhouse'> - <pose>-3.23928 -1.27261 0 0 -0 0</pose> - <link name='Wall_0'> - <collision name='Wall_0_Collision'> - <geometry> - <box> - <size>9.75 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_0_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>9.75 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Bricks</name> - </script> - <ambient>1 1 1 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-24.8945 3.02404 0 0 -0 -1.5708</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_1'> - <collision name='Wall_1_Collision'> - <geometry> - <box> - <size>5.5 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_1_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>5.5 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Bricks</name> - </script> - <ambient>1 1 1 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>-22.2195 -1.77597 0 0 -0 0</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_11'> - <collision name='Wall_11_Collision'> - <geometry> - <box> - <size>6.75 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_11_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>6.75 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - 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<collision name='Wall_18_Collision'> - <geometry> - <box> - <size>5.5 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='Wall_18_Visual'> - <pose>0 0 1.25 0 -0 0</pose> - <geometry> - <box> - <size>5.5 0.15 2.5</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - <ambient>0.666667 1 1 1</ambient> - </material> - <meta> - <layer>0</layer> - </meta> - </visual> - <pose>0.880453 -6.12596 0 0 -0 0</pose> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <link name='Wall_2'> - <collision name='Wall_2_Collision'> - <geometry> - <box> - <size>7.5 0.15 2.5</size> - </box> - </geometry> - <pose>0 0 1.25 0 -0 0</pose> 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0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='Wall_7'> - <pose>21.6662 2.62643 0 0 -0 1.5708</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='Wall_8'> - <pose>-3.13383 7.80143 0 0 -0 3.14159</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - <link name='Wall_9'> - <pose>-28.0338 7.17643 0 0 0 -1.72945</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <model name='person_standing'> - <pose>2.3025 -4.27694 -1e-06 -1e-06 1e-06 -0.000132</pose> - <scale>1 1 1</scale> - <link name='link'> - <pose>2.3025 -4.27694 -1e-06 -1e-06 1e-06 -0.000132</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>1.61711 1.13763 -1.48242 1.93723 1.45227 3.09349</acceleration> - <wrench>129.369 91.0101 -118.594 0 -0 0</wrench> - </link> - </model> - <model name='postbox'> - <pose>-1.21886 -4.14038 0 0 -0 0</pose> - <scale>1 1 1</scale> - <link name='link'> - <pose>-1.21886 -4.14038 0 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <model name='table'> - <pose>-18.1522 1.64342 0 0 -0 0</pose> - <scale>1 1 1</scale> - <link name='link'> - <pose>-18.1522 1.64342 0 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <model name='table_0'> - <pose>-17.9416 -4.09257 0 0 -0 0</pose> - <scale>1 1 1</scale> - <link name='link'> - <pose>-17.9416 -4.09257 0 0 -0 0</pose> - <velocity>0 0 0 0 -0 0</velocity> - <acceleration>0 0 0 0 -0 0</acceleration> - <wrench>0 0 0 0 -0 0</wrench> - </link> - </model> - <light name='sun'> - <pose>0 0 10 0 -0 0</pose> - </light> - </state> - <gui fullscreen='0'> - <camera name='user_camera'> - <pose>8.57934 -7.13195 4.05589 0 0.275643 2.3562</pose> - <view_controller>orbit</view_controller> - <projection_type>perspective</projection_type> - </camera> - </gui> - </world> -</sdf> diff --git a/rusty_description/world/office_layout.world b/rusty_description/world/office_layout.world deleted file mode 100644 index 8a4fd11..0000000 --- a/rusty_description/world/office_layout.world +++ /dev/null @@ -1,1547 +0,0 @@ -<sdf version='1.7'> - <world name='default'> - <light name='sun' type='directional'> - <cast_shadows>1</cast_shadows> - <pose>0 0 10 0 -0 0</pose> - <diffuse>0.8 0.8 0.8 1</diffuse> - <specular>0.2 0.2 0.2 1</specular> - <attenuation> - <range>1000</range> - <constant>0.9</constant> - <linear>0.01</linear> - <quadratic>0.001</quadratic> - </attenuation> - <direction>-0.5 0.1 -0.9</direction> - <spot> - <inner_angle>0</inner_angle> - <outer_angle>0</outer_angle> - <falloff>0</falloff> - </spot> - </light> - <model name='ground_plane'> - <static>1</static> - <link name='link'> - <collision name='collision'> - <geometry> - <plane> - <normal>0 0 1</normal> - <size>100 100</size> - </plane> - </geometry> - <surface> - <contact> - <collide_bitmask>65535</collide_bitmask> - <ode/> - </contact> - <friction> - <ode> - <mu>100</mu> - <mu2>50</mu2> - </ode> - <torsional> - <ode/> - </torsional> - </friction> - <bounce/> - </surface> - <max_contacts>10</max_contacts> - </collision> - <visual name='visual'> - <cast_shadows>0</cast_shadows> - <geometry> - <plane> - <normal>0 0 1</normal> - <size>100 100</size> - </plane> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - </model> - <gravity>0 0 -9.8</gravity> - <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> - <atmosphere 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name='back_right_leg'> - <pose>-0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='back_left_leg'> - <pose>-0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='back_left_leg'> - <pose>-0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <pose>-3.60004 1.34512 0 0 -0 0</pose> - </model> - <model name='table_clone'> - <static>1</static> - <link name='link'> - <collision name='surface'> - <pose>0 0 1 0 -0 0</pose> - <geometry> - <box> - <size>1.5 0.8 0.03</size> - </box> - </geometry> - <surface> - <friction> - <ode> - <mu>0.6</mu> - <mu2>0.6</mu2> - </ode> - <torsional> - <ode/> - </torsional> - </friction> - <contact> - <ode/> - </contact> - <bounce/> - </surface> - <max_contacts>10</max_contacts> - </collision> - <visual name='visual1'> - <pose>0 0 1 0 -0 0</pose> - <geometry> - <box> - <size>1.5 0.8 0.03</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Wood</name> - </script> - </material> - </visual> - <collision name='front_left_leg'> - <pose>0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='front_left_leg'> - <pose>0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='front_right_leg'> - <pose>0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='front_right_leg'> - <pose>0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='back_right_leg'> - <pose>-0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='back_right_leg'> - <pose>-0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='back_left_leg'> - <pose>-0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='back_left_leg'> - <pose>-0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <pose>3.40796 1.49323 0 0 -0 0</pose> - </model> - <model name='table_clone_0'> - <static>1</static> - <link name='link'> - <collision name='surface'> - <pose>0 0 1 0 -0 0</pose> - <geometry> - <box> - <size>1.5 0.8 0.03</size> - </box> - </geometry> - <surface> - <friction> - <ode> - <mu>0.6</mu> - <mu2>0.6</mu2> - </ode> - <torsional> - <ode/> - </torsional> - </friction> - <contact> - <ode/> - </contact> - <bounce/> - </surface> - <max_contacts>10</max_contacts> - </collision> - <visual name='visual1'> - <pose>0 0 1 0 -0 0</pose> - <geometry> - <box> - <size>1.5 0.8 0.03</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Wood</name> - </script> - </material> - </visual> - <collision name='front_left_leg'> - <pose>0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='front_left_leg'> - <pose>0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='front_right_leg'> - <pose>0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='front_right_leg'> - <pose>0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='back_right_leg'> - <pose>-0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='back_right_leg'> - <pose>-0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='back_left_leg'> - <pose>-0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='back_left_leg'> - <pose>-0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <pose>-3.42238 -2.59087 0 0 -0 0</pose> - </model> - <model name='table_clone_1'> - <static>1</static> - <link name='link'> - <collision name='surface'> - <pose>0 0 1 0 -0 0</pose> - <geometry> - <box> - <size>1.5 0.8 0.03</size> - </box> - </geometry> - <surface> - <friction> - <ode> - <mu>0.6</mu> - <mu2>0.6</mu2> - </ode> - <torsional> - <ode/> - </torsional> - </friction> - <contact> - <ode/> - </contact> - <bounce/> - </surface> - <max_contacts>10</max_contacts> - </collision> - <visual name='visual1'> - <pose>0 0 1 0 -0 0</pose> - <geometry> - <box> - <size>1.5 0.8 0.03</size> - </box> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Wood</name> - </script> - </material> - </visual> - <collision name='front_left_leg'> - <pose>0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='front_left_leg'> - <pose>0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='front_right_leg'> - <pose>0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='front_right_leg'> - <pose>0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='back_right_leg'> - <pose>-0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='back_right_leg'> - <pose>-0.68 -0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <collision name='back_left_leg'> - <pose>-0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <max_contacts>10</max_contacts> - <surface> - <contact> - <ode/> - </contact> - <bounce/> - <friction> - <torsional> - <ode/> - </torsional> - <ode/> - </friction> - </surface> - </collision> - <visual name='back_left_leg'> - <pose>-0.68 0.38 0.5 0 -0 0</pose> - <geometry> - <cylinder> - <radius>0.02</radius> - <length>1</length> - </cylinder> - </geometry> - <material> - <script> - <uri>file://media/materials/scripts/gazebo.material</uri> - <name>Gazebo/Grey</name> - </script> - </material> - </visual> - <self_collide>0</self_collide> - <enable_wind>0</enable_wind> - <kinematic>0</kinematic> - </link> - <pose>3.43111 -2.15768 0 0 -0 0</pose> - </model> - <static>0</static> - <allow_auto_disable>1</allow_auto_disable> - <pose>-1.83535 1.3925 0 0 -0 0</pose> - </model> - </world> -</sdf> From 49050eaf34cc56246da3441d8153544de5045c12 Mon Sep 17 00:00:00 2001 From: "SIDDARTH.D" <siddarth.dayasagar@gmail.com> Date: Fri, 29 Sep 2023 13:07:52 +0530 Subject: [PATCH 04/15] Updated --- rusty_description/config/display.rviz | 237 ++++++++++++++++++ rusty_description/launch/display.launch.py | 64 +++++ rusty_description/launch/gazebo.launch.py | 73 ++++++ rusty_description/meshes/Camera_1.stl | Bin 0 -> 20384 bytes rusty_description/meshes/Holder_1.stl | Bin 0 -> 7884 bytes rusty_description/meshes/LW1_1.stl | Bin 0 -> 13084 bytes rusty_description/meshes/LW2_1.stl | Bin 0 -> 13084 bytes rusty_description/meshes/Lidar_1.stl | Bin 0 -> 7884 bytes rusty_description/meshes/RW1_1.stl | Bin 0 -> 13084 bytes rusty_description/meshes/RW2_1.stl | Bin 0 -> 13084 bytes rusty_description/meshes/base_link.stl | Bin 0 -> 37684 bytes rusty_description/package.xml | 24 ++ rusty_description/resource/rusty_description | 0 .../rusty_description/__init__.py | 0 rusty_description/setup.cfg | 4 + rusty_description/setup.py | 31 +++ rusty_description/test/test_copyright.py | 23 ++ rusty_description/test/test_flake8.py | 25 ++ rusty_description/test/test_pep257.py | 23 ++ rusty_description/urdf/materials.xacro | 8 + rusty_description/urdf/rusty.gazebo | 66 +++++ rusty_description/urdf/rusty.trans | 48 ++++ rusty_description/urdf/rusty.xacro | 221 ++++++++++++++++ 23 files changed, 847 insertions(+) create mode 100644 rusty_description/config/display.rviz create mode 100644 rusty_description/launch/display.launch.py create mode 100644 rusty_description/launch/gazebo.launch.py create mode 100644 rusty_description/meshes/Camera_1.stl create mode 100644 rusty_description/meshes/Holder_1.stl create mode 100644 rusty_description/meshes/LW1_1.stl create mode 100644 rusty_description/meshes/LW2_1.stl create mode 100644 rusty_description/meshes/Lidar_1.stl create mode 100644 rusty_description/meshes/RW1_1.stl create mode 100644 rusty_description/meshes/RW2_1.stl create mode 100644 rusty_description/meshes/base_link.stl create mode 100644 rusty_description/package.xml create mode 100644 rusty_description/resource/rusty_description create mode 100644 rusty_description/rusty_description/__init__.py create mode 100644 rusty_description/setup.cfg create mode 100644 rusty_description/setup.py create mode 100644 rusty_description/test/test_copyright.py create mode 100644 rusty_description/test/test_flake8.py create mode 100644 rusty_description/test/test_pep257.py create mode 100644 rusty_description/urdf/materials.xacro create mode 100644 rusty_description/urdf/rusty.gazebo create mode 100644 rusty_description/urdf/rusty.trans create mode 100644 rusty_description/urdf/rusty.xacro diff --git a/rusty_description/config/display.rviz b/rusty_description/config/display.rviz new file mode 100644 index 0000000..e7136f0 --- /dev/null +++ b/rusty_description/config/display.rviz @@ -0,0 +1,237 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + - /TF1 + Splitter Ratio: 0.5 + Tree Height: 617 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: <Fixed Frame> + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_motor_left_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_motor_right_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_wheel_left_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_wheel_right_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_motor_left_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_motor_right_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_wheel_left_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_wheel_right_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + back_motor_left_2: + Value: true + back_motor_right_2: + Value: true + back_wheel_left_2: + Value: true + back_wheel_right_2: + Value: true + base_link: + Value: true + front_motor_left_2: + Value: true + front_motor_right_2: + Value: true + front_wheel_left_2: + Value: true + front_wheel_right_2: + Value: true + Marker Scale: 0.5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_link: + back_motor_right_2: + back_wheel_right_2: + {} + back_wheel_left_2: + back_motor_left_2: + {} + front_motor_left_2: + front_wheel_left_2: + {} + front_motor_right_2: + front_wheel_right_2: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 0.8402727246284485 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6097970008850098 + Target Frame: <Fixed Frame> + Value: Orbit (rviz) + Yaw: 0.5103846192359924 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 201 + Y: 69 diff --git a/rusty_description/launch/display.launch.py b/rusty_description/launch/display.launch.py new file mode 100644 index 0000000..20a283d --- /dev/null +++ b/rusty_description/launch/display.launch.py @@ -0,0 +1,64 @@ +from launch_ros.actions import Node +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.conditions import IfCondition, UnlessCondition +import xacro +import os +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + share_dir = get_package_share_directory('rusty_description') + + xacro_file = os.path.join(share_dir, 'urdf', 'rusty.xacro') + robot_description_config = xacro.process_file(xacro_file) + robot_urdf = robot_description_config.toxml() + + rviz_config_file = os.path.join(share_dir, 'config', 'display.rviz') + + gui_arg = DeclareLaunchArgument( + name='gui', + default_value='True' + ) + + show_gui = LaunchConfiguration('gui') + + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[ + {'robot_description': robot_urdf} + ] + ) + + joint_state_publisher_node = Node( + condition=UnlessCondition(show_gui), + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher' + ) + + joint_state_publisher_gui_node = Node( + condition=IfCondition(show_gui), + package='joint_state_publisher_gui', + executable='joint_state_publisher_gui', + name='joint_state_publisher_gui' + ) + + rviz_node = Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config_file], + output='screen' + ) + + return LaunchDescription([ + gui_arg, + robot_state_publisher_node, + joint_state_publisher_node, + joint_state_publisher_gui_node, + rviz_node + ]) diff --git a/rusty_description/launch/gazebo.launch.py b/rusty_description/launch/gazebo.launch.py new file mode 100644 index 0000000..6021213 --- /dev/null +++ b/rusty_description/launch/gazebo.launch.py @@ -0,0 +1,73 @@ +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import PathJoinSubstitution +import os +import xacro +from ament_index_python.packages import get_package_share_directory + + +def generate_launch_description(): + share_dir = get_package_share_directory('rusty_description') + + xacro_file = os.path.join(share_dir, 'urdf', 'rusty.xacro') + robot_description_config = xacro.process_file(xacro_file) + robot_urdf = robot_description_config.toxml() + + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + parameters=[ + {'robot_description': robot_urdf} + ] + ) + + joint_state_publisher_node = Node( + package='joint_state_publisher', + executable='joint_state_publisher', + name='joint_state_publisher' + ) + + gazebo_server = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + PathJoinSubstitution([ + FindPackageShare('gazebo_ros'), + 'launch', + 'gzserver.launch.py' + ]) + ]), + launch_arguments={ + 'pause': 'true' + }.items() + ) + + gazebo_client = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + PathJoinSubstitution([ + FindPackageShare('gazebo_ros'), + 'launch', + 'gzclient.launch.py' + ]) + ]) + ) + + urdf_spawn_node = Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=[ + '-entity', 'rusty', + '-topic', 'robot_description' + ], + output='screen' + ) + + return LaunchDescription([ + robot_state_publisher_node, + 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zZ57sF#IVjjMW|#Z;_0^Sn@BwtqZ=!jxp3knV^-Dg=%;7n>a7&)gO^zWl3-qej`b0K zWVR>Kl05q)jqCIy*C6(D)1gH7>a{5+OD9yq^#MzIJ%Y#zXXDo%WtK3n;{7<SN>xRj zP)W~!?Iku6@=A3mp*g13jyhDLMC&{4NA0y{N!50r%~6L&SI5<S+xnsNp*f~`g{ayd j<+18<`H6+m?TWFrswEwTZQWHJv^VNiSlG3TRrLP=Avg~r literal 0 HcmV?d00001 diff --git a/rusty_description/package.xml b/rusty_description/package.xml new file mode 100644 index 0000000..93f7649 --- /dev/null +++ b/rusty_description/package.xml @@ -0,0 +1,24 @@ +<?xml version="1.0"?> +<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> +<package format="3"> +<name>rusty_description</name> + <version>0.0.0</version> +<description>The rusty_description package</description> + <maintainer email="todo@todo.com">author</maintainer> + <license>TODO: License declaration</license> + + <depend>xacro</depend> + <depend>rviz2</depend> + <depend>robot_state_publisher</depend> + <depend>joint_state_publisher</depend> + <depend>joint_state_publisher_gui</depend> + + <test_depend>ament_copyright</test_depend> + <test_depend>ament_flake8</test_depend> + <test_depend>ament_pep257</test_depend> + <test_depend>python3-pytest</test_depend> + + <export> + <build_type>ament_python</build_type> + </export> +</package> diff --git a/rusty_description/resource/rusty_description b/rusty_description/resource/rusty_description new file mode 100644 index 0000000..e69de29 diff --git a/rusty_description/rusty_description/__init__.py b/rusty_description/rusty_description/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/rusty_description/setup.cfg b/rusty_description/setup.cfg new file mode 100644 index 0000000..497a02b --- /dev/null +++ b/rusty_description/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/rusty_description +[install] +install-scripts=$base/lib/rusty_description diff --git a/rusty_description/setup.py b/rusty_description/setup.py new file mode 100644 index 0000000..1de2c71 --- /dev/null +++ b/rusty_description/setup.py @@ -0,0 +1,31 @@ +from setuptools import setup +import os +from glob import glob + +package_name = 'rusty_description' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), + (os.path.join('share', package_name, 'urdf'), glob('urdf/*')), + (os.path.join('share', package_name, 'meshes'), glob('meshes/*')), + (os.path.join('share', package_name, 'config'), glob('config/*')) + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='author', + maintainer_email='todo@todo.com', + description='The ' + package_name + ' package', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/rusty_description/test/test_copyright.py b/rusty_description/test/test_copyright.py new file mode 100644 index 0000000..cc8ff03 --- /dev/null +++ b/rusty_description/test/test_copyright.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/rusty_description/test/test_flake8.py b/rusty_description/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/rusty_description/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/rusty_description/test/test_pep257.py b/rusty_description/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/rusty_description/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/rusty_description/urdf/materials.xacro b/rusty_description/urdf/materials.xacro new file mode 100644 index 0000000..e4cab9f --- /dev/null +++ b/rusty_description/urdf/materials.xacro @@ -0,0 +1,8 @@ +<?xml version="1.0" ?> +<robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > + +<material name="silver"> + <color rgba="0.700 0.700 0.700 1.000"/> +</material> + +</robot> diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo new file mode 100644 index 0000000..f2f8772 --- /dev/null +++ b/rusty_description/urdf/rusty.gazebo @@ -0,0 +1,66 @@ +<?xml version="1.0" ?> +<robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > + +<xacro:property name="body_color" value="Gazebo/Silver" /> + +<gazebo> + <plugin name="control" filename="libgazebo_ros_control.so"/> +</gazebo> +<gazebo reference="base_link"> + <material>${body_color}</material> + <mu1>0.2</mu1> + <mu2>0.2</mu2> + <self_collide>true</self_collide> + <gravity>true</gravity> +</gazebo> + +<gazebo reference="RW2_1"> + <material>${body_color}</material> + <mu1>0.2</mu1> + <mu2>0.2</mu2> + <self_collide>true</self_collide> +</gazebo> + +<gazebo reference="RW1_1"> + <material>${body_color}</material> + <mu1>0.2</mu1> + <mu2>0.2</mu2> + <self_collide>true</self_collide> +</gazebo> + +<gazebo reference="LW2_1"> + <material>${body_color}</material> + <mu1>0.2</mu1> + <mu2>0.2</mu2> + <self_collide>true</self_collide> +</gazebo> + +<gazebo reference="LW1_1"> + <material>${body_color}</material> + <mu1>0.2</mu1> + <mu2>0.2</mu2> + <self_collide>true</self_collide> +</gazebo> + +<gazebo reference="Holder_1"> + <material>${body_color}</material> + <mu1>0.2</mu1> + <mu2>0.2</mu2> + <self_collide>true</self_collide> +</gazebo> + +<gazebo reference="Lidar_1"> + <material>${body_color}</material> + <mu1>0.2</mu1> + <mu2>0.2</mu2> + <self_collide>true</self_collide> +</gazebo> + +<gazebo reference="Camera_1"> + <material>${body_color}</material> + <mu1>0.2</mu1> + <mu2>0.2</mu2> + <self_collide>true</self_collide> +</gazebo> + +</robot> diff --git a/rusty_description/urdf/rusty.trans b/rusty_description/urdf/rusty.trans new file mode 100644 index 0000000..2ce6ef5 --- /dev/null +++ b/rusty_description/urdf/rusty.trans @@ -0,0 +1,48 @@ +<?xml version="1.0" ?> +<robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > + +<transmission name="RW2_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RW2"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RW2_actr"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> +</transmission> + +<transmission name="RW1_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="RW1"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="RW1_actr"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> +</transmission> + +<transmission name="LW2_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="LW2"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="LW2_actr"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> +</transmission> + +<transmission name="LW1_tran"> + <type>transmission_interface/SimpleTransmission</type> + <joint name="LW1"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + </joint> + <actuator name="LW1_actr"> + <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> + <mechanicalReduction>1</mechanicalReduction> + </actuator> +</transmission> + +</robot> diff --git a/rusty_description/urdf/rusty.xacro b/rusty_description/urdf/rusty.xacro new file mode 100644 index 0000000..ef29e4f --- /dev/null +++ b/rusty_description/urdf/rusty.xacro @@ -0,0 +1,221 @@ +<?xml version="1.0" ?> +<robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro"> + +<xacro:include filename="$(find rusty_description)/urdf/materials.xacro" /> +<xacro:include filename="$(find rusty_description)/urdf/rusty.trans" /> +<xacro:include filename="$(find rusty_description)/urdf/rusty.gazebo" /> +<link name="base_link"> + <inertial> + <origin xyz="0.0002544970294304579 -2.7411733823236023e-17 0.08341254857000653" rpy="0 0 0"/> + <mass value="14.333340375312384"/> + <inertia ixx="0.173307" iyy="0.373229" izz="0.490917" ixy="0.0" iyz="0.0" ixz="-0.000171"/> + </inertial> + <visual> + <origin xyz="0 0 0" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="silver"/> + </visual> + <collision> + <origin xyz="0 0 0" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> +</link> + +<link name="RW2_1"> + <inertial> + <origin xyz="1.3877787807814457e-17 -0.012499999999999983 0.0" rpy="0 0 0"/> + <mass value="0.18260507298990683"/> + <inertia ixx="0.000124" iyy="0.000228" izz="0.000124" ixy="-0.0" iyz="0.0" ixz="0.0"/> + </inertial> + <visual> + <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="silver"/> + </visual> + <collision> + <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> +</link> + +<link name="RW1_1"> + <inertial> + <origin xyz="-1.3877787807814457e-17 -0.012499999999999983 6.938893903907228e-18" rpy="0 0 0"/> + <mass value="0.1826050729899068"/> + <inertia ixx="0.000124" iyy="0.000228" izz="0.000124" ixy="-0.0" iyz="0.0" ixz="-0.0"/> + </inertial> + <visual> + <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="silver"/> + </visual> + <collision> + <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> +</link> + +<link name="LW2_1"> + <inertial> + <origin xyz="0.0 0.012499999999999928 0.0" rpy="0 0 0"/> + <mass value="0.18260507298990683"/> + <inertia ixx="0.000124" iyy="0.000228" izz="0.000124" ixy="0.0" iyz="-0.0" ixz="-0.0"/> + </inertial> + <visual> + <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="silver"/> + </visual> + <collision> + <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> +</link> + +<link name="LW1_1"> + <inertial> + <origin xyz="2.7755575615628914e-17 0.012500000000000039 2.0816681711721685e-17" rpy="0 0 0"/> + <mass value="0.1826050729899069"/> + <inertia ixx="0.000124" iyy="0.000228" izz="0.000124" ixy="0.0" iyz="0.0" ixz="0.0"/> + </inertial> + <visual> + <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="silver"/> + </visual> + <collision> + <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> +</link> + +<link name="Holder_1"> + <inertial> + <origin xyz="-4.445233212745621e-17 0.0 0.012500000000000011" rpy="0 0 0"/> + <mass value="25.69775961700859"/> + <inertia ixx="0.165882" iyy="0.4688" izz="0.632005" ixy="0.0" iyz="0.0" ixz="-0.0"/> + </inertial> + <visual> + <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="silver"/> + </visual> + <collision> + <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> +</link> + +<link name="Lidar_1"> + <inertial> + <origin xyz="0.007402159277225678 -0.00023091322011423596 0.0050000000000000044" rpy="0 0 0"/> + <mass value="0.008257286244679606"/> + <inertia ixx="1e-06" iyy="0.0" izz="1e-06" ixy="-0.0" iyz="0.0" ixz="0.0"/> + </inertial> + <visual> + <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="silver"/> + </visual> + <collision> + <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> +</link> + +<link name="Camera_1"> + <inertial> + <origin xyz="0.015039497744837121 0.0750001326555918 -0.02024300342659574" rpy="0 0 0"/> + <mass value="0.007791207915918992"/> + <inertia ixx="1e-06" iyy="0.0" izz="1e-06" ixy="-0.0" iyz="0.0" ixz="-0.0"/> + </inertial> + <visual> + <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="silver"/> + </visual> + <collision> + <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> + <geometry> + <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> +</link> + +<joint name="RW2" type="continuous"> + <origin xyz="-0.095 -0.16 0.05" rpy="0 0 0"/> + <parent link="base_link"/> + <child link="RW2_1"/> + <axis xyz="0.0 -1.0 0.0"/> +</joint> + +<joint name="RW1" type="continuous"> + <origin xyz="0.095 -0.16 0.05" rpy="0 0 0"/> + <parent link="base_link"/> + <child link="RW1_1"/> + <axis xyz="0.0 1.0 0.0"/> +</joint> + +<joint name="LW2" type="continuous"> + <origin xyz="-0.095 0.16 0.05" rpy="0 0 0"/> + <parent link="base_link"/> + <child link="LW2_1"/> + <axis xyz="0.0 -1.0 0.0"/> +</joint> + +<joint name="LW1" type="continuous"> + <origin xyz="0.095 0.16 0.05" rpy="0 0 0"/> + <parent link="base_link"/> + <child link="LW1_1"/> + <axis xyz="0.0 1.0 0.0"/> +</joint> + +<joint name="Rigid 10" type="fixed"> + <origin xyz="0.0 0.0 0.15" rpy="0 0 0"/> + <parent link="base_link"/> + <child link="Holder_1"/> +</joint> + +<joint name="Rigid 11" type="fixed"> + <origin xyz="0.235 0.0 0.135" rpy="0 0 0"/> + <parent link="base_link"/> + <child link="Lidar_1"/> +</joint> + +<joint name="Rigid 12" type="fixed"> + <origin xyz="0.222588 0.012099 0.15" rpy="0 0 0"/> + <parent link="base_link"/> + <child link="Camera_1"/> +</joint> + +</robot> From 6898469213093897f86294775b016fe2c90e4a1f Mon Sep 17 00:00:00 2001 From: Siddarh09 <siddarth.dayasagar@gmail.com> Date: Fri, 29 Sep 2023 14:55:20 +0530 Subject: [PATCH 05/15] updated laser and cmd_vel plugin with visuals for the robot --- rusty_description/launch/gazebo.launch.py | 90 +++++--------- rusty_description/urdf/materials.xacro | 42 ++++++- rusty_description/urdf/rusty.gazebo | 140 ++++++++++++++++++++-- rusty_description/urdf/rusty.xacro | 6 +- 4 files changed, 205 insertions(+), 73 deletions(-) diff --git a/rusty_description/launch/gazebo.launch.py b/rusty_description/launch/gazebo.launch.py index 6021213..c78c30a 100644 --- a/rusty_description/launch/gazebo.launch.py +++ b/rusty_description/launch/gazebo.launch.py @@ -1,73 +1,43 @@ +import launch +from launch.substitutions import Command, LaunchConfiguration +import launch_ros from launch_ros.actions import Node -from launch_ros.substitutions import FindPackageShare -from launch import LaunchDescription -from launch.actions import IncludeLaunchDescription -from launch.launch_description_sources import PythonLaunchDescriptionSource -from launch.substitutions import PathJoinSubstitution import os -import xacro -from ament_index_python.packages import get_package_share_directory - +from launch_ros.descriptions import ParameterValue def generate_launch_description(): - share_dir = get_package_share_directory('rusty_description') - - xacro_file = os.path.join(share_dir, 'urdf', 'rusty.xacro') - robot_description_config = xacro.process_file(xacro_file) - robot_urdf = robot_description_config.toxml() - - robot_state_publisher_node = Node( + pkg_share = launch_ros.substitutions.FindPackageShare(package='rusty_description').find('rusty_description') + #world_path=os.path.join(pkg_share, 'worlds/room2.sdf'), + default_model_path = os.path.join(pkg_share, 'urdf/rusty.xacro') + use_sim_time = LaunchConfiguration('use_sim_time') + robot_state_publisher_node = launch_ros.actions.Node( package='robot_state_publisher', executable='robot_state_publisher', - name='robot_state_publisher', - parameters=[ - {'robot_description': robot_urdf} - ] + parameters=[{'use_sim_time': use_sim_time},{'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('model')]),value_type=str)}] ) - - joint_state_publisher_node = Node( + joint_state_publisher_node = launch_ros.actions.Node( package='joint_state_publisher', executable='joint_state_publisher', - name='joint_state_publisher' - ) - - gazebo_server = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ - PathJoinSubstitution([ - FindPackageShare('gazebo_ros'), - 'launch', - 'gzserver.launch.py' - ]) - ]), - launch_arguments={ - 'pause': 'true' - }.items() - ) - - gazebo_client = IncludeLaunchDescription( - PythonLaunchDescriptionSource([ - PathJoinSubstitution([ - FindPackageShare('gazebo_ros'), - 'launch', - 'gzclient.launch.py' - ]) - ]) - ) - - urdf_spawn_node = Node( - package='gazebo_ros', - executable='spawn_entity.py', - arguments=[ - '-entity', 'rusty', - '-topic', 'robot_description' - ], - output='screen' + name='joint_state_publisher', + parameters= [{'use_sim_time': use_sim_time}], ) - return LaunchDescription([ + return launch.LaunchDescription([ + launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', + 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'], + output='screen'), + launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True', + description='Flag to enable use_sim_time'), + launch.actions.DeclareLaunchArgument(name='model', default_value=default_model_path, + description='Absolute path to robot urdf file'), + Node( + package='gazebo_ros', + executable='spawn_entity.py', + arguments=['-entity', 'rusty', '-topic', 'robot_description'], + parameters= [{'use_sim_time': use_sim_time}], + output='screen'), robot_state_publisher_node, - joint_state_publisher_node, - gazebo_server, - gazebo_client, - urdf_spawn_node, + joint_state_publisher_node + ]) + \ No newline at end of file diff --git a/rusty_description/urdf/materials.xacro b/rusty_description/urdf/materials.xacro index e4cab9f..513d0d1 100644 --- a/rusty_description/urdf/materials.xacro +++ b/rusty_description/urdf/materials.xacro @@ -2,7 +2,43 @@ <robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > <material name="silver"> - <color rgba="0.700 0.700 0.700 1.000"/> -</material> + <color rgba="0.700 0.700 0.700 1.000"/> + </material> -</robot> + <material name="black"> + <color rgba="0.0 0.0 0.0 1.0"/> + </material> + + <material name="blue"> + <color rgba="0.0 0.0 0.8 1.0"/> + </material> + + <material name="green"> + <color rgba="0.0 0.8 0.0 1.0"/> + </material> + + <material name="grey"> + <color rgba="0.2 0.2 0.2 1.0"/> + </material> + + <material name="orange"> + <color rgba="${255/255} ${108/255} ${10/255} 1.0"/> + </material> + + <material name="brown"> + <color rgba="${222/255} ${207/255} ${195/255} 1.0"/> + </material> + + <material name="yellow"> + <color rgba="${0/255} ${180/255} ${180/255} 1.0"/> + </material> + + <material name="red"> + <color rgba="0.8 0.0 0.0 1.0"/> + </material> + + <material name="white"> + <color rgba="1.0 1.0 1.0 1.0"/> + </material> + +</robot> \ No newline at end of file diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo index f2f8772..e13cca5 100644 --- a/rusty_description/urdf/rusty.gazebo +++ b/rusty_description/urdf/rusty.gazebo @@ -2,6 +2,10 @@ <robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > <xacro:property name="body_color" value="Gazebo/Silver" /> +<xacro:property name="wheel_color" value="Gazebo/Black" /> +<xacro:property name="lidar_color" value="Gazebo/Blue" /> +<xacro:property name="camera_color" value="Gazebo/Red" /> + <gazebo> <plugin name="control" filename="libgazebo_ros_control.so"/> @@ -15,52 +19,174 @@ </gazebo> <gazebo reference="RW2_1"> - <material>${body_color}</material> + <material>${wheel_color}</material> <mu1>0.2</mu1> <mu2>0.2</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="RW1_1"> - <material>${body_color}</material> + <material>${wheel_color}</material> <mu1>0.2</mu1> <mu2>0.2</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="LW2_1"> - <material>${body_color}</material> + <material>${wheel_color}</material> <mu1>0.2</mu1> <mu2>0.2</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="LW1_1"> - <material>${body_color}</material> + <material>${wheel_color}</material> <mu1>0.2</mu1> <mu2>0.2</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="Holder_1"> - <material>${body_color}</material> + <material>${wheel_color}</material> <mu1>0.2</mu1> <mu2>0.2</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="Lidar_1"> - <material>${body_color}</material> + <material>${lidar_color}</material> <mu1>0.2</mu1> <mu2>0.2</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="Camera_1"> - <material>${body_color}</material> + <material>${camera_color}</material> <mu1>0.2</mu1> <mu2>0.2</mu2> <self_collide>true</self_collide> </gazebo> +<gazebo> +<plugin name='skid_steer_drive' filename='libgazebo_ros_diff_drive.so'> + <ros> + <!-- Set namespace --> + + + <!-- Remap default topics --> + <remapping>cmd_vel:=cmd_vel</remapping> + <remapping>odom:=odom</remapping> + </ros> + + <!-- Update rate --> + <update_rate>500</update_rate> + + <!-- Number of wheel pairs --> + <num_wheel_pairs>2</num_wheel_pairs> + + <!-- wheels0 --> + <left_joint>LW1</left_joint> + <right_joint>RW1</right_joint> + + <!-- wheels1--> + <left_joint>LW2</left_joint> + <right_joint>RW2</right_joint> + + <!-- kinematics --> + <wheel_separation>0.300</wheel_separation> + <wheel_separation>0.300</wheel_separation> + + <wheel_diameter>0.100</wheel_diameter> + <wheel_diameter>0.100</wheel_diameter> + + <!-- limits --> + <max_wheel_torque>20</max_wheel_torque> + <max_wheel_acceleration>1.0</max_wheel_acceleration> + + <!-- output --> + <publish_odom>true</publish_odom> + <publish_odom_tf>true</publish_odom_tf> + <publish_wheel_tf>true</publish_wheel_tf> + + <odometry_frame>odom</odometry_frame> + <robot_base_frame>base_link</robot_base_frame> + +</plugin> +</gazebo> + +<gazebo reference="Lidar_1"> + <sensor name="ydlidar" type="ray"> + <always_on>true</always_on> + <visualize>true</visualize> + <update_rate>10</update_rate> + <ray> + <scan> + <horizontal> + <samples>720</samples> + <resolution>1.000000</resolution> + <min_angle>-1.57</min_angle> + <max_angle>1.57</max_angle> + </horizontal> + </scan> + <range> + <min>0.05</min> + <max>20.0</max> + <resolution>0.015000</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </ray> + <plugin name="scan" filename="libgazebo_ros_ray_sensor.so"> + <ros> + <remapping>~/out:=scan</remapping> + </ros> + <output_type>sensor_msgs/LaserScan</output_type> + <frame_name>laser</frame_name> + </plugin> + </sensor> +</gazebo> + +<gazebo reference="Camera_1"> + <sensor type="camera" name="camera"> + <update_rate>30.0</update_rate> + <camera name="head"> + <horizontal_fov>1.3962634</horizontal_fov> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.02</near> + <far>300</far> + </clip> + <noise> + <type>gaussian</type> + <!-- Noise is sampled independently per pixel on each frame. + That pixel's noise value is added to each of its color + channels, which at that point lie in the range [0,1]. --> + <mean>0.0</mean> + <stddev>0.007</stddev> + </noise> + </camera> + <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> + <alwaysOn>true</alwaysOn> + <updateRate>0.0</updateRate> + <cameraName>camera</cameraName> + <imageTopicName>image_raw</imageTopicName> + <cameraInfoTopicName>camera_info</cameraInfoTopicName> + <frameName>camera</frameName> + <hackBaseline>0.07</hackBaseline> + <distortionK1>0.0</distortionK1> + <distortionK2>0.0</distortionK2> + <distortionK3>0.0</distortionK3> + <distortionT1>0.0</distortionT1> + <distortionT2>0.0</distortionT2> + </plugin> + </sensor> +</gazebo> + </robot> diff --git a/rusty_description/urdf/rusty.xacro b/rusty_description/urdf/rusty.xacro index ef29e4f..33894d1 100644 --- a/rusty_description/urdf/rusty.xacro +++ b/rusty_description/urdf/rusty.xacro @@ -176,7 +176,7 @@ <origin xyz="-0.095 -0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="RW2_1"/> - <axis xyz="0.0 -1.0 0.0"/> + <axis xyz="0.0 1.0 0.0"/> </joint> <joint name="RW1" type="continuous"> @@ -190,7 +190,7 @@ <origin xyz="-0.095 0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="LW2_1"/> - <axis xyz="0.0 -1.0 0.0"/> + <axis xyz="0.0 1.0 0.0"/> </joint> <joint name="LW1" type="continuous"> @@ -206,7 +206,7 @@ <child link="Holder_1"/> </joint> -<joint name="Rigid 11" type="fixed"> +<joint name="laser" type="fixed"> <origin xyz="0.235 0.0 0.135" rpy="0 0 0"/> <parent link="base_link"/> <child link="Lidar_1"/> From bbb076d85d9c6cfc38fc7c303514b496130442ae Mon Sep 17 00:00:00 2001 From: Siddarh09 <siddarth.dayasagar@gmail.com> Date: Tue, 3 Oct 2023 09:48:12 +0530 Subject: [PATCH 06/15] Adding rusty package --- rusty/package.xml | 18 ++++++++++++++++ rusty/resource/rusty | 0 rusty/rusty/__init__.py | 0 rusty/rusty/laser_scan_processing.py | 21 ++++++++++++++++++ rusty/setup.cfg | 4 ++++ rusty/setup.py | 25 ++++++++++++++++++++++ rusty/test/test_copyright.py | 25 ++++++++++++++++++++++ rusty/test/test_flake8.py | 25 ++++++++++++++++++++++ rusty/test/test_pep257.py | 23 ++++++++++++++++++++ rusty_description/launch/display.launch.py | 9 ++------ rusty_description/urdf/rusty.gazebo | 2 +- rusty_description/urdf/rusty.xacro | 16 +++++++------- 12 files changed, 152 insertions(+), 16 deletions(-) create mode 100644 rusty/package.xml create mode 100644 rusty/resource/rusty create mode 100644 rusty/rusty/__init__.py create mode 100644 rusty/rusty/laser_scan_processing.py create mode 100644 rusty/setup.cfg create mode 100644 rusty/setup.py create mode 100644 rusty/test/test_copyright.py create mode 100644 rusty/test/test_flake8.py create mode 100644 rusty/test/test_pep257.py diff --git a/rusty/package.xml b/rusty/package.xml new file mode 100644 index 0000000..58d3bf1 --- /dev/null +++ b/rusty/package.xml @@ -0,0 +1,18 @@ +<?xml version="1.0"?> +<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> +<package format="3"> + <name>rusty</name> + <version>0.0.0</version> + <description>TODO: Package description</description> + <maintainer email="siddarth.dayasagar@gmail.com">siddarth</maintainer> + <license>TODO: License declaration</license> + + <test_depend>ament_copyright</test_depend> + <test_depend>ament_flake8</test_depend> + <test_depend>ament_pep257</test_depend> + <test_depend>python3-pytest</test_depend> + + <export> + <build_type>ament_python</build_type> + </export> +</package> diff --git a/rusty/resource/rusty b/rusty/resource/rusty new file mode 100644 index 0000000..e69de29 diff --git a/rusty/rusty/__init__.py b/rusty/rusty/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/rusty/rusty/laser_scan_processing.py b/rusty/rusty/laser_scan_processing.py new file mode 100644 index 0000000..bf0f170 --- /dev/null +++ b/rusty/rusty/laser_scan_processing.py @@ -0,0 +1,21 @@ +import rclpy +from sensor_msgs.msg import LaserScan +from rclpy import Node +import math + +class Scanner(Node): + def __init__(self, topicName = "/scan"): + super().__init__("scanner") + self.laser_sub=self.create_subscription(LaserScan,topicName,self.laser_cb) + self.angle_min=0.0 + self.angle_max=math.degrees(1.57) + self.range_of_value=list() + self.range_min=0.0 + self.range_max=12.0 + + def laser_cb(self,msg): + self.angle_max=msg.angle_max + self.angle_min=msg.angle_min + for i in range(len(msg.range)): + self.range_of_value[i]=msg.range[i] + diff --git a/rusty/setup.cfg b/rusty/setup.cfg new file mode 100644 index 0000000..0e283ec --- /dev/null +++ b/rusty/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/rusty +[install] +install_scripts=$base/lib/rusty diff --git a/rusty/setup.py b/rusty/setup.py new file mode 100644 index 0000000..b251970 --- /dev/null +++ b/rusty/setup.py @@ -0,0 +1,25 @@ +from setuptools import find_packages, setup + +package_name = 'rusty' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='siddarth', + maintainer_email='siddarth.dayasagar@gmail.com', + description='Rusty:warehouse robot', + license='MIT', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + ], + }, +) diff --git a/rusty/test/test_copyright.py b/rusty/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/rusty/test/test_copyright.py @@ -0,0 +1,25 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_copyright.main import main +import pytest + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/rusty/test/test_flake8.py b/rusty/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/rusty/test/test_flake8.py @@ -0,0 +1,25 @@ +# Copyright 2017 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_flake8.main import main_with_errors +import pytest + + +@pytest.mark.flake8 +@pytest.mark.linter +def test_flake8(): + rc, errors = main_with_errors(argv=[]) + assert rc == 0, \ + 'Found %d code style errors / warnings:\n' % len(errors) + \ + '\n'.join(errors) diff --git a/rusty/test/test_pep257.py b/rusty/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/rusty/test/test_pep257.py @@ -0,0 +1,23 @@ +# Copyright 2015 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from ament_pep257.main import main +import pytest + + +@pytest.mark.linter +@pytest.mark.pep257 +def test_pep257(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found code style errors / warnings' diff --git a/rusty_description/launch/display.launch.py b/rusty_description/launch/display.launch.py index 20a283d..374c55d 100644 --- a/rusty_description/launch/display.launch.py +++ b/rusty_description/launch/display.launch.py @@ -40,12 +40,7 @@ def generate_launch_description(): name='joint_state_publisher' ) - joint_state_publisher_gui_node = Node( - condition=IfCondition(show_gui), - package='joint_state_publisher_gui', - executable='joint_state_publisher_gui', - name='joint_state_publisher_gui' - ) + rviz_node = Node( package='rviz2', @@ -59,6 +54,6 @@ def generate_launch_description(): gui_arg, robot_state_publisher_node, joint_state_publisher_node, - joint_state_publisher_gui_node, + #joint_state_publisher_gui_node, rviz_node ]) diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo index e13cca5..c66ea05 100644 --- a/rusty_description/urdf/rusty.gazebo +++ b/rusty_description/urdf/rusty.gazebo @@ -144,7 +144,7 @@ <remapping>~/out:=scan</remapping> </ros> <output_type>sensor_msgs/LaserScan</output_type> - <frame_name>laser</frame_name> + <frame_name>Lidar_1</frame_name> </plugin> </sensor> </gazebo> diff --git a/rusty_description/urdf/rusty.xacro b/rusty_description/urdf/rusty.xacro index 33894d1..c774eb1 100644 --- a/rusty_description/urdf/rusty.xacro +++ b/rusty_description/urdf/rusty.xacro @@ -36,7 +36,7 @@ <geometry> <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="silver"/> + <material name="black"/> </visual> <collision> <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> @@ -57,7 +57,7 @@ <geometry> <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="silver"/> + <material name="black"/> </visual> <collision> <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> @@ -78,7 +78,7 @@ <geometry> <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="silver"/> + <material name="black"/> </visual> <collision> <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> @@ -99,7 +99,7 @@ <geometry> <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="silver"/> + <material name="black"/> </visual> <collision> <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> @@ -120,7 +120,7 @@ <geometry> <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="silver"/> + <material name="blue"/> </visual> <collision> <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> @@ -141,7 +141,7 @@ <geometry> <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="silver"/> + <material name="orange"/> </visual> <collision> <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> @@ -162,7 +162,7 @@ <geometry> <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="silver"/> + <material name="red"/> </visual> <collision> <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> @@ -207,7 +207,7 @@ </joint> <joint name="laser" type="fixed"> - <origin xyz="0.235 0.0 0.135" rpy="0 0 0"/> + <origin xyz="0.235 0.0 0.138" rpy="0 0 0"/> <parent link="base_link"/> <child link="Lidar_1"/> </joint> From 8bfb0d7f08fc6fff0b69426ee1c970517b787398 Mon Sep 17 00:00:00 2001 From: Siddarh09 <siddarth.dayasagar@gmail.com> Date: Tue, 31 Oct 2023 11:19:50 +0530 Subject: [PATCH 07/15] updated with world --- rusty_description/launch/gazebo.launch.py | 4 +- rusty_description/urdf/rusty.gazebo | 2 +- rusty_description/worlds/house.sdf | 2176 +++++++++++++++++++++ 3 files changed, 2179 insertions(+), 3 deletions(-) create mode 100644 rusty_description/worlds/house.sdf diff --git a/rusty_description/launch/gazebo.launch.py b/rusty_description/launch/gazebo.launch.py index c78c30a..b7a0a60 100644 --- a/rusty_description/launch/gazebo.launch.py +++ b/rusty_description/launch/gazebo.launch.py @@ -7,7 +7,7 @@ def generate_launch_description(): pkg_share = launch_ros.substitutions.FindPackageShare(package='rusty_description').find('rusty_description') - #world_path=os.path.join(pkg_share, 'worlds/room2.sdf'), + world_path = 'src/Rusty/rusty_description/worlds/house.sdf' default_model_path = os.path.join(pkg_share, 'urdf/rusty.xacro') use_sim_time = LaunchConfiguration('use_sim_time') robot_state_publisher_node = launch_ros.actions.Node( @@ -24,7 +24,7 @@ def generate_launch_description(): return launch.LaunchDescription([ launch.actions.ExecuteProcess(cmd=['gazebo', '--verbose', '-s', - 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'], + 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so',world_path], output='screen'), launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='True', description='Flag to enable use_sim_time'), diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo index c66ea05..c167fd7 100644 --- a/rusty_description/urdf/rusty.gazebo +++ b/rusty_description/urdf/rusty.gazebo @@ -117,7 +117,7 @@ <gazebo reference="Lidar_1"> <sensor name="ydlidar" type="ray"> <always_on>true</always_on> - <visualize>true</visualize> + <visualize>false</visualize> <update_rate>10</update_rate> <ray> <scan> diff --git a/rusty_description/worlds/house.sdf b/rusty_description/worlds/house.sdf new file mode 100644 index 0000000..485e572 --- /dev/null +++ b/rusty_description/worlds/house.sdf @@ -0,0 +1,2176 @@ +<sdf version='1.7'> + <world name='default'> + <light name='sun' type='directional'> + <cast_shadows>1</cast_shadows> + <pose>0 0 10 0 -0 0</pose> + <diffuse>0.8 0.8 0.8 1</diffuse> + <specular>0.2 0.2 0.2 1</specular> + <attenuation> + <range>1000</range> + <constant>0.9</constant> + <linear>0.01</linear> + <quadratic>0.001</quadratic> + </attenuation> + <direction>-0.5 0.1 -0.9</direction> + <spot> + <inner_angle>0</inner_angle> + <outer_angle>0</outer_angle> + <falloff>0</falloff> + </spot> + </light> + <model name='ground_plane'> + <static>1</static> + <link name='link'> + <collision name='collision'> + <geometry> + <plane> + <normal>0 0 1</normal> + <size>100 100</size> + </plane> + </geometry> + <surface> + <contact> + <collide_bitmask>65535</collide_bitmask> + <ode/> + </contact> + <friction> + <ode> + <mu>100</mu> + <mu2>50</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='visual'> + <cast_shadows>0</cast_shadows> + <geometry> + <plane> + <normal>0 0 1</normal> + <size>100 100</size> + </plane> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Grey</name> + </script> + </material> + </visual> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + </model> + <gravity>0 0 -9.8</gravity> + <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> + <atmosphere type='adiabatic'/> + <physics type='ode'> + <max_step_size>0.001</max_step_size> + <real_time_factor>1</real_time_factor> + <real_time_update_rate>1000</real_time_update_rate> + </physics> + <scene> + <ambient>0.4 0.4 0.4 1</ambient> + <background>0.7 0.7 0.7 1</background> + <shadows>1</shadows> + </scene> + <wind/> + <spherical_coordinates> + <surface_model>EARTH_WGS84</surface_model> + <latitude_deg>0</latitude_deg> + <longitude_deg>0</longitude_deg> + <elevation>0</elevation> + <heading_deg>0</heading_deg> + </spherical_coordinates> + <model name='myhouse'> + <pose>-3.23928 -1.27261 0 0 -0 0</pose> + <link name='Wall_0'> + <collision name='Wall_0_Collision'> + <geometry> + <box> + <size>9.75 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_0_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>9.75 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <pose>-24.8945 3.02404 0 0 -0 -1.5708</pose> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <link name='Wall_1'> + <collision name='Wall_1_Collision'> + <geometry> + <box> + <size>5.5 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_1_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>5.5 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + 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<velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='ground_plane'> + <pose>0 0 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>0 0 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='myhouse'> + <pose>-3.23928 -1.27261 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='Wall_0'> + <pose>-28.1338 1.75143 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_1'> + <pose>-25.4588 -3.04858 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_11'> + <pose>-22.7838 0.25143 0 0 -0 1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_14'> + <pose>-22.9261 6.80336 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_16'> + <pose>3.89117 -2.54858 0 0 -0 3.14159</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_17'> + <pose>-5.03383 -4.97358 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_18'> + <pose>-2.35883 -7.39857 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_2'> + <pose>-22.7838 -6.72358 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_20'> + <pose>11.9819 4.72198 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_3'> + <pose>-4.98383 -10.3986 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_5'> + <pose>12.8162 -6.47358 0 0 -0 1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_6'> + <pose>17.2412 -2.54858 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_7'> + <pose>21.6662 2.62643 0 0 -0 1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_8'> + <pose>-3.13383 7.80143 0 0 -0 3.14159</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_9'> + <pose>-28.0338 7.17643 0 0 0 -1.72945</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='person_standing'> + <pose>2.3025 -4.27694 -1e-06 -1e-06 1e-06 -0.000132</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>2.3025 -4.27694 -1e-06 -1e-06 1e-06 -0.000132</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>1.61711 1.13763 -1.48242 1.93723 1.45227 3.09349</acceleration> + <wrench>129.369 91.0101 -118.594 0 -0 0</wrench> + </link> + </model> + <model name='postbox'> + <pose>-1.21886 -4.14038 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>-1.21886 -4.14038 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='table'> + <pose>-18.1522 1.64342 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>-18.1522 1.64342 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='table_0'> + <pose>-17.9416 -4.09257 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>-17.9416 -4.09257 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <light name='sun'> + <pose>0 0 10 0 -0 0</pose> + </light> + </state> + <gui fullscreen='0'> + <camera name='user_camera'> + <pose>8.57934 -7.13195 4.05589 0 0.275643 2.3562</pose> + <view_controller>orbit</view_controller> + <projection_type>perspective</projection_type> + </camera> + </gui> + </world> +</sdf> \ No newline at end of file From ba9462a7aecc6bb0b12ec1f8c69795319df8a87b Mon Sep 17 00:00:00 2001 From: Siddarh09 <siddarth.dayasagar@gmail.com> Date: Mon, 13 Nov 2023 13:44:13 +0530 Subject: [PATCH 08/15] simplfied launch files fo robot-nav --- rusty/config/base_local_planner_params.yaml | 9 + rusty/config/costmap_common_params.yaml | 56 +++ rusty/config/global_costmap_params.yaml | 3 + rusty/config/local_costmap_params.yaml | 3 + rusty/config/nav2_params.yaml | 403 +++++++++++++++++++ rusty/launch/robot.launch | 0 rusty/launch/robot.launch.py | 27 ++ rusty/setup.py | 3 + rusty_description/config/nav2_config.rviz | 417 ++++++++++++++++++++ 9 files changed, 921 insertions(+) create mode 100644 rusty/config/base_local_planner_params.yaml create mode 100644 rusty/config/costmap_common_params.yaml create mode 100644 rusty/config/global_costmap_params.yaml create mode 100644 rusty/config/local_costmap_params.yaml create mode 100644 rusty/config/nav2_params.yaml create mode 100644 rusty/launch/robot.launch create mode 100644 rusty/launch/robot.launch.py create mode 100644 rusty_description/config/nav2_config.rviz diff --git a/rusty/config/base_local_planner_params.yaml b/rusty/config/base_local_planner_params.yaml new file mode 100644 index 0000000..186aa86 --- /dev/null +++ b/rusty/config/base_local_planner_params.yaml @@ -0,0 +1,9 @@ +controller_frequency: 5.0 +TrajectoryPlannerROS: + holonomic_robot: false + meter_scoring: true + max_vel_x: 0.09 + min_vel_x: -0.09 + + xy_goal_tolerance: 2.0 + yaw_goal_tolerance: 3.14159 diff --git a/rusty/config/costmap_common_params.yaml b/rusty/config/costmap_common_params.yaml new file mode 100644 index 0000000..16fd96a --- /dev/null +++ b/rusty/config/costmap_common_params.yaml @@ -0,0 +1,56 @@ +# Maximum range sensor reading in meters that results in an obstacle being placed in the costmap +obstacle_range: 6.0 + +# Outside of this range is considered free space +raytrace_range: 15.0 + +# Footprint of the robot with (0,0) being the center (in meters) +footprint: [[0.250, 0.300], [-0.250, 0.300], [-0.250, -0.300], [0.250, -0.300]] + +# The static map created using SLAM is being published to this topic +map_topic: /map + +# Global reference frame for the costmaps +global_frame: map + +# Base frame of the robot +robot_base_frame: base_link + +# Frequency in Hz for the costmap to be updated +update_frequency: 5.0 + +# Frequency in Hz for the costmap to publish display information +publish_frequency: 5.0 + +# Delay in transform tf data that is tolerable in seconds +transform_tolerance: 0.2 + +# Width of the map in meters +width: 75 + +# Height of the map in meters +height: 75 + +rolling_window: true + +subscribe_to_updates: true + +# Each costmap is layered +plugins: + - {name: static_layer, type: "costmap_2d::StaticLayer"} + - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + +# Map layer built with SLAM +static_layer: + map_topic: /map + subscribe_to_updates: false + +# Map layer that contains information about the obstacles in the environment as detected by LIDAR +obstacle_layer: + observation_sources: laser_scan_sensor + laser_scan_sensor: {sensor_frame: laser_link, data_type: LaserScan, topic: scan, marking: true, clearing: true} + +# Map layer that adds a cushion in meters around obstacles +inflation_layer: + inflation_radius: 1.5 diff --git a/rusty/config/global_costmap_params.yaml b/rusty/config/global_costmap_params.yaml new file mode 100644 index 0000000..c45126e --- /dev/null +++ b/rusty/config/global_costmap_params.yaml @@ -0,0 +1,3 @@ +global_costmap: + global_frame: map + static_map: true diff --git a/rusty/config/local_costmap_params.yaml b/rusty/config/local_costmap_params.yaml new file mode 100644 index 0000000..d15b5b0 --- /dev/null +++ b/rusty/config/local_costmap_params.yaml @@ -0,0 +1,3 @@ +local_costmap: + global_frame: odom + rolling_window: true diff --git a/rusty/config/nav2_params.yaml b/rusty/config/nav2_params.yaml new file mode 100644 index 0000000..c9ead04 --- /dev/null +++ b/rusty/config/nav2_params.yaml @@ -0,0 +1,403 @@ +amcl: + ros__parameters: + use_sim_time: True + alpha1: 0.002 + alpha2: 0.002 + alpha3: 0.002 + alpha4: 0.002 + alpha5: 0.002 + base_frame_id: "base_footprint" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + initial_pose: [0.0, 0.0, 0.0, 0.0] + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "differential" + save_pose_rate: 0.5 + set_initial_pose: False + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: True + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: True + +bt_navigator: + ros__parameters: + use_sim_time: True + global_frame: map + robot_base_frame: base_link + odom_topic: /odom + bt_loop_duration: 10 + default_server_timeout: 20 + enable_groot_monitoring: True + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: + # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml + # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml + # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: True + +controller_server: + ros__parameters: + use_sim_time: True + controller_frequency: 2.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + # Goal checker parameters + #precise_goal_checker: + # plugin: "nav2_controller::SimpleGoalChecker" + # xy_goal_tolerance: 0.25 + # yaw_goal_tolerance: 0.25 + # stateful: True + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: True + min_vel_x: 0.0 + min_vel_y: 0.0 + max_vel_x: 0.26 + max_vel_y: 0.0 + max_vel_theta: 1.0 + min_speed_xy: 0.0 + max_speed_xy: 0.26 + min_speed_theta: 0.0 + # Add high threshold velocity for turtlebot 3 issue. + # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75 + acc_lim_x: 2.5 + acc_lim_y: 0.0 + acc_lim_theta: 3.2 + decel_lim_x: -2.5 + decel_lim_y: 0.0 + decel_lim_theta: -3.2 + vx_samples: 20 + vy_samples: 5 + vtheta_samples: 20 + sim_time: 1.7 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 5.0 + publish_frequency: 2.0 + global_frame: odom + robot_base_frame: base_link + use_sim_time: True + rolling_window: true + width: 10 + height: 10 + resolution: 0.05 + robot_radius: 0.75 + plugins: ["voxel_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.55 + voxel_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: True + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 10.0 + raytrace_min_range: 0.0 + obstacle_max_range: 9.5 + obstacle_min_range: 0.0 + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: True + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 1.0 + publish_frequency: 1.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: True + robot_radius: 0.75 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "obstacle_layer", "inflation_layer"] + obstacle_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + raytrace_max_range: 10.0 + raytrace_min_range: 0.0 + obstacle_max_range: 9.5 + obstacle_min_range: 0.0 + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 3.0 + inflation_radius: 0.95 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: True + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: True + +map_server: + ros__parameters: + use_sim_time: True + yaml_filename: "turtlebot3_world.yaml" + +map_saver: + ros__parameters: + use_sim_time: True + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 2.0 + use_sim_time: True + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +planner_server_rclcpp_node: + ros__parameters: + use_sim_time: True + +recoveries_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + recovery_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_recoveries/Spin" + backup: + plugin: "nav2_recoveries/BackUp" + wait: + plugin: "nav2_recoveries/Wait" + global_frame: odom + robot_base_frame: base_link + transform_timeout: 0.1 + use_sim_time: true + simulate_ahead_time: 2.0 + max_rotational_vel: 1.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 3.2 + +robot_state_publisher: + ros__parameters: + use_sim_time: True + +waypoint_follower: + ros__parameters: + loop_rate: 2 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_footprint + scan_topic: /scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + #map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true diff --git a/rusty/launch/robot.launch b/rusty/launch/robot.launch new file mode 100644 index 0000000..e69de29 diff --git a/rusty/launch/robot.launch.py b/rusty/launch/robot.launch.py new file mode 100644 index 0000000..aa1732e --- /dev/null +++ b/rusty/launch/robot.launch.py @@ -0,0 +1,27 @@ +# combined_launch.py +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +import time +import xacro +import os +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + + robot_gazebo= IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('rusty_description'), 'launch'), + '/gazebo.launch.py']) + ) + robot_rviz= IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('rusty_description'), 'launch'), + '/display.launch.py']) + ) + return LaunchDescription([ + # Include the first launch file + robot_gazebo, + robot_rviz + ]) diff --git a/rusty/setup.py b/rusty/setup.py index b251970..ba67cb7 100644 --- a/rusty/setup.py +++ b/rusty/setup.py @@ -1,4 +1,6 @@ from setuptools import find_packages, setup +from glob import glob +import os package_name = 'rusty' @@ -10,6 +12,7 @@ ('share/ament_index/resource_index/packages', ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), + (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), ], install_requires=['setuptools'], zip_safe=True, diff --git a/rusty_description/config/nav2_config.rviz b/rusty_description/config/nav2_config.rviz new file mode 100644 index 0000000..2554fd7 --- /dev/null +++ b/rusty_description/config/nav2_config.rviz @@ -0,0 +1,417 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1 + - /TF1 + - /TF1/Frames1 + - /TF1/Tree1 + - /LaserScan1 + - /Map1 + - /Global Planner1 + - /Global Planner1/Global Costmap1 + - /Global Planner1/Path1 + - /Controller1 + - /Controller1/Local Costmap1 + - /Controller1/Local Plan1 + - /Controller1/Polygon1 + - /MarkerArray1 + - /RobotModel1 + - /RobotModel1/Status1 + Splitter Ratio: 0.5833333134651184 + Tree Height: 481 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: nav2_rviz_plugins/Navigation 2 + Name: Navigation 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: <Fixed Frame> + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + drivewhl_l_link: + Value: true + drivewhl_r_link: + Value: true + front_caster: + Value: true + gps_link: + Value: true + imu_link: + Value: true + lidar_link: + Value: true + map: + Value: true + odom: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + map: + odom: + base_footprint: + base_link: + drivewhl_l_link: + {} + drivewhl_r_link: + {} + front_caster: + {} + gps_link: + {} + imu_link: + {} + lidar_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Map + Topic: + Depth: 1 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map_updates + Use Timestamp: false + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Global Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /global_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 255; 0; 0 + Enabled: true + Head Diameter: 0.019999999552965164 + Head Length: 0.019999999552965164 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: Arrows + Radius: 0.029999999329447746 + Shaft Diameter: 0.004999999888241291 + Shaft Length: 0.019999999552965164 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /plan + Value: true + Enabled: true + Name: Global Planner + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Local Costmap + Topic: + Depth: 1 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/costmap_updates + Use Timestamp: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 0; 12; 255 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Local Plan + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_plan + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /local_costmap/published_footprint + Value: true + Enabled: true + Name: Controller + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /waypoints + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: /home/focalfossa/dev_ws/src/basic_mobile_robot/models/basic_mobile_bot_v2.urdf + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + drivewhl_l_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + drivewhl_r_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + gps_link: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + lidar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + - Class: nav2_rviz_plugins/GoalTool + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: -4.714995861053467 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 50.432029724121094 + Target Frame: <Fixed Frame> + Value: TopDownOrtho (rviz_default_plugins) + X: 0.05480484664440155 + Y: 0.43397775292396545 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 896 + Hide Left Dock: false + Hide Right Dock: true + Navigation 2: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1032 + X: 888 + Y: 48 From be9b464bbf15a457f61104398961be9d995c465f Mon Sep 17 00:00:00 2001 From: Siddarth09 <siddarth.dayasagar@gmail.com> Date: Thu, 19 Sep 2024 00:55:38 -0400 Subject: [PATCH 09/15] Updated with harmonic sdf and gps driver --- rusty/config/gps.txt | 711 ++++ .../{robot.launch => gazebo_sim.launch} | 0 rusty/launch/gps_driver.launch.py | 12 + rusty/rusty/gps.py | 145 + rusty/setup.py | 1 + .../meshes/base_link_1/base_link_visual.mtl | 14 + .../meshes/base_link_1/base_link_visual.obj | 2959 +++++++++++++++++ rusty_common/meshes/camera_1/body1_visual.mtl | 5 + rusty_common/meshes/camera_1/body1_visual.obj | 1446 ++++++++ .../meshes/holder_1/holder_visual.mtl | 11 + .../meshes/holder_1/holder_visual.obj | 591 ++++ rusty_common/meshes/lidar_1/lidar_visual.mtl | 5 + rusty_common/meshes/lidar_1/lidar_visual.obj | 581 ++++ rusty_common/meshes/lw1_1/lw1_visual.mtl | 5 + rusty_common/meshes/lw1_1/lw1_visual.obj | 935 ++++++ rusty_common/meshes/lw2_1/lw2_visual.mtl | 5 + rusty_common/meshes/lw2_1/lw2_visual.obj | 935 ++++++ rusty_common/meshes/rw1_1/rw1_visual.mtl | 5 + rusty_common/meshes/rw1_1/rw1_visual.obj | 935 ++++++ rusty_common/meshes/rw2_1/rw2_visual.mtl | 5 + rusty_common/meshes/rw2_1/rw2_visual.obj | 935 ++++++ rusty_description/config/gz_params.yaml | 55 + rusty_description/launch/gz.launch.py | 110 + .../launch/robot_state_publisher.launch.py | 60 + .../launch/spawn_rusty.launch.py | 67 + rusty_description/package.xml | 14 +- rusty_description/setup.py | 5 +- rusty_description/urdf/materials.xacro | 2 +- rusty_description/urdf/model.sdf | 467 +++ rusty_description/urdf/rusty.urdf | 238 ++ rusty_description/urdf/rusty.xacro | 46 +- rusty_description/worlds/empty_world.world | 72 + rusty_msgs/CMakeLists.txt | 43 + rusty_msgs/LICENSE | 17 + rusty_msgs/msg/GPSmsg.msg | 9 + rusty_msgs/package.xml | 21 + 36 files changed, 11439 insertions(+), 28 deletions(-) create mode 100644 rusty/config/gps.txt rename rusty/launch/{robot.launch => gazebo_sim.launch} (100%) create mode 100644 rusty/launch/gps_driver.launch.py create mode 100644 rusty/rusty/gps.py create mode 100644 rusty_common/meshes/base_link_1/base_link_visual.mtl create mode 100644 rusty_common/meshes/base_link_1/base_link_visual.obj create mode 100644 rusty_common/meshes/camera_1/body1_visual.mtl create mode 100644 rusty_common/meshes/camera_1/body1_visual.obj create mode 100644 rusty_common/meshes/holder_1/holder_visual.mtl create mode 100644 rusty_common/meshes/holder_1/holder_visual.obj create mode 100644 rusty_common/meshes/lidar_1/lidar_visual.mtl create mode 100644 rusty_common/meshes/lidar_1/lidar_visual.obj create mode 100644 rusty_common/meshes/lw1_1/lw1_visual.mtl create mode 100644 rusty_common/meshes/lw1_1/lw1_visual.obj create mode 100644 rusty_common/meshes/lw2_1/lw2_visual.mtl create mode 100644 rusty_common/meshes/lw2_1/lw2_visual.obj create mode 100644 rusty_common/meshes/rw1_1/rw1_visual.mtl create mode 100644 rusty_common/meshes/rw1_1/rw1_visual.obj create mode 100644 rusty_common/meshes/rw2_1/rw2_visual.mtl create mode 100644 rusty_common/meshes/rw2_1/rw2_visual.obj create mode 100644 rusty_description/config/gz_params.yaml create mode 100644 rusty_description/launch/gz.launch.py create mode 100644 rusty_description/launch/robot_state_publisher.launch.py create mode 100644 rusty_description/launch/spawn_rusty.launch.py create mode 100644 rusty_description/urdf/model.sdf create mode 100644 rusty_description/urdf/rusty.urdf create mode 100644 rusty_description/worlds/empty_world.world create mode 100644 rusty_msgs/CMakeLists.txt create mode 100644 rusty_msgs/LICENSE create mode 100644 rusty_msgs/msg/GPSmsg.msg create mode 100644 rusty_msgs/package.xml diff --git a/rusty/config/gps.txt b/rusty/config/gps.txt new file mode 100644 index 0000000..88d3c35 --- /dev/null +++ b/rusty/config/gps.txt @@ -0,0 +1,711 @@ 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+$GPGSA,A,3,27,16,04,09,08,26,31,07,,,,,1.37,1.05,0.89*04 +$GPRMC,005902.000,A,4219.6492,N,07106.0967,W,2.51,290.85,190924,,,A*7A +$GPGGA,005903.000,4219.6496,N,07106.0975,W,1,8,1.05,45.6,M,-33.8,M,,0000*57 +$GPGSA,A,3,27,16,04,09,08,26,31,07,,,,,1.37,1.05,0.89*04 +$GPGSV,3,1,10,27,64,142,38,16,62,044,36,04,56,225,22,09,47,284,30*72 +$GPGSV,3,2,10,08,41,189,20,26,30,066,34,31,26,113,23,07,23,303,35*72 +$GPGSV,3,3,10,18,10,050,18,43,,,*4B +$GPRMC,005903.000,A,4219.6496,N,07106.0975,W,2.30,301.52,190924,,,A*78 \ No newline at end of file diff --git a/rusty/launch/robot.launch b/rusty/launch/gazebo_sim.launch similarity index 100% rename from rusty/launch/robot.launch rename to rusty/launch/gazebo_sim.launch diff --git a/rusty/launch/gps_driver.launch.py b/rusty/launch/gps_driver.launch.py new file mode 100644 index 0000000..8545f36 --- /dev/null +++ b/rusty/launch/gps_driver.launch.py @@ -0,0 +1,12 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='rusty', + executable='gps_node', + name='gps_driver', + output='screen' + ), + ]) \ No newline at end of file diff --git a/rusty/rusty/gps.py b/rusty/rusty/gps.py new file mode 100644 index 0000000..5eaabb6 --- /dev/null +++ b/rusty/rusty/gps.py @@ -0,0 +1,145 @@ +#! /usr/bin/python3 + +""" +$GPGGA,123313,4704.8062,N,01525.3878,E,1,09,1.1,359.7,M,43.7,M,,*4E +$GPGGA,HHMMSS.ss,AAAA.AAAA,la,OOOO.OOOO,lo,Q,NN,D.D,H.H,h,G.G,g,A.A,RRRR*CS + +0 Message ID $GPGGA +1 HHMMSS.ss Time of position fix (UTC) +2 AAAA.AAAA Latitude degree and minutes (ddmm.mmmmmm) +3 la Direction of latitude (North or South) +4 OOOO.OOOO Longitude degree and minutes (dddmm.mmmmmm) +5 lo Direction of longitude (East or West) +6 Q GPS quality indicator: + + 0: no fix available + 1: GPS fix + 2: Differential GPS fix (DGPS) + 3: PPS fix + 4: Real Time Kinematic fix (RTK) + 5: Float RTK + 6: Estimated (dead reckoning) + 7: Manual input mode + 8: simulation mode + +7 NN Number of satellites in use (00 − 12) +8 D.D horizontale dilution of precision (meter) +9 H.H Antenna altitude (meter) +10 h Unit of antenna altitude (meter) +11 G.G geoidal separation the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below ellipsoid +12 g Unit of geoidal separation (meter) +13 A.A Age of differential GPS data, time in seconds since last SC104 type 1 or 9 update, null field when DGPS is not used +14 RRRR Differential reference station ID (0000 to 1023) +15 CS Checksum +""" + + +import rclpy +from rclpy.node import Node +from std_msgs.msg import Header +from rusty_msgs.msg import GPSmsg +import utm +import time + +def convert_to_decimal_degrees_latitude(degrees_minutes, direction): + # Convert NMEA lat and longitude to decimal degrees + if not degrees_minutes or len(degrees_minutes) < 4: + return 0.0 + degrees = float(degrees_minutes[:2]) + minutes = float(degrees_minutes[2:]) + decimal_degrees = degrees+ (minutes / 60.0) + if direction == 'S' or direction == 'W': + decimal_degrees *= -1 + return decimal_degrees + +def convert_to_decimal_degrees_longitude(degrees_minutes, direction): + # Convert NMEA lat and longitude to decimal degrees + if not degrees_minutes or len(degrees_minutes) < 4: + return 0.0 + degrees = float(degrees_minutes[:3]) + minutes = float(degrees_minutes[3:]) + decimal_degrees = degrees+ (minutes / 60.0) + if direction == 'S' or direction == 'W': + decimal_degrees *= -1 + return decimal_degrees + +def nmea_to_deg(lat_lon, orientation): + if '.' in lat_lon: + dot_index = lat_lon.index('.') + deg = int(lat_lon[:dot_index-2]) + min = float(lat_lon[dot_index-2:]) + + pos = deg + min / 60.0 + if orientation in ["W", "S"]: + pos *= -1 + + return f"{pos:.7f}" + + return "" + + +class GPSPublisher(Node): + def __init__(self): + super().__init__('gps_publisher') + self.publisher_ = self.create_publisher(GPSmsg, 'gps_data', 10) + self.timer = self.create_timer(1.0, self.publish_gps_data) + self.gps_data = self.read_gps_data('/home/siddarth/ros2ws/src/Rusty/rusty/config/gps.txt') + + def read_gps_data(self, filename): + with open(filename, 'r') as f: + return f.readlines() + + def publish_gps_data(self): + for line in self.gps_data: + if line.startswith('$GPGGA'): + gps_msg = GPSmsg() + data = line.split(',') + + if len(data) < 15: # Ensure there are enough data fields + self.get_logger().warn('Not enough data fields in GPS line.') + return + + latitude_str = data[2] + latitude_dir = data[3] + longitude_str = data[4] + longitude_dir = data[5] + altitude = float(data[9]) + + # Convert latitude and longitude to decimal degrees + latitude = convert_to_decimal_degrees_latitude(latitude_str, latitude_dir) + longitude = convert_to_decimal_degrees_longitude(longitude_str, longitude_dir) + + + # Convert latitude/longitude to UTM coordinates + utm_data = utm.from_latlon(latitude, longitude) + utm_easting = utm_data[0] + utm_northing = utm_data[1] + utm_zone = utm_data[2] + utm_letter = utm_data[3] + + # Populate GPSmsg fields + gps_msg.header = Header() + gps_msg.header.stamp = self.get_clock().now().to_msg() + gps_msg.header.frame_id = 'GPS1_Frame' + + gps_msg.latitude = latitude + gps_msg.longitude = longitude + gps_msg.altitude = altitude + gps_msg.utm_easting = utm_easting + gps_msg.utm_northing = utm_northing + gps_msg.zone = utm_zone + # gps_msg.letter = utm_letter # Ensure this is a string + + self.publisher_.publish(gps_msg) + self.get_logger().info(f'Published GPS data: {gps_msg}') + time.sleep(1) + +def main(args=None): + rclpy.init(args=args) + gps_publisher = GPSPublisher() + rclpy.spin(gps_publisher) + gps_publisher.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/rusty/setup.py b/rusty/setup.py index ba67cb7..251f3b5 100644 --- a/rusty/setup.py +++ b/rusty/setup.py @@ -23,6 +23,7 @@ tests_require=['pytest'], entry_points={ 'console_scripts': [ + 'gps_node = rusty.gps:main' ], }, ) diff --git a/rusty_common/meshes/base_link_1/base_link_visual.mtl b/rusty_common/meshes/base_link_1/base_link_visual.mtl new file mode 100644 index 0000000..a9601dc --- /dev/null +++ b/rusty_common/meshes/base_link_1/base_link_visual.mtl @@ -0,0 +1,14 @@ +# WaveFront *.mtl file (generated by Autodesk ATF) + +newmtl Aluminum_-_Anodized_Glossy_(Grey) +Kd 0.537255 0.537255 0.537255 + +newmtl Paint_-_Enamel_Glossy_(White) +Kd 0.964706 0.964706 0.952941 + +newmtl Carbon_Fiber_-_Twill +Kd 0.098039 0.098039 0.098039 + +newmtl Paint_-_Enamel_Glossy_(Red) +Kd 0.768627 0.207843 0.152941 + diff --git a/rusty_common/meshes/base_link_1/base_link_visual.obj b/rusty_common/meshes/base_link_1/base_link_visual.obj new file mode 100644 index 0000000..aecb94a --- /dev/null +++ b/rusty_common/meshes/base_link_1/base_link_visual.obj @@ -0,0 +1,2959 @@ +# WaveFront *.obj file (generated by Autodesk ATF) + +mtllib base_link_visual.mtl + +g base_link + +v 11.000000 -17.000000 2.500000 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46/191/189 +f 46/191/189 56/190/188 55/192/190 +f 46/191/189 55/192/190 47/193/191 +f 47/193/191 55/192/190 54/194/192 +f 47/193/191 54/194/192 48/195/193 +f 48/195/193 54/194/192 53/196/194 +f 48/195/193 53/196/194 49/197/195 +f 49/197/195 53/196/194 52/198/196 +f 49/197/195 52/198/196 50/199/197 +f 50/199/197 52/198/196 51/200/198 +f 132/201/199 101/202/200 67/203/201 +f 67/203/201 101/202/200 100/204/202 +f 67/203/201 100/204/202 68/205/203 +f 68/205/203 100/204/202 99/206/204 +f 68/205/203 99/206/204 69/207/205 +f 69/207/205 99/206/204 98/208/206 +f 69/207/205 98/208/206 70/209/207 +f 70/209/207 98/208/206 97/210/208 +f 70/209/207 97/210/208 71/211/209 +f 71/211/209 97/210/208 96/212/210 +f 71/211/209 96/212/210 72/213/211 +f 72/213/211 96/212/210 95/214/212 +f 72/213/211 95/214/212 73/215/213 +f 73/215/213 95/214/212 94/216/214 +f 73/215/213 94/216/214 74/217/215 +f 74/217/215 94/216/214 93/218/216 +f 74/217/215 93/218/216 75/219/217 +f 75/219/217 93/218/216 92/220/218 +f 75/219/217 92/220/218 76/221/219 +f 76/221/219 92/220/218 91/222/220 +f 76/221/219 91/222/220 77/223/221 +f 77/223/221 91/222/220 90/224/222 +f 77/223/221 90/224/222 78/225/223 +f 78/225/223 90/224/222 89/226/224 +f 78/225/223 89/226/224 79/227/225 +f 79/227/225 89/226/224 88/228/226 +f 79/227/225 88/228/226 80/229/227 +f 80/229/227 88/228/226 87/230/228 +f 80/229/227 87/230/228 81/231/229 +f 81/231/229 87/230/228 86/232/230 +f 81/231/229 86/232/230 82/233/231 +f 82/233/231 86/232/230 85/234/232 +f 82/233/231 85/234/232 83/235/233 +f 83/235/233 85/234/232 84/236/234 +f 101/202/200 132/201/199 102/237/235 +f 102/237/235 132/201/199 131/238/236 +f 102/237/235 131/238/236 103/239/237 +f 103/239/237 131/238/236 130/240/238 +f 103/239/237 130/240/238 104/241/239 +f 104/241/239 130/240/238 129/242/240 +f 104/241/239 129/242/240 105/243/241 +f 105/243/241 129/242/240 128/244/242 +f 105/243/241 128/244/242 106/245/243 +f 106/245/243 128/244/242 127/246/244 +f 106/245/243 127/246/244 107/247/245 +f 107/247/245 127/246/244 126/248/246 +f 107/247/245 126/248/246 108/249/247 +f 108/249/247 126/248/246 125/250/248 +f 108/249/247 125/250/248 109/251/249 +f 109/251/249 125/250/248 124/252/250 +f 109/251/249 124/252/250 110/253/251 +f 110/253/251 124/252/250 123/254/252 +f 110/253/251 123/254/252 111/255/253 +f 111/255/253 123/254/252 122/256/254 +f 111/255/253 122/256/254 112/257/255 +f 112/257/255 122/256/254 121/258/256 +f 112/257/255 121/258/256 113/259/257 +f 113/259/257 121/258/256 120/260/258 +f 113/259/257 120/260/258 114/261/259 +f 114/261/259 120/260/258 119/262/260 +f 114/261/259 119/262/260 115/263/261 +f 115/263/261 119/262/260 118/264/262 +f 115/263/261 118/264/262 116/265/263 +f 116/265/263 118/264/262 117/266/264 +# 132 vertices +# 266 texture params +# 264 normals +# 260 facets + +# 1 groups diff --git a/rusty_description/config/gz_params.yaml b/rusty_description/config/gz_params.yaml new file mode 100644 index 0000000..81a88b3 --- /dev/null +++ b/rusty_description/config/gz_params.yaml @@ -0,0 +1,55 @@ +- ros_topic_name: "clock" + gz_topic_name: "clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +# gz topic published by JointState plugin +- ros_topic_name: "joint_states" + gz_topic_name: "joint_states" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin +- ros_topic_name: "odom" + gz_topic_name: "odom" + ros_type_name: "nav_msgs/msg/Odometry" + gz_type_name: "gz.msgs.Odometry" + direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin +- ros_topic_name: "tf" + gz_topic_name: "tf" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "gz.msgs.Pose_V" + direction: GZ_TO_ROS + +# gz topic subscribed to by DiffDrive plugin +- ros_topic_name: "cmd_vel" + gz_topic_name: "cmd_vel" + ros_type_name: "geometry_msgs/msg/Twist" + gz_type_name: "gz.msgs.Twist" + direction: ROS_TO_GZ + + +# gz topic published by IMU plugin +- ros_topic_name: "imu" + gz_topic_name: "imu" + ros_type_name: "sensor_msgs/msg/Imu" + gz_type_name: "gz.msgs.IMU" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin (LIDAR) +- ros_topic_name: "scan" + gz_topic_name: "scan" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "gz.msgs.LaserScan" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin (Camera) +- ros_topic_name: "camera/camera_info" + gz_topic_name: "camera/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS \ No newline at end of file diff --git a/rusty_description/launch/gz.launch.py b/rusty_description/launch/gz.launch.py new file mode 100644 index 0000000..95ec6f4 --- /dev/null +++ b/rusty_description/launch/gz.launch.py @@ -0,0 +1,110 @@ +import os +from launch import LaunchDescription +from launch.actions import SetEnvironmentVariable, DeclareLaunchArgument, IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from ament_index_python.packages import get_package_share_directory +from launch_ros.actions import Node + +def generate_launch_description(): + pkg_share = get_package_share_directory('rusty_description') + ros_gz_sim = get_package_share_directory('ros_gz_sim') + default_model_path = os.path.join(pkg_share, 'urdf', 'rusty.urdf') # Ensure this is a .urdf file + world_path = os.path.join( + get_package_share_directory('rusty_description'), + 'worlds', + 'empty_world.world' + ) + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + + # Ensure the right Ignition version is being used (Harmonic) + set_ign_version_cmd = SetEnvironmentVariable('IGN_GAZEBO_VERSION', 'harmonic') + + # Gazebo server (simulation) launch command + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={ + 'gz_args': f'-r -s -v4 {world_path}', + 'on_exit_shutdown': 'true' + }.items() + ) + + # Gazebo client (GUI) launch command + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': '-g -v4'}.items() + ) + + # Node to publish the robot state (robot_state_publisher) + robot_state_publisher_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_share +'/launch/', 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + # Node to spawn the robot in Ignition Gazebo + spawn_robot_node = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_share +'/launch/', 'spawn_rusty.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + bridge_params = os.path.join( + get_package_share_directory('rusty_description'), + 'config', + 'gz_params.yaml' + ) + + start_gazebo_ros_bridge_cmd = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '--ros-args', + '-p', + f'config_file:={bridge_params}', + ], + output='screen', + ) + + start_gazebo_ros_image_bridge_cmd = Node( + package='ros_gz_image', + executable='image_bridge', + arguments=['/camera/image_raw'], + output='screen', +) + # Time synchronization between ROS 2 and Ignition + clock_bridge_node = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + name='clock_bridge', + output='screen', + arguments=['/clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock'], + remappings=[('/world/default/clock', '/clock')] # Synchronize clocks + ) + + # Launch description + ld = LaunchDescription() + + # Add actions to the launch description + ld.add_action(set_ign_version_cmd) # Set the correct Ignition version + ld.add_action(gzserver_cmd) # Start the Gazebo server + ld.add_action(gzclient_cmd) # Start the Gazebo client + ld.add_action(robot_state_publisher_node) # Start the robot state publisher + ld.add_action(spawn_robot_node) # Spawn the robot in Gazebo + ld.add_action(clock_bridge_node) # Start the clock synchronization + ld.add_action(start_gazebo_ros_bridge_cmd) + ld.add_action(start_gazebo_ros_image_bridge_cmd) + + return ld diff --git a/rusty_description/launch/robot_state_publisher.launch.py b/rusty_description/launch/robot_state_publisher.launch.py new file mode 100644 index 0000000..78fa2a1 --- /dev/null +++ b/rusty_description/launch/robot_state_publisher.launch.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Darby Lim + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + + + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + urdf_file_name = 'rusty.urdf' + + print('urdf_file_name : {}'.format(urdf_file_name)) + + urdf_path = os.path.join( + get_package_share_directory('rusty_description'), + 'urdf', + urdf_file_name) + + with open(urdf_path, 'r') as infp: + robot_desc = infp.read() + + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true'), + + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{ + 'use_sim_time': use_sim_time, + 'robot_description': robot_desc + }], + ), + ]) \ No newline at end of file diff --git a/rusty_description/launch/spawn_rusty.launch.py b/rusty_description/launch/spawn_rusty.launch.py new file mode 100644 index 0000000..8a8758d --- /dev/null +++ b/rusty_description/launch/spawn_rusty.launch.py @@ -0,0 +1,67 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + # Get the urdf file + urdf_path = os.path.join( + get_package_share_directory('rusty_description'), + 'urdf','rusty.urdf' + ) + + # Launch configuration variables specific to simulation + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + # Declare the launch arguments + declare_x_position_cmd = DeclareLaunchArgument( + 'x_pose', default_value='0.0', + description='Specify namespace of the robot') + + declare_y_position_cmd = DeclareLaunchArgument( + 'y_pose', default_value='0.0', + description='Specify namespace of the robot') + + start_gazebo_ros_spawner_cmd = Node( + package='ros_gz_sim', + executable='create', + arguments=[ + + '-file', urdf_path, + '-x', x_pose, + '-y', y_pose, + '-z', '0.01' + ], + output='screen', + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_x_position_cmd) + ld.add_action(declare_y_position_cmd) + + # Add any conditioned actions + ld.add_action(start_gazebo_ros_spawner_cmd) + print("RUSTY LAUNCHED") + + return ld \ No newline at end of file diff --git a/rusty_description/package.xml b/rusty_description/package.xml index 93f7649..e7f4fee 100644 --- a/rusty_description/package.xml +++ b/rusty_description/package.xml @@ -4,14 +4,24 @@ <name>rusty_description</name> <version>0.0.0</version> <description>The rusty_description package</description> - <maintainer email="todo@todo.com">author</maintainer> - <license>TODO: License declaration</license> + <maintainer email="siddarth.dayasagar@gmail.com">siddarth</maintainer> + <license>MIT</license> <depend>xacro</depend> <depend>rviz2</depend> <depend>robot_state_publisher</depend> <depend>joint_state_publisher</depend> <depend>joint_state_publisher_gui</depend> + + <depend>geometry_msgs</depend> + <depend>nav_msgs</depend> + <depend>rclcpp</depend> + <depend>ros_gz_bridge</depend> + <depend>ros_gz_image</depend> + <depend>ros_gz_sim</depend> + <depend>sensor_msgs</depend> + <depend>tf2</depend> + <test_depend>ament_copyright</test_depend> <test_depend>ament_flake8</test_depend> diff --git a/rusty_description/setup.py b/rusty_description/setup.py index 1de2c71..cbe8091 100644 --- a/rusty_description/setup.py +++ b/rusty_description/setup.py @@ -15,14 +15,15 @@ (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), (os.path.join('share', package_name, 'urdf'), glob('urdf/*')), (os.path.join('share', package_name, 'meshes'), glob('meshes/*')), - (os.path.join('share', package_name, 'config'), glob('config/*')) + (os.path.join('share', package_name, 'config'), glob('config/*')), + (os.path.join('share', package_name, 'worlds'), glob('worlds/*')) ], install_requires=['setuptools'], zip_safe=True, maintainer='author', maintainer_email='todo@todo.com', description='The ' + package_name + ' package', - license='TODO: License declaration', + license='MIT', tests_require=['pytest'], entry_points={ 'console_scripts': [ diff --git a/rusty_description/urdf/materials.xacro b/rusty_description/urdf/materials.xacro index 513d0d1..22ac46a 100644 --- a/rusty_description/urdf/materials.xacro +++ b/rusty_description/urdf/materials.xacro @@ -1,7 +1,7 @@ <?xml version="1.0" ?> <robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro" > -<material name="silver"> + <material name="silver"> <color rgba="0.700 0.700 0.700 1.000"/> </material> diff --git a/rusty_description/urdf/model.sdf b/rusty_description/urdf/model.sdf new file mode 100644 index 0000000..b2466d9 --- /dev/null +++ b/rusty_description/urdf/model.sdf @@ -0,0 +1,467 @@ +<?xml version="1.0" ?> +<sdf version="1.9"> +<world name="default"> + <physics name="1ms" type="ignored"> + <max_step_size>0.001</max_step_size> + <real_time_factor>1.0</real_time_factor> + </physics> + <plugin + filename="gz-sim-physics-system" + name="gz::sim::systems::Physics"> + </plugin> + <plugin + filename="gz-sim-user-commands-system" + name="gz::sim::systems::UserCommands"> + </plugin> + <plugin + filename="gz-sim-scene-broadcaster-system" + name="gz::sim::systems::SceneBroadcaster"> + </plugin> + <plugin filename="gz-sim-imu-system" + name="gz::sim::systems::Imu"> + </plugin> + + + <plugin + filename="gz-sim-sensors-system" + name="gz::sim::systems::Sensors"> + <render_engine>ogre2</render_engine> + </plugin> + + + <light type="directional" name="sun"> + <cast_shadows>true</cast_shadows> + <pose>0 0 10 0 0 0</pose> + <diffuse>0.8 0.8 0.8 1</diffuse> + <specular>0.2 0.2 0.2 1</specular> + <attenuation> + <range>1000</range> + <constant>0.9</constant> + <linear>0.01</linear> + <quadratic>0.001</quadratic> + </attenuation> + <direction>-0.5 0.1 -0.9</direction> + </light> + + <model name="rusty_v1"> + <link name="base_link"> + <inertial> + <mass>0.0001</mass> + <inertia> + <ixx>1e-09</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>1e-09</iyy> + <iyz>0</iyz> + <izz>1e-09</izz> + </inertia> + </inertial> + <sensor name="imu_sensor" type="imu"> + <always_on>1</always_on> + <update_rate>1</update_rate> + <visualize>true</visualize> + <topic>imu</topic> + </sensor> + </link> + <link name="base_link_1"> + <pose relative_to="__model__">0.0 0.0 0.025 0.0 -0.0 0.0</pose> + <inertial> + <pose>0.0002544970294304579 -2.7411733823236023e-17 0.05841254857000653 0.0 -0.0 0.0</pose> + <mass>14.333340375312384</mass> + <inertia> + <ixx>0.17330689589626652</ixx> + <ixy>3.770856504009189e-16</ixy> 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<ixy>-8.673617379884035e-19</ixy> + <ixz>-2.168404344971009e-19</ixz> + <iyy>0.00022825634123738127</iyy> + <iyz>6.505213034913027e-19</iyz> + <izz>0.00012363885150358522</izz> + </inertia> + </inertial> + <visual name="rw1_1__rw1_visual"> + <geometry> + <mesh> + <scale>0.01 0.01 0.01</scale> + <uri>/home/siddarth/ros2ws/src/Rusty/rusty_common/meshes/rw1_1/rw1_visual.obj</uri> + </mesh> + </geometry> + </visual> + <collision name="rw1_1__rw1_collision"> + <pose relative_to="__model__">0.095 -0.1725 0.05 -0.0 -1.5707963267948966 0</pose> + <geometry> + <box> + <size>0.10000000000000003 0.025 0.10000000000000002</size> + </box> + </geometry> + </collision> + </link> + <link name="lw1_1"> + <pose relative_to="__model__">-0.0029629661386292127 -0.06704285733682042 0.04257306317273629 0.0 -0.0 0.0</pose> + <inertial> + <pose>0.09796296613862925 0.23954285733682046 0.007426936827263732 0.0 -0.0 0.0</pose> + <mass>0.1826050729899069</mass> + <inertia> + <ixx>0.00012363885150357915</ixx> + 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from /home/siddarth/ros2ws/src/Rusty/rusty_description/urdf/rusty.xacro | --> +<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | --> +<!-- =================================================================================== --> +<robot name="rusty"> + <material name="silver"> + <color rgba="0.700 0.700 0.700 1.000"/> + </material> + <material name="black"> + <color rgba="0.0 0.0 0.0 1.0"/> + </material> + <material name="blue"> + <color rgba="0.0 0.0 0.8 1.0"/> + </material> + <material name="green"> + <color rgba="0.0 0.8 0.0 1.0"/> + </material> + <material name="grey"> + <color rgba="0.2 0.2 0.2 1.0"/> + </material> + <material name="orange"> + <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/> + </material> + <material name="brown"> + <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/> + </material> + <material name="yellow"> + <color rgba="0.0 0.7058823529411765 0.7058823529411765 1.0"/> + </material> + <material name="red"> + <color 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<mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> + </link> + <link name="Holder_1"> + <inertial> + <origin rpy="0 0 0" xyz="-4.445233212745621e-17 0.0 0.012500000000000011"/> + <mass value="25.69775961700859"/> + <inertia ixx="0.165882" ixy="0.0" ixz="-0.0" iyy="0.4688" iyz="0.0" izz="0.632005"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="-0.0 -0.0 -0.15"/> + <geometry> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="blue"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="-0.0 -0.0 -0.15"/> + <geometry> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> + </link> + <link name="Lidar_1"> + <inertial> + <origin rpy="0 0 0" xyz="0.007402159277225678 -0.00023091322011423596 0.0050000000000000044"/> + <mass value="0.008257286244679606"/> + <inertia ixx="1e-06" ixy="-0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="1e-06"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="-0.235 -0.0 -0.135"/> + <geometry> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="orange"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="-0.235 -0.0 -0.135"/> + <geometry> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> + </link> + <link name="Camera_1"> + <inertial> + <origin rpy="0 0 0" xyz="0.015039497744837121 0.0750001326555918 -0.02024300342659574"/> + <mass value="0.007791207915918992"/> + <inertia ixx="1e-06" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.0" izz="1e-06"/> + </inertial> + <visual> + <origin rpy="0 0 0" xyz="-0.222588 -0.012099 -0.15"/> + <geometry> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + <material name="red"/> + </visual> + <collision> + <origin rpy="0 0 0" xyz="-0.222588 -0.012099 -0.15"/> + <geometry> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> + </geometry> + </collision> + </link> + <joint name="RW2" type="continuous"> + <origin rpy="0 0 0" xyz="-0.095 -0.16 0.05"/> + <parent link="base_link"/> + <child link="RW2_1"/> + <axis xyz="0.0 0.0 1.0"/> + </joint> + <joint name="RW1" type="continuous"> + <origin rpy="0 0 0" xyz="0.095 -0.16 0.05"/> + <parent link="base_link"/> + <child link="RW1_1"/> + <axis xyz="0.0 0.0 1.0"/> + </joint> + <joint name="LW2" type="continuous"> + <origin rpy="0 0 0" xyz="-0.095 0.16 0.05"/> + <parent link="base_link"/> + <child link="LW2_1"/> + <axis xyz="0.0 0.0 1.0"/> + </joint> + <joint name="LW1" type="continuous"> + <origin rpy="0 0 0" xyz="0.095 0.16 0.05"/> + <parent link="base_link"/> + <child link="LW1_1"/> + <axis xyz="0.0 0.0 1.0"/> + </joint> + <joint name="Rigid 10" type="fixed"> + <origin rpy="0 0 0" xyz="0.0 0.0 0.15"/> + <parent link="base_link"/> + <child link="Holder_1"/> + </joint> + <joint name="laser" type="fixed"> + <origin rpy="0 0 0" xyz="0.235 0.0 0.138"/> + <parent link="base_link"/> + <child link="Lidar_1"/> + </joint> + <joint name="Rigid 12" type="fixed"> + <origin rpy="0 0 0" xyz="0.222588 0.012099 0.15"/> + <parent link="base_link"/> + <child link="Camera_1"/> + </joint> +</robot> diff --git a/rusty_description/urdf/rusty.xacro b/rusty_description/urdf/rusty.xacro index c774eb1..39552ca 100644 --- a/rusty_description/urdf/rusty.xacro +++ b/rusty_description/urdf/rusty.xacro @@ -1,9 +1,9 @@ <?xml version="1.0" ?> <robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro"> -<xacro:include filename="$(find rusty_description)/urdf/materials.xacro" /> -<xacro:include filename="$(find rusty_description)/urdf/rusty.trans" /> -<xacro:include filename="$(find rusty_description)/urdf/rusty.gazebo" /> +<xacro:include filename="/home/siddarth/ros2ws/src/Rusty/rusty_description/urdf/materials.xacro" /> +<!-- <xacro:include filename="/home/siddarth/ros2ws/src/Rusty/rusty_description/urdf/rusty.trans" /> --> +<!-- <xacro:include filename="/home/siddarth/ros2ws/src/Rusty/rusty_description/urdf/rusty.gazebo" /> --> <link name="base_link"> <inertial> <origin xyz="0.0002544970294304579 -2.7411733823236023e-17 0.08341254857000653" rpy="0 0 0"/> @@ -13,14 +13,14 @@ <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="silver"/> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -34,14 +34,14 @@ <visual> <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="black"/> </visual> <collision> <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -55,14 +55,14 @@ <visual> <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="black"/> </visual> <collision> <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -76,14 +76,14 @@ <visual> <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="black"/> </visual> <collision> <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -97,14 +97,14 @@ <visual> <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="black"/> </visual> <collision> <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -118,14 +118,14 @@ <visual> <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="blue"/> </visual> <collision> <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -139,14 +139,14 @@ <visual> <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="orange"/> </visual> <collision> <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -160,14 +160,14 @@ <visual> <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="red"/> </visual> <collision> <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> <geometry> - <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -176,28 +176,28 @@ <origin xyz="-0.095 -0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="RW2_1"/> - <axis xyz="0.0 1.0 0.0"/> + <axis xyz="0.0 0.0 1.0"/> </joint> <joint name="RW1" type="continuous"> <origin xyz="0.095 -0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="RW1_1"/> - <axis xyz="0.0 1.0 0.0"/> + <axis xyz="0.0 0.0 1.0"/> </joint> <joint name="LW2" type="continuous"> <origin xyz="-0.095 0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="LW2_1"/> - <axis xyz="0.0 1.0 0.0"/> + <axis xyz="0.0 0.0 1.0"/> </joint> <joint name="LW1" type="continuous"> <origin xyz="0.095 0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="LW1_1"/> - <axis xyz="0.0 1.0 0.0"/> + <axis xyz="0.0 0.0 1.0"/> </joint> <joint name="Rigid 10" type="fixed"> diff --git a/rusty_description/worlds/empty_world.world b/rusty_description/worlds/empty_world.world new file mode 100644 index 0000000..4e222c0 --- /dev/null +++ b/rusty_description/worlds/empty_world.world @@ -0,0 +1,72 @@ +<?xml version="1.0"?> +<sdf version="1.6"> + <world name="default"> + <plugin + filename="gz-sim-physics-system" + name="gz::sim::systems::Physics"> + </plugin> + <plugin + filename="gz-sim-user-commands-system" + name="gz::sim::systems::UserCommands"> + </plugin> + <plugin + filename="gz-sim-scene-broadcaster-system" + name="gz::sim::systems::SceneBroadcaster"> + </plugin> + <plugin + filename="gz-sim-sensors-system" + name="gz::sim::systems::Sensors"> + <render_engine>ogre2</render_engine> + </plugin> + <plugin + filename="gz-sim-imu-system" + name="gz::sim::systems::Imu"> + </plugin> + + <include> + <uri> + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane + </uri> + </include> + + <include> + <uri> + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + </uri> + </include> + + <scene> + <shadows>false</shadows> + </scene> + + <gui fullscreen='0'> + <camera name='user_camera'> + <pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose> + <view_controller>orbit</view_controller> + <projection_type>perspective</projection_type> + </camera> + </gui> + + <physics type="ode"> + <real_time_update_rate>1000.0</real_time_update_rate> + <max_step_size>0.001</max_step_size> + <real_time_factor>1</real_time_factor> + <ode> + <solver> + <type>quick</type> + <iters>150</iters> + <precon_iters>0</precon_iters> + <sor>1.400000</sor> + <use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling> + </solver> + <constraints> + <cfm>0.00001</cfm> + <erp>0.2</erp> + <contact_max_correcting_vel>2000.000000</contact_max_correcting_vel> + <contact_surface_layer>0.01000</contact_surface_layer> + </constraints> + </ode> + </physics> + + </world> +</sdf> \ No newline at end of file diff --git a/rusty_msgs/CMakeLists.txt b/rusty_msgs/CMakeLists.txt new file mode 100644 index 0000000..62d21b3 --- /dev/null +++ b/rusty_msgs/CMakeLists.txt @@ -0,0 +1,43 @@ +cmake_minimum_required(VERSION 3.8) +project(rusty_msgs) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) + +find_package(rosidl_default_generators REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(geometry_msgs REQUIRED) + + +set(msg_files + "msg/GPSmsg.msg" + +) + +rosidl_generate_interfaces(${PROJECT_NAME} + ${msg_files} + DEPENDENCIES geometry_msgs std_msgs +) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package(<dependency> REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_package() diff --git a/rusty_msgs/LICENSE b/rusty_msgs/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/rusty_msgs/LICENSE @@ -0,0 +1,17 @@ +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in +all copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL +THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN +THE SOFTWARE. diff --git a/rusty_msgs/msg/GPSmsg.msg b/rusty_msgs/msg/GPSmsg.msg new file mode 100644 index 0000000..d9bed4b --- /dev/null +++ b/rusty_msgs/msg/GPSmsg.msg @@ -0,0 +1,9 @@ + +std_msgs/Header header +float64 latitude +float64 longitude +float64 altitude +float64 utm_easting +float64 utm_northing +int32 zone +char letter diff --git a/rusty_msgs/package.xml b/rusty_msgs/package.xml new file mode 100644 index 0000000..c0d00ed --- /dev/null +++ b/rusty_msgs/package.xml @@ -0,0 +1,21 @@ +<?xml version="1.0"?> +<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> +<package format="3"> + <name>rusty_msgs</name> + <version>0.0.0</version> + <description>custom messages for rusty</description> + <maintainer email="siddarth.dayasagar@gmail.com">siddarth_dayasagar</maintainer> + <license>MIT</license> + + <buildtool_depend>ament_cmake</buildtool_depend> + <buildtool_depend>rosidl_default_generators</buildtool_depend> + <exec_depend>rosidl_default_runtime</exec_depend> + <member_of_group>rosidl_interface_packages</member_of_group> + + <test_depend>ament_lint_auto</test_depend> + <test_depend>ament_lint_common</test_depend> + + <export> + <build_type>ament_cmake</build_type> + </export> +</package> From 57ff27e5284782d13b9f4552ddf352811a75d954 Mon Sep 17 00:00:00 2001 From: Siddarth09 <siddarth.dayasagar@gmail.com> Date: Sat, 21 Sep 2024 22:40:17 -0400 Subject: [PATCH 10/15] gazebo-classic update --- rusty_description/urdf/rusty.xacro | 64 +++++++++++++++--------------- 1 file changed, 32 insertions(+), 32 deletions(-) diff --git a/rusty_description/urdf/rusty.xacro b/rusty_description/urdf/rusty.xacro index 39552ca..b30890b 100644 --- a/rusty_description/urdf/rusty.xacro +++ b/rusty_description/urdf/rusty.xacro @@ -1,9 +1,9 @@ <?xml version="1.0" ?> <robot name="rusty" xmlns:xacro="http://www.ros.org/wiki/xacro"> -<xacro:include filename="/home/siddarth/ros2ws/src/Rusty/rusty_description/urdf/materials.xacro" /> -<!-- <xacro:include filename="/home/siddarth/ros2ws/src/Rusty/rusty_description/urdf/rusty.trans" /> --> -<!-- <xacro:include filename="/home/siddarth/ros2ws/src/Rusty/rusty_description/urdf/rusty.gazebo" /> --> +<xacro:include filename="$(find rusty_description)/urdf/materials.xacro" /> +<xacro:include filename="$(find rusty_description)/urdf/rusty.trans" /> +<xacro:include filename="$(find rusty_description)/urdf/rusty.gazebo" /> <link name="base_link"> <inertial> <origin xyz="0.0002544970294304579 -2.7411733823236023e-17 0.08341254857000653" rpy="0 0 0"/> @@ -13,14 +13,14 @@ <visual> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/> </geometry> <material name="silver"/> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/base_link.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -34,14 +34,14 @@ <visual> <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="black"/> + <material name="silver"/> </visual> <collision> <origin xyz="0.095 0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/RW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -55,14 +55,14 @@ <visual> <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="black"/> + <material name="silver"/> </visual> <collision> <origin xyz="-0.095 0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/RW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -76,14 +76,14 @@ <visual> <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="black"/> + <material name="silver"/> </visual> <collision> <origin xyz="0.095 -0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/LW2_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -97,14 +97,14 @@ <visual> <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="black"/> + <material name="silver"/> </visual> <collision> <origin xyz="-0.095 -0.16 -0.05" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/LW1_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -118,14 +118,14 @@ <visual> <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="blue"/> + <material name="silver"/> </visual> <collision> <origin xyz="-0.0 -0.0 -0.15" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/Holder_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -139,14 +139,14 @@ <visual> <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="orange"/> + <material name="silver"/> </visual> <collision> <origin xyz="-0.235 -0.0 -0.135" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/Lidar_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -160,14 +160,14 @@ <visual> <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> </geometry> - <material name="red"/> + <material name="silver"/> </visual> <collision> <origin xyz="-0.222588 -0.012099 -0.15" rpy="0 0 0"/> <geometry> - <mesh filename="file:///home/siddarth/ros2ws/src/Rusty/rusty_description/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> + <mesh filename="file://$(find rusty_description)/meshes/Camera_1.stl" scale="0.001 0.001 0.001"/> </geometry> </collision> </link> @@ -176,28 +176,28 @@ <origin xyz="-0.095 -0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="RW2_1"/> - <axis xyz="0.0 0.0 1.0"/> + <axis xyz="0.0 1.0 0.0"/> </joint> <joint name="RW1" type="continuous"> <origin xyz="0.095 -0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="RW1_1"/> - <axis xyz="0.0 0.0 1.0"/> + <axis xyz="0.0 1.0 0.0"/> </joint> <joint name="LW2" type="continuous"> <origin xyz="-0.095 0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="LW2_1"/> - <axis xyz="0.0 0.0 1.0"/> + <axis xyz="0.0 1.0 0.0"/> </joint> <joint name="LW1" type="continuous"> <origin xyz="0.095 0.16 0.05" rpy="0 0 0"/> <parent link="base_link"/> <child link="LW1_1"/> - <axis xyz="0.0 0.0 1.0"/> + <axis xyz="0.0 1.0 0.0"/> </joint> <joint name="Rigid 10" type="fixed"> @@ -207,7 +207,7 @@ </joint> <joint name="laser" type="fixed"> - <origin xyz="0.235 0.0 0.138" rpy="0 0 0"/> + <origin xyz="0.235 0.0 0.135" rpy="0 0 0"/> <parent link="base_link"/> <child link="Lidar_1"/> </joint> @@ -218,4 +218,4 @@ <child link="Camera_1"/> </joint> -</robot> +</robot> \ No newline at end of file From 32d52630082da8b70fdfd4087501b19567b2fd98 Mon Sep 17 00:00:00 2001 From: Siddarth09 <siddarth.dayasagar@gmail.com> Date: Thu, 26 Sep 2024 08:24:17 -0400 Subject: [PATCH 11/15] ros2 gazebo port --- rusty/config/slam_params.yaml | 75 ++ .../{gazebo_sim.launch => slam.launch.py} | 0 rusty_description/launch/gazebo.launch.py | 2 +- rusty_description/urdf/rusty.gazebo | 3 +- rusty_description/urdf/rusty.xacro | 2 +- rusty_description/worlds/house.sdf | 645 +++++++++++++++++- 6 files changed, 709 insertions(+), 18 deletions(-) create mode 100644 rusty/config/slam_params.yaml rename rusty/launch/{gazebo_sim.launch => slam.launch.py} (100%) diff --git a/rusty/config/slam_params.yaml b/rusty/config/slam_params.yaml new file mode 100644 index 0000000..cdb5645 --- /dev/null +++ b/rusty/config/slam_params.yaml @@ -0,0 +1,75 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + use_map_saver: true + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + min_laser_range: 0.0 #for rastering images + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30.0 + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/rusty/launch/gazebo_sim.launch b/rusty/launch/slam.launch.py similarity index 100% rename from rusty/launch/gazebo_sim.launch rename to rusty/launch/slam.launch.py diff --git a/rusty_description/launch/gazebo.launch.py b/rusty_description/launch/gazebo.launch.py index b7a0a60..c838b9d 100644 --- a/rusty_description/launch/gazebo.launch.py +++ b/rusty_description/launch/gazebo.launch.py @@ -7,7 +7,7 @@ def generate_launch_description(): pkg_share = launch_ros.substitutions.FindPackageShare(package='rusty_description').find('rusty_description') - world_path = 'src/Rusty/rusty_description/worlds/house.sdf' + world_path = '/home/siddarth/ros2ws/src/Rusty/rusty_description/worlds/house.sdf' default_model_path = os.path.join(pkg_share, 'urdf/rusty.xacro') use_sim_time = LaunchConfiguration('use_sim_time') robot_state_publisher_node = launch_ros.actions.Node( diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo index c167fd7..33b4c36 100644 --- a/rusty_description/urdf/rusty.gazebo +++ b/rusty_description/urdf/rusty.gazebo @@ -114,7 +114,7 @@ </plugin> </gazebo> -<gazebo reference="Lidar_1"> +<gazebo reference="laser"> <sensor name="ydlidar" type="ray"> <always_on>true</always_on> <visualize>false</visualize> @@ -171,6 +171,7 @@ <mean>0.0</mean> <stddev>0.007</stddev> </noise> + </camera> <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> <alwaysOn>true</alwaysOn> diff --git a/rusty_description/urdf/rusty.xacro b/rusty_description/urdf/rusty.xacro index b30890b..bc4a370 100644 --- a/rusty_description/urdf/rusty.xacro +++ b/rusty_description/urdf/rusty.xacro @@ -212,7 +212,7 @@ <child link="Lidar_1"/> </joint> -<joint name="Rigid 12" type="fixed"> +<joint name="camera" type="fixed"> <origin xyz="0.222588 0.012099 0.15" rpy="0 0 0"/> <parent link="base_link"/> <child link="Camera_1"/> diff --git a/rusty_description/worlds/house.sdf b/rusty_description/worlds/house.sdf index 485e572..ace0985 100644 --- a/rusty_description/worlds/house.sdf +++ b/rusty_description/worlds/house.sdf @@ -1953,15 +1953,15 @@ <pose>2.30249 -4.27694 0 0 -0 0</pose> </model> <state world_name='default'> - <sim_time>325 142000000</sim_time> - <real_time>549 605711355</real_time> - <wall_time>1642423279 755548018</wall_time> - <iterations>325142</iterations> + <sim_time>382 772000000</sim_time> + <real_time>59 16190849</real_time> + <wall_time>1726973269 505132173</wall_time> + <iterations>57630</iterations> <model name='Dumpster'> - <pose>14.0534 5.94057 0.001369 -2e-06 0 0</pose> + <pose>14.0534 5.94057 0.001372 0 -4e-06 0</pose> <scale>1 1 1</scale> <link name='link'> - <pose>14.0534 5.94057 0.001369 -2e-06 0 0</pose> + <pose>14.0534 5.94057 0.001372 0 -4e-06 0</pose> <velocity>0 0 0 0 -0 0</velocity> <acceleration>0 0 -9.8 0 -0 0</acceleration> <wrench>0 0 -9.8 0 -0 0</wrench> @@ -2003,8 +2003,8 @@ <link name='link'> <pose>-24.5239 0.373048 0.149 0 -0 0</pose> <velocity>0 0 0 0 -0 0</velocity> - <acceleration>-0 1.9e-05 -0 -0.000128 -2e-06 0</acceleration> - <wrench>-1e-06 3.8e-05 -1e-06 0 -0 0</wrench> + <acceleration>-0 -1.9e-05 0 0.000128 -2e-06 0</acceleration> + <wrench>-1e-06 -3.8e-05 1e-06 0 -0 0</wrench> </link> </model> <model name='fire_hydrant'> @@ -2028,7 +2028,7 @@ </link> </model> <model name='myhouse'> - <pose>-3.23928 -1.27261 0 0 -0 0</pose> + <pose>-3.2393 -1.27261 0 0 -0 0</pose> <scale>1 1 1</scale> <link name='Wall_0'> <pose>-28.1338 1.75143 0 0 0 -1.5708</pose> @@ -2122,13 +2122,13 @@ </link> </model> <model name='person_standing'> - <pose>2.3025 -4.27694 -1e-06 -1e-06 1e-06 -0.000132</pose> + <pose>2.30249 -4.27694 -0 1e-06 -1e-06 4e-06</pose> <scale>1 1 1</scale> <link name='link'> - <pose>2.3025 -4.27694 -1e-06 -1e-06 1e-06 -0.000132</pose> + <pose>2.30249 -4.27694 -0 1e-06 -1e-06 4e-06</pose> <velocity>0 0 0 0 -0 0</velocity> - <acceleration>1.61711 1.13763 -1.48242 1.93723 1.45227 3.09349</acceleration> - <wrench>129.369 91.0101 -118.594 0 -0 0</wrench> + <acceleration>-1.54905 1.08966 -1.8261 1.98327 -1.51897 -3.0985</acceleration> + <wrench>-123.924 87.1726 -146.088 0 -0 0</wrench> </link> </model> <model name='postbox'> @@ -2141,6 +2141,40 @@ <wrench>0 0 0 0 -0 0</wrench> </link> </model> + <model name='rusty'> + <pose>-0.000147 0.014124 -8.9e-05 2e-06 7e-06 0.036842</pose> + <scale>1 1 1</scale> + <link name='LW1_1'> + <pose>0.088896 0.177513 0.049937 3e-05 -0.033385 0.036843</pose> + <velocity>-0.00023 0.000798 -0.011548 -0.006694 -8.5e-05 0.000181</velocity> + <acceleration>-0.229421 1.10344 -23.1483 -0.23701 -0.095065 -0.906954</acceleration> + <wrench>-0.041893 0.201493 -4.227 0 -0 0</wrench> + </link> + <link name='LW2_1'> + <pose>-0.100975 0.170514 0.049937 3.6e-05 -0.001521 0.036844</pose> + <velocity>-0.000222 0.000643 -0.01116 -0.008185 -0.00014 0.000285</velocity> + <acceleration>-0.228622 1.00196 -22.5328 -2.802 -0.324874 -0.677786</acceleration> + <wrench>-0.041748 0.182963 -4.11461 0 -0 0</wrench> + </link> + <link name='RW1_1'> + <pose>0.100682 -0.142267 0.049937 -4.3e-05 0.001663 0.036844</pose> + <velocity>0.000229 -9.6e-05 -0.01173 0.011522 0.000587 0.000263</velocity> + <acceleration>0.260138 -0.809783 -23.3331 0.710162 1.42527 -0.742793</acceleration> + <wrench>0.047503 -0.14787 -4.26075 0 -0 0</wrench> + </link> + <link name='RW2_1'> + <pose>-0.089189 -0.149265 0.049937 -4e-05 0.001726 0.036844</pose> + <velocity>0.000237 -0.000286 -0.011456 0.010733 0.000558 0.000219</velocity> + <acceleration>0.271579 -0.903369 -23.0369 -2.00654 1.43297 -0.787038</acceleration> + <wrench>0.049592 -0.16496 -4.20665 0 -0 0</wrench> + </link> + <link name='base_link'> + <pose>-0.000147 0.014124 -8.9e-05 2e-06 7e-06 0.036842</pose> + <velocity>-2.3e-05 0.000224 -0.004838 0.000317 0.000174 0.000606</velocity> + <acceleration>-0.000336 -0.001789 -9.55901 -0.076843 -0.018809 -0.026438</acceleration> + <wrench>-0.013453 -0.071626 -382.811 0 -0 0</wrench> + </link> + </model> <model name='table'> <pose>-18.1522 1.64342 0 0 -0 0</pose> <scale>1 1 1</scale> @@ -2167,10 +2201,591 @@ </state> <gui fullscreen='0'> <camera name='user_camera'> - <pose>8.57934 -7.13195 4.05589 0 0.275643 2.3562</pose> + <pose>-8.4773 4.98824 4.52523 -0 0.323644 -0.574981</pose> <view_controller>orbit</view_controller> <projection_type>perspective</projection_type> </camera> </gui> + <audio> + <device>default</device> + </audio> + <model name='rusty'> + <link name='base_link'> + <inertial> + <pose>0.000187 1.7e-05 0.134183 0 -0 0</pose> + <mass>40.0471</mass> + <inertia> + <ixx>0.396803</ixx> + <ixy>-0.000160667</ixy> + <ixz>1.07487e-05</ixz> + <iyy>0.900506</iyy> + <iyz>3.01439e-06</iyz> + <izz>1.12391</izz> + </inertia> + </inertial> + <collision name='base_link_collision'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/base_link.stl</uri> + </mesh> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode> + <mu>0.2</mu> + <mu2>0.2</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <collision name='base_link_fixed_joint_lump__Holder_1_collision_1'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/Holder_1.stl</uri> + </mesh> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode> + <mu>0.2</mu> + <mu2>0.2</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <collision name='base_link_fixed_joint_lump__Camera_1_collision_2'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/Camera_1.stl</uri> + </mesh> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode> + <mu>0.2</mu> + <mu2>0.2</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <collision name='base_link_fixed_joint_lump__Lidar_1_collision_3'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/Lidar_1.stl</uri> + </mesh> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode> + <mu>0.2</mu> + <mu2>0.2</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='base_link_visual'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/base_link.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Silver</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <visual name='base_link_fixed_joint_lump__Holder_1_visual_1'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/Holder_1.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Black</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <visual name='base_link_fixed_joint_lump__Camera_1_visual_2'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/Camera_1.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Red</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <visual name='base_link_fixed_joint_lump__Lidar_1_visual_3'> + <pose>0 0 0 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/Lidar_1.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Blue</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <self_collide>1</self_collide> + <gravity>1</gravity> + <self_collide>1</self_collide> + <self_collide>1</self_collide> + <sensor name='camera' type='camera'> + <update_rate>30</update_rate> + <camera name='head'> + <horizontal_fov>1.39626</horizontal_fov> + <image> + <width>640</width> + <height>480</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.02</near> + <far>300</far> + </clip> + <noise> + <type>gaussian</type> + <mean>0</mean> + <stddev>0.007</stddev> + </noise> + </camera> + <plugin name='camera_controller' filename='libgazebo_ros_camera.so'> + <alwaysOn>1</alwaysOn> + <updateRate>0.0</updateRate> + <cameraName>camera</cameraName> + <imageTopicName>image_raw</imageTopicName> + <cameraInfoTopicName>camera_info</cameraInfoTopicName> + <frameName>camera</frameName> + <hackBaseline>0.07</hackBaseline> + <distortionK1>0.0</distortionK1> + <distortionK2>0.0</distortionK2> + <distortionK3>0.0</distortionK3> + <distortionT1>0.0</distortionT1> + <distortionT2>0.0</distortionT2> + </plugin> + <pose>0.222588 0.012099 0.15 0 -0 0</pose> + </sensor> + <self_collide>1</self_collide> + <sensor name='ydlidar' type='ray'> + <always_on>1</always_on> + <visualize>0</visualize> + <update_rate>10</update_rate> + <ray> + <scan> + <horizontal> + <samples>720</samples> + <resolution>1</resolution> + <min_angle>-1.57</min_angle> + <max_angle>1.57</max_angle> + </horizontal> + <vertical> + <samples>1</samples> + <min_angle>0</min_angle> + <max_angle>0</max_angle> + </vertical> + </scan> + <range> + <min>0.05</min> + <max>20</max> + <resolution>0.015</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0</mean> + <stddev>0.01</stddev> + </noise> + </ray> + <plugin name='scan' filename='libgazebo_ros_ray_sensor.so'> + <ros> + <remapping>~/out:=scan</remapping> + </ros> + <output_type>sensor_msgs/LaserScan</output_type> + <frame_name>Lidar_1</frame_name> + </plugin> + <pose>0.235 0 0.135 0 -0 0</pose> + </sensor> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <joint name='LW1' type='revolute'> + <pose relative_to='base_link'>0.095 0.16 0.05 0 -0 0</pose> + <parent>base_link</parent> + <child>LW1_1</child> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='LW1_1'> + <pose relative_to='LW1'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0.0125 0 0 -0 0</pose> + <mass>0.182605</mass> + <inertia> + <ixx>0.000124</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000228</iyy> + <iyz>0</iyz> + <izz>0.000124</izz> + </inertia> + </inertial> + <collision name='LW1_1_collision'> + <pose>-0.095 -0.16 -0.05 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/LW1_1.stl</uri> + </mesh> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode> + <mu>0.2</mu> + <mu2>0.2</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='LW1_1_visual'> + <pose>-0.095 -0.16 -0.05 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/LW1_1.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Black</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <self_collide>1</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <joint name='LW2' type='revolute'> + <pose relative_to='base_link'>-0.095 0.16 0.05 0 -0 0</pose> + <parent>base_link</parent> + <child>LW2_1</child> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='LW2_1'> + <pose relative_to='LW2'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 0.0125 0 0 -0 0</pose> + <mass>0.182605</mass> + <inertia> + <ixx>0.000124</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000228</iyy> + <iyz>0</iyz> + <izz>0.000124</izz> + </inertia> + </inertial> + <collision name='LW2_1_collision'> + <pose>0.095 -0.16 -0.05 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/LW2_1.stl</uri> + </mesh> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode> + <mu>0.2</mu> + <mu2>0.2</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='LW2_1_visual'> + <pose>0.095 -0.16 -0.05 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/LW2_1.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Black</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <self_collide>1</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <joint name='RW1' type='revolute'> + <pose relative_to='base_link'>0.095 -0.16 0.05 0 -0 0</pose> + <parent>base_link</parent> + <child>RW1_1</child> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='RW1_1'> + <pose relative_to='RW1'>0 0 0 0 -0 0</pose> + <inertial> + <pose>-0 -0.0125 0 0 -0 0</pose> + <mass>0.182605</mass> + <inertia> + <ixx>0.000124</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000228</iyy> + <iyz>0</iyz> + <izz>0.000124</izz> + </inertia> + </inertial> + <collision name='RW1_1_collision'> + <pose>-0.095 0.16 -0.05 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/RW1_1.stl</uri> + </mesh> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode> + <mu>0.2</mu> + <mu2>0.2</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='RW1_1_visual'> + <pose>-0.095 0.16 -0.05 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/RW1_1.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Black</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <self_collide>1</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <joint name='RW2' type='revolute'> + <pose relative_to='base_link'>-0.095 -0.16 0.05 0 -0 0</pose> + <parent>base_link</parent> + <child>RW2_1</child> + <axis> + <xyz>0 1 0</xyz> + <limit> + <lower>-1e+16</lower> + <upper>1e+16</upper> + </limit> + <dynamics> + <spring_reference>0</spring_reference> + <spring_stiffness>0</spring_stiffness> + </dynamics> + </axis> + </joint> + <link name='RW2_1'> + <pose relative_to='RW2'>0 0 0 0 -0 0</pose> + <inertial> + <pose>0 -0.0125 0 0 -0 0</pose> + <mass>0.182605</mass> + <inertia> + <ixx>0.000124</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>0.000228</iyy> + <iyz>0</iyz> + <izz>0.000124</izz> + </inertia> + </inertial> + <collision name='RW2_1_collision'> + <pose>0.095 0.16 -0.05 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/RW2_1.stl</uri> + </mesh> + </geometry> + <surface> + <contact> + <ode/> + </contact> + <friction> + <ode> + <mu>0.2</mu> + <mu2>0.2</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='RW2_1_visual'> + <pose>0.095 0.16 -0.05 0 -0 0</pose> + <geometry> + <mesh> + <scale>0.001 0.001 0.001</scale> + <uri>file:///home/siddarth/ros2ws/install/rusty_description/share/rusty_description/meshes/RW2_1.stl</uri> + </mesh> + </geometry> + <material> + <script> + <name>Gazebo/Black</name> + <uri>file://media/materials/scripts/gazebo.material</uri> + </script> + </material> + </visual> + <self_collide>1</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <plugin name='control' filename='libgazebo_ros_control.so'/> + <static>0</static> + <plugin name='skid_steer_drive' filename='libgazebo_ros_diff_drive.so'> + <ros> + <remapping>cmd_vel:=cmd_vel</remapping> + <remapping>odom:=odom</remapping> + </ros> + <update_rate>500</update_rate> + <num_wheel_pairs>2</num_wheel_pairs> + <left_joint>LW1</left_joint> + <right_joint>RW1</right_joint> + <left_joint>LW2</left_joint> + <right_joint>RW2</right_joint> + <wheel_separation>0.300</wheel_separation> + <wheel_separation>0.300</wheel_separation> + <wheel_diameter>0.100</wheel_diameter> + <wheel_diameter>0.100</wheel_diameter> + <max_wheel_torque>20</max_wheel_torque> + <max_wheel_acceleration>1.0</max_wheel_acceleration> + <publish_odom>1</publish_odom> + <publish_odom_tf>1</publish_odom_tf> + <publish_wheel_tf>1</publish_wheel_tf> + <odometry_frame>odom</odometry_frame> + <robot_base_frame>base_link</robot_base_frame> + </plugin> + <pose>0 0 0 0 -0 0</pose> + </model> </world> -</sdf> \ No newline at end of file +</sdf> From 08b7f479be3a7006cff940dd7a7169ec077fd1c0 Mon Sep 17 00:00:00 2001 From: Siddarth09 <siddarth.dayasagar@gmail.com> Date: Tue, 1 Oct 2024 23:20:00 -0400 Subject: [PATCH 12/15] Bayes Filter implementation --- rusty/launch/slam.launch.py | 13 +++++++++++ rusty/maps/house.pgm | Bin 0 -> 364016 bytes rusty/maps/house.yaml | 7 ++++++ rusty/rusty/bayes_filter.py | 44 ++++++++++++++++++++++++++++++++++++ rusty_msgs/CMakeLists.txt | 3 ++- rusty_msgs/msg/Bayes.msg | 2 ++ 6 files changed, 68 insertions(+), 1 deletion(-) create mode 100644 rusty/maps/house.pgm create mode 100644 rusty/maps/house.yaml create mode 100644 rusty/rusty/bayes_filter.py create mode 100644 rusty_msgs/msg/Bayes.msg diff --git a/rusty/launch/slam.launch.py b/rusty/launch/slam.launch.py index e69de29..19ebe97 100644 --- a/rusty/launch/slam.launch.py +++ b/rusty/launch/slam.launch.py @@ -0,0 +1,13 @@ +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + return LaunchDescription([ + Node( + package='slam_toolbox', + executable='online_async_node', + output='screen', + parameters=[{'slam_params_file': '/home/siddarth/ros2ws/src/Rusty/rusty/config/slam_params.yaml'}, + {'use_sim_time': True}] + ) + ]) diff --git a/rusty/maps/house.pgm b/rusty/maps/house.pgm new file mode 100644 index 0000000000000000000000000000000000000000..8bd79f2adf63ab3ea080dddb6557e74c1d4db6b2 GIT binary patch literal 364016 zcmeI5Yntq+kwEY7Ud1e-?U|l+c;mID`V2@YUqT5Y0th&1yD}vq9)~yzQl+~7&p&_t z>+iq+{-6K-|Nr~z-~asc*H3u;`T6tb&yWA%e!6%6-)$rA_FLf<_QwtX9(VXt{F&+3 zan|FMt%Ci;?RacERJ<Metk<{m)>i0rX#6;^eF#5~eIMO(NBqIi`>p6>&we0uZ141I 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./house.pgm +mode: trinary +resolution: 0.05 +origin: [-28.4, -10.4, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/rusty/rusty/bayes_filter.py b/rusty/rusty/bayes_filter.py new file mode 100644 index 0000000..a9d024f --- /dev/null +++ b/rusty/rusty/bayes_filter.py @@ -0,0 +1,44 @@ +#! /usr/bin/python3 +import rclpy +from std_msgs.msg import Float64MultiArray +from Robotics_concepts.Localization import Bayes_filter +from rclpy import Node +from sensor_msgs.msg import LaserScan +from nav_msgs.msg import Odometry +from geometry_msgs.msg import Pose +from tf_transformations import euler_from_quaternion +from rusty_msgs.msg import Bayes +import numpy as np + +class localization(Node): + def __init__(self): + super.__init__('bayes_filter_node') + self.laser_measurement=self.create_subscription(LaserScan,'/scan',10,self.scanner) + self.odom_measurement=self.create_subscription(Odometry,'/odom',10,self.odom_callback) + + self.posterior_publisher=self.create_publisher(Bayes,'/filter',10) + self.timer=self.create_timer(1,self.bayes_pub) + + self.scan_measurement=0.0 + self.control_motion=0.0 + + self.get_logger().info("BAYES FILTER ON RUSTY INITIALIZED") + + def scanner(self,scan_data): + self.scan_measurement=np.min(scan_data.ranges) + self.get_logger().info(f"LASER INITIALIZED = {self.scan_measurement}") + + def odom_callback(self,odom_data): + pose=odom_data.pose.pose + quaternion=pose.orientation + eul_to_q= [quaternion.x,quaternion.y,quaternion.z,quaternion.w] + roll,pitch,yaw=euler_from_quaternion(eul_to_q) + + self.control_motion=yaw + self.get_logger().info(f"Odometry Update: Position ({pose.position.x}, {pose.position.y}), Yaw: {yaw}") + + + def bayes_pub(self): + + + \ No newline at end of file diff --git a/rusty_msgs/CMakeLists.txt b/rusty_msgs/CMakeLists.txt index 62d21b3..ba67c70 100644 --- a/rusty_msgs/CMakeLists.txt +++ b/rusty_msgs/CMakeLists.txt @@ -16,7 +16,8 @@ find_package(geometry_msgs REQUIRED) set(msg_files - "msg/GPSmsg.msg" + "msg/GPSmsg.msg", + "msg/Bayes.msg" ) diff --git a/rusty_msgs/msg/Bayes.msg b/rusty_msgs/msg/Bayes.msg new file mode 100644 index 0000000..991f686 --- /dev/null +++ b/rusty_msgs/msg/Bayes.msg @@ -0,0 +1,2 @@ +float32[] state_space +float32[] belief From 0a29ce56822d06c574bccf8b906a5d1d382a4644 Mon Sep 17 00:00:00 2001 From: Siddarth09 <siddarth.dayasagar@gmail.com> Date: Wed, 2 Oct 2024 00:42:07 -0400 Subject: [PATCH 13/15] Update patch for bayes filter --- rusty/rusty/bayes_filter.py | 106 +++++++++++++++++++++++++----------- rusty/setup.py | 3 +- rusty_msgs/CMakeLists.txt | 2 +- 3 files changed, 78 insertions(+), 33 deletions(-) diff --git a/rusty/rusty/bayes_filter.py b/rusty/rusty/bayes_filter.py index a9d024f..dfe3ce3 100644 --- a/rusty/rusty/bayes_filter.py +++ b/rusty/rusty/bayes_filter.py @@ -1,44 +1,88 @@ -#! /usr/bin/python3 -import rclpy +#!/usr/bin/python3 +import rclpy from std_msgs.msg import Float64MultiArray -from Robotics_concepts.Localization import Bayes_filter -from rclpy import Node -from sensor_msgs.msg import LaserScan -from nav_msgs.msg import Odometry +from sensor_msgs.msg import LaserScan, Odometry from geometry_msgs.msg import Pose from tf_transformations import euler_from_quaternion from rusty_msgs.msg import Bayes import numpy as np +from Robotics_concepts.Localization import BayesFilter +from rclpy import Node -class localization(Node): +class Localization(Node): def __init__(self): - super.__init__('bayes_filter_node') - self.laser_measurement=self.create_subscription(LaserScan,'/scan',10,self.scanner) - self.odom_measurement=self.create_subscription(Odometry,'/odom',10,self.odom_callback) - - self.posterior_publisher=self.create_publisher(Bayes,'/filter',10) - self.timer=self.create_timer(1,self.bayes_pub) - - self.scan_measurement=0.0 - self.control_motion=0.0 + super().__init__('bayes_filter_node') + + self.laser_measurement = self.create_subscription(LaserScan, '/scan', self.scanner, 10) + self.odom_measurement = self.create_subscription(Odometry, '/odom', self.odom_callback, 10) + + + self.posterior_publisher = self.create_publisher(Bayes, '/filter', 10) + + self.timer = self.create_timer(1, self.bayes_pub) + + # Initial sensor and motion measurements + self.scan_measurement = 0.0 + self.control_motion = 0.0 + + + self.state_space = np.linspace(-5, 5, 100) + self.prior_belief = np.ones_like(self.state_space) / len(self.state_space) + + # Create an instance of the BayesFilter class + self.bayes_filter = BayesFilter( + state_space=self.state_space, + control_motion=self.control_motion, + motion_noise=0.1, # Example noise + sensor_measurement=self.scan_measurement, + measurement_noise=0.1 # Example noise + ) + self.get_logger().info("BAYES FILTER ON RUSTY INITIALIZED") + + def scanner(self, scan_data): - def scanner(self,scan_data): - self.scan_measurement=np.min(scan_data.ranges) - self.get_logger().info(f"LASER INITIALIZED = {self.scan_measurement}") - - def odom_callback(self,odom_data): - pose=odom_data.pose.pose - quaternion=pose.orientation - eul_to_q= [quaternion.x,quaternion.y,quaternion.z,quaternion.w] - roll,pitch,yaw=euler_from_quaternion(eul_to_q) - - self.control_motion=yaw - self.get_logger().info(f"Odometry Update: Position ({pose.position.x}, {pose.position.y}), Yaw: {yaw}") - + self.scan_measurement = np.min(scan_data.ranges) + self.bayes_filter.sensor_measurement = self.scan_measurement + self.get_logger().info(f"LASER SCAN RECEIVED: {self.scan_measurement}") + + def odom_callback(self, odom_data): + pose = odom_data.pose.pose + quaternion = pose.orientation + eul_to_q = [quaternion.x, quaternion.y, quaternion.z, quaternion.w] + roll, pitch, yaw = euler_from_quaternion(eul_to_q) + + self.control_motion = yaw # Using yaw as the control input + self.bayes_filter.control_motion = self.control_motion + self.get_logger().info(f"ODOMETRY UPDATE: Position ({pose.position.x}, {pose.position.y}), Yaw: {yaw}") + def bayes_pub(self): + """Method to publish the updated belief using the Bayes filter.""" + + new_belief = self.bayes_filter.bayes_filter(self.prior_belief) + self.prior_belief = new_belief + - - \ No newline at end of file + bayes_msg = Bayes() + bayes_msg.belief = Float64MultiArray(data=new_belief.tolist()) + self.posterior_publisher.publish(bayes_msg) + + self.get_logger().info("Published updated belief.") + +def main(args=None): + rclpy.init(args=args) + node = Localization() + + try: + rclpy.spin(node) + except KeyboardInterrupt: + pass + finally: + node.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() diff --git a/rusty/setup.py b/rusty/setup.py index 251f3b5..d6948b2 100644 --- a/rusty/setup.py +++ b/rusty/setup.py @@ -23,7 +23,8 @@ tests_require=['pytest'], entry_points={ 'console_scripts': [ - 'gps_node = rusty.gps:main' + 'gps_node = rusty.gps:main', + 'bayes_node=rusty.bayes_filter:main' ], }, ) diff --git a/rusty_msgs/CMakeLists.txt b/rusty_msgs/CMakeLists.txt index ba67c70..f3422f0 100644 --- a/rusty_msgs/CMakeLists.txt +++ b/rusty_msgs/CMakeLists.txt @@ -16,7 +16,7 @@ find_package(geometry_msgs REQUIRED) set(msg_files - "msg/GPSmsg.msg", + "msg/GPSmsg.msg" "msg/Bayes.msg" ) From 04aef5602b826a0e06f8cd531c26785543232247 Mon Sep 17 00:00:00 2001 From: Siddarth09 <siddarth.dayasagar@gmail.com> Date: Mon, 7 Oct 2024 19:53:43 -0400 Subject: [PATCH 14/15] Updated kalman filter with gps --- rusty/config/nav2_params.yaml | 2 +- rusty/config/slam_params.yaml | 4 +- rusty/rusty/bayes_filter.py | 88 ---------------------- rusty/rusty/kalman_filter.py | 111 ++++++++++++++++++++++++++++ rusty/setup.py | 3 +- rusty_description/urdf/rusty.gazebo | 16 ++-- 6 files changed, 124 insertions(+), 100 deletions(-) delete mode 100644 rusty/rusty/bayes_filter.py create mode 100644 rusty/rusty/kalman_filter.py diff --git a/rusty/config/nav2_params.yaml b/rusty/config/nav2_params.yaml index c9ead04..99e8afa 100644 --- a/rusty/config/nav2_params.yaml +++ b/rusty/config/nav2_params.yaml @@ -6,7 +6,7 @@ amcl: alpha3: 0.002 alpha4: 0.002 alpha5: 0.002 - base_frame_id: "base_footprint" + base_frame_id: "base_link" beam_skip_distance: 0.5 beam_skip_error_threshold: 0.9 beam_skip_threshold: 0.3 diff --git a/rusty/config/slam_params.yaml b/rusty/config/slam_params.yaml index cdb5645..915a496 100644 --- a/rusty/config/slam_params.yaml +++ b/rusty/config/slam_params.yaml @@ -15,7 +15,7 @@ slam_toolbox: base_frame: base_link scan_topic: /scan use_map_saver: true - mode: mapping #localization + mode: localization #localization # if you'd like to immediately start continuing a map at a given pose # or at the dock, but they are mutually exclusive, if pose is given @@ -23,7 +23,7 @@ slam_toolbox: #map_file_name: test_steve # map_start_pose: [0.0, 0.0, 0.0] #map_start_at_dock: true - + map_file_name: "/home/siddarth/ros2ws/src/Rusty/rusty/maps/house.yaml" debug_logging: false throttle_scans: 1 transform_publish_period: 0.02 #if 0 never publishes odometry diff --git a/rusty/rusty/bayes_filter.py b/rusty/rusty/bayes_filter.py deleted file mode 100644 index dfe3ce3..0000000 --- a/rusty/rusty/bayes_filter.py +++ /dev/null @@ -1,88 +0,0 @@ -#!/usr/bin/python3 -import rclpy -from std_msgs.msg import Float64MultiArray -from sensor_msgs.msg import LaserScan, Odometry -from geometry_msgs.msg import Pose -from tf_transformations import euler_from_quaternion -from rusty_msgs.msg import Bayes -import numpy as np -from Robotics_concepts.Localization import BayesFilter -from rclpy import Node - -class Localization(Node): - def __init__(self): - super().__init__('bayes_filter_node') - - - self.laser_measurement = self.create_subscription(LaserScan, '/scan', self.scanner, 10) - self.odom_measurement = self.create_subscription(Odometry, '/odom', self.odom_callback, 10) - - - self.posterior_publisher = self.create_publisher(Bayes, '/filter', 10) - - self.timer = self.create_timer(1, self.bayes_pub) - - # Initial sensor and motion measurements - self.scan_measurement = 0.0 - self.control_motion = 0.0 - - - self.state_space = np.linspace(-5, 5, 100) - self.prior_belief = np.ones_like(self.state_space) / len(self.state_space) - - # Create an instance of the BayesFilter class - self.bayes_filter = BayesFilter( - state_space=self.state_space, - control_motion=self.control_motion, - motion_noise=0.1, # Example noise - sensor_measurement=self.scan_measurement, - measurement_noise=0.1 # Example noise - ) - - self.get_logger().info("BAYES FILTER ON RUSTY INITIALIZED") - - def scanner(self, scan_data): - - self.scan_measurement = np.min(scan_data.ranges) - self.bayes_filter.sensor_measurement = self.scan_measurement - self.get_logger().info(f"LASER SCAN RECEIVED: {self.scan_measurement}") - - def odom_callback(self, odom_data): - - pose = odom_data.pose.pose - quaternion = pose.orientation - eul_to_q = [quaternion.x, quaternion.y, quaternion.z, quaternion.w] - roll, pitch, yaw = euler_from_quaternion(eul_to_q) - - self.control_motion = yaw # Using yaw as the control input - self.bayes_filter.control_motion = self.control_motion - self.get_logger().info(f"ODOMETRY UPDATE: Position ({pose.position.x}, {pose.position.y}), Yaw: {yaw}") - - def bayes_pub(self): - """Method to publish the updated belief using the Bayes filter.""" - - new_belief = self.bayes_filter.bayes_filter(self.prior_belief) - self.prior_belief = new_belief - - - bayes_msg = Bayes() - bayes_msg.belief = Float64MultiArray(data=new_belief.tolist()) - self.posterior_publisher.publish(bayes_msg) - - self.get_logger().info("Published updated belief.") - -def main(args=None): - rclpy.init(args=args) - node = Localization() - - try: - rclpy.spin(node) - except KeyboardInterrupt: - pass - finally: - node.destroy_node() - rclpy.shutdown() - - -if __name__ == '__main__': - main() diff --git a/rusty/rusty/kalman_filter.py b/rusty/rusty/kalman_filter.py new file mode 100644 index 0000000..69edb0a --- /dev/null +++ b/rusty/rusty/kalman_filter.py @@ -0,0 +1,111 @@ +import rclpy +from rusty_msgs.msg import GPSmsg +from rclpy.node import Node + +import math +import numpy as np +import matplotlib as plt + + + +class KalmanFilter(): + def __init__(self,state_space, measurement, dt, control=0): + self.X = np.zeros((state_space,1)) #State vector (initial) (4x1) + #print(f"state \n {self.X}") + self.P = np.eye(state_space) #Covariance Matrix + + #print(f"Covariance matrix of state \n {self.P}") + + #State transition Matrix + self.A = np.eye(state_space) + for i in range (state_space//2): + self.A[i,i+state_space//2]=dt + #print(f"Transition state matrix \n {self.A}") + + #Control matrix + self.B = np.zeros((state_space,control)) + #print(f"Control matrix \n {self.B}") + + #Measurement Matrix (H) + self.H = np.zeros((measurement,state_space)) + for i in range (measurement): + self.H[i,i]=1 + + #print(f"Measurement matrix \n {self.H}") + + #Process Noise covar (Q) + + self.Q=np.diag([0.01,0.01,0.01,0.01]) + + self.R=np.eye(measurement)*0.005 + + #Identity + self.I= np.eye(state_space) + + + def predict(self,U=np.zeros((1,1))): + + # Finding State and covariance (predicted) + self.X = np.dot(self.A,self.X) + self.P = np.dot(np.dot(self.A,self.P),self.A.T) + self.Q + + return self.X + + def update(self,Z): + + #Calculate kalman gain (K_k) + Y=Z- np.dot (self.H,self.X) + S=np.dot(np.dot(self.H,self.P),np.matrix.transpose(self.H))+self.R + K = np.dot(np.dot(self.P,np.matrix.transpose(self.H)),np.linalg.inv(S)) + + self.X=self.X+ np.dot(K,Y) + self.P=np.dot(self.I-np.dot(K,self.H),self.P) + + return self.X + + +class GPS_Rectifier(Node): + def __init__(self): + super().__init__('gps_rectifier') + self.subscription = self.create_subscription(GPSmsg, 'gps_data', self.gps_callback, 10) + self.measurement=0.0 + + def gps_callback(self, msg): + #self.get_logger().info(f'Received GPS data: {msg}') + + + latitude = msg.latitude + longitude = msg.longitude + altitude = msg.altitude + utm_easting = msg.utm_easting + utm_northing = msg.utm_northing + zone = msg.zone + # rectified_msg.letter = msg.letter # Ensure this is a string + self.measurement=np.array([[utm_easting],[utm_northing]]) + self.get_logger().info(f"Measurement {self.measurement}") + + kalman=KalmanFilter(4,2,0.1) + kalman.predict() + self.get_logger().info("Prediction done") + X=kalman.update(self.measurement) + self.get_logger().info(f"Updated states {X}") + + + +def main(): + rclpy.init() + gps_rectifier = GPS_Rectifier() + rclpy.spin(gps_rectifier) + gps_rectifier.destroy_node() + rclpy.shutdown() + + + + + + + + + +if __name__=="__main__": + main() \ No newline at end of file diff --git a/rusty/setup.py b/rusty/setup.py index d6948b2..83bd9ae 100644 --- a/rusty/setup.py +++ b/rusty/setup.py @@ -24,7 +24,8 @@ entry_points={ 'console_scripts': [ 'gps_node = rusty.gps:main', - 'bayes_node=rusty.bayes_filter:main' + 'bayes_node=rusty.bayes_filter:main', + 'kalman_f = rusty.kalman_filter:main' ], }, ) diff --git a/rusty_description/urdf/rusty.gazebo b/rusty_description/urdf/rusty.gazebo index 33b4c36..cc2858d 100644 --- a/rusty_description/urdf/rusty.gazebo +++ b/rusty_description/urdf/rusty.gazebo @@ -20,29 +20,29 @@ <gazebo reference="RW2_1"> <material>${wheel_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> + <mu1>100</mu1> + <mu2>100</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="RW1_1"> <material>${wheel_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> + <mu1>100</mu1> + <mu2>100</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="LW2_1"> <material>${wheel_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> + <mu1>100</mu1> + <mu2>100</mu2> <self_collide>true</self_collide> </gazebo> <gazebo reference="LW1_1"> <material>${wheel_color}</material> - <mu1>0.2</mu1> - <mu2>0.2</mu2> + <mu1>100</mu1> + <mu2>100</mu2> <self_collide>true</self_collide> </gazebo> From 6aa4e52d85b308641e23022e7b4ea87e74f5ea5b Mon Sep 17 00:00:00 2001 From: Siddarth09 <siddarth.dayasagar@gmail.com> Date: Fri, 1 Nov 2024 18:17:03 -0400 Subject: [PATCH 15/15] Updates to the sdf model for gazebo simulation --- rusty/config/slam.lua | 64 + rusty/launch/cartographer_slam.launch.py | 92 + rusty/launch/gps_driver.launch.py | 16 +- rusty/launch/slam.launch.py | 97 +- rusty/rusty/ekf_for_gps.py | 164 ++ rusty/rusty/gps.py | 2 +- rusty/rusty/kalman_filter.py | 187 +- rusty/setup.py | 6 +- rusty_description/launch/gazebo.launch.py | 2 +- rusty_description/launch/gz.launch.py | 117 +- .../launch/robot_state_publisher.launch.py | 8 +- .../launch/spawn_rusty.launch.py | 33 +- .../urdf/{model.sdf => rusty.sdf} | 349 ++-- rusty_description/worlds/base_station.sdf | 1758 +++++++++++++++++ rusty_description/worlds/base_station.world | 584 ++++++ rusty_msgs/CMakeLists.txt | 3 +- rusty_msgs/msg/VnHundred.msg | 3 + 17 files changed, 3145 insertions(+), 340 deletions(-) create mode 100644 rusty/config/slam.lua create mode 100644 rusty/launch/cartographer_slam.launch.py create mode 100644 rusty/rusty/ekf_for_gps.py rename rusty_description/urdf/{model.sdf => rusty.sdf} (61%) create mode 100644 rusty_description/worlds/base_station.sdf create mode 100644 rusty_description/worlds/base_station.world create mode 100644 rusty_msgs/msg/VnHundred.msg diff --git a/rusty/config/slam.lua b/rusty/config/slam.lua new file mode 100644 index 0000000..1b3f41e --- /dev/null +++ b/rusty/config/slam.lua @@ -0,0 +1,64 @@ +-- Copyright 2016 The Cartographer Authors +-- +-- Licensed under the Apache License, Version 2.0 (the "License"); +-- you may not use this file except in compliance with the License. +-- You may obtain a copy of the License at +-- +-- http://www.apache.org/licenses/LICENSE-2.0 +-- +-- Unless required by applicable law or agreed to in writing, software +-- distributed under the License is distributed on an "AS IS" BASIS, +-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +-- See the License for the specific language governing permissions and +-- limitations under the License. + +include "map_builder.lua" +include "trajectory_builder.lua" + +options = { + map_builder = MAP_BUILDER, + trajectory_builder = TRAJECTORY_BUILDER, + map_frame = "map", + tracking_frame = "base_link", + published_frame = "base_link", + odom_frame = "odom", + provide_odom_frame = true, + publish_frame_projected_to_2d = true, + use_odometry = false, + use_nav_sat = false, + use_landmarks = false, + num_laser_scans = 1, + num_multi_echo_laser_scans = 0, + num_subdivisions_per_laser_scan = 1, + num_point_clouds = 0, + lookup_transform_timeout_sec = 0.2, + submap_publish_period_sec = 0.3, + pose_publish_period_sec = 5e-3, + trajectory_publish_period_sec = 30e-3, + rangefinder_sampling_ratio = 1., + odometry_sampling_ratio = 1., + fixed_frame_pose_sampling_ratio = 1., + imu_sampling_ratio = 1., + landmarks_sampling_ratio = 1., +} + +MAP_BUILDER.use_trajectory_builder_2d = true + +TRAJECTORY_BUILDER_2D.min_range = 0.05 +TRAJECTORY_BUILDER_2D.max_range = 8. +TRAJECTORY_BUILDER_2D.missing_data_ray_length = 8.5 +TRAJECTORY_BUILDER_2D.use_imu_data = false +TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1 +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10. +TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1 +TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.2) +-- for current lidar only 1 is good value +TRAJECTORY_BUILDER_2D.num_accumulated_range_data = 1 + +POSE_GRAPH.constraint_builder.min_score = 0.65 +POSE_GRAPH.constraint_builder.global_localization_min_score = 0.65 +POSE_GRAPH.optimization_problem.huber_scale = 1e2 +POSE_GRAPH.optimize_every_n_nodes = 35 + +return options \ No newline at end of file diff --git a/rusty/launch/cartographer_slam.launch.py b/rusty/launch/cartographer_slam.launch.py new file mode 100644 index 0000000..9e1f810 --- /dev/null +++ b/rusty/launch/cartographer_slam.launch.py @@ -0,0 +1,92 @@ +import os +import launch +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration,PythonExpression +from launch.actions import DeclareLaunchArgument, SetEnvironmentVariable +from launch_ros.actions import Node +from launch.conditions import IfCondition + +def generate_launch_description(): + prefix_address = get_package_share_directory('rusty') + config_directory = os.path.join(prefix_address, 'config') + slam_config = 'slam.lua' + res = LaunchConfiguration('resolution', default='0.05') + publish_period = LaunchConfiguration('publish_period_sec', default='1.0') + use_sim_time=LaunchConfiguration('use_sim_time') + exploration=LaunchConfiguration('exploration') # slam in exploration MODE + + + return LaunchDescription([ + + SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'), + launch.actions.DeclareLaunchArgument(name='use_sim_time', default_value='False', + description='Flag to enable use_sim_time'), + launch.actions.DeclareLaunchArgument(name='exploration', default_value='True', + description='Flag to enable use_sim_time'), + DeclareLaunchArgument( + 'resolution', + default_value=res, + description='configure the resolution' + ), + + DeclareLaunchArgument( + 'publish_period_sec', + default_value=publish_period, + description='publish period in seconds' + ), + + ################### cartographer_ros_node ################### + DeclareLaunchArgument( + 'configuration_directory', + default_value=config_directory, + description='path to the .lua files' + ), + DeclareLaunchArgument( + 'slam_configuration_basename', + default_value=slam_config, + description='name of .lua file to be used' + ), + DeclareLaunchArgument( + 'localization_configuration_basename', + default_value=slam_config, + description='name of .lua file to be used' + ), + Node( + package='cartographer_ros', + condition= IfCondition(exploration), + executable='cartographer_node', + name='as21_cartographer_node', + arguments=[ + '-configuration_directory', config_directory, + '-configuration_basename', slam_config + ], + parameters= [{'use_sim_time':use_sim_time}], + output='screen' + ), + Node( + package='cartographer_ros', + condition=IfCondition(PythonExpression(['not ', exploration])), + executable='cartographer_node', + name='as21_cartographer_node', + arguments=[ + '-configuration_directory', config_directory, + '-configuration_basename', slam_config + ], + parameters= [{'use_sim_time':use_sim_time}], + output='screen' + ), + + Node( + package='cartographer_ros', + condition= IfCondition(exploration), + executable='cartographer_occupancy_grid_node', + name='cartographer_occupancy_grid_node', + arguments=[ + '-resolution', res, + '-publish_period_sec', publish_period + ] + ), + + ] +) \ No newline at end of file diff --git a/rusty/launch/gps_driver.launch.py b/rusty/launch/gps_driver.launch.py index 8545f36..949d3cf 100644 --- a/rusty/launch/gps_driver.launch.py +++ b/rusty/launch/gps_driver.launch.py @@ -3,10 +3,20 @@ def generate_launch_description(): return LaunchDescription([ + # GPS node Node( - package='rusty', - executable='gps_node', + package='rusty', + executable='gps_node', name='gps_driver', output='screen' ), - ]) \ No newline at end of file + + + Node( + package="tf2_ros", + executable="static_transform_publisher", + name="static_transform_publisher", + arguments=["0", "0", "4", "0", "0", "0", "base_link", "gps"], + output="screen" + ) + ]) diff --git a/rusty/launch/slam.launch.py b/rusty/launch/slam.launch.py index 19ebe97..14b9cf2 100644 --- a/rusty/launch/slam.launch.py +++ b/rusty/launch/slam.launch.py @@ -1,13 +1,90 @@ + +import os + +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch_ros.actions import Node +from launch.actions import (DeclareLaunchArgument, EmitEvent, LogInfo, + RegisterEventHandler) +from launch.conditions import IfCondition +from launch.events import matches_action +from launch.substitutions import (AndSubstitution, LaunchConfiguration, + NotSubstitution) +from launch_ros.actions import LifecycleNode +from launch_ros.event_handlers import OnStateTransition +from launch_ros.events.lifecycle import ChangeState +from lifecycle_msgs.msg import Transition + def generate_launch_description(): - return LaunchDescription([ - Node( - package='slam_toolbox', - executable='online_async_node', - output='screen', - parameters=[{'slam_params_file': '/home/siddarth/ros2ws/src/Rusty/rusty/config/slam_params.yaml'}, - {'use_sim_time': True}] - ) - ]) + use_sim_time = LaunchConfiguration('use_sim_time') + use_lifecycle_manager = LaunchConfiguration("use_lifecycle_manager") + slam_params_file = LaunchConfiguration('slam_params_file') + autostart = LaunchConfiguration('autostart') + + declare_use_sim_time_argument = DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='Use simulation/Gazebo clock') + declare_slam_params_file_cmd = DeclareLaunchArgument( + 'slam_params_file', + default_value=os.path.join(get_package_share_directory("rusty"), + 'config', 'slam_params.yaml'), + description='Full path to the ROS2 parameters file to use for the slam_toolbox node') + declare_autostart_cmd = DeclareLaunchArgument( + 'autostart', default_value='true', + description='Automatically startup the slamtoolbox. ' + 'Ignored when use_lifecycle_manager is true.') + declare_use_lifecycle_manager = DeclareLaunchArgument( + 'use_lifecycle_manager', default_value='false', + description='Enable bond connection during node activation') + + start_localization_slam_toolbox_node = LifecycleNode( + parameters=[ + slam_params_file, + { + 'use_lifecycle_manager': use_lifecycle_manager, + 'use_sim_time': use_sim_time + } + ], + package='slam_toolbox', + executable='localization_slam_toolbox_node', + name='slam_toolbox', + output='screen', + namespace='' + ) + + configure_event = EmitEvent( + event=ChangeState( + lifecycle_node_matcher=matches_action(start_localization_slam_toolbox_node), + transition_id=Transition.TRANSITION_CONFIGURE + ), + condition=IfCondition(AndSubstitution(autostart, NotSubstitution(use_lifecycle_manager))) + ) + + activate_event = RegisterEventHandler( + OnStateTransition( + target_lifecycle_node=start_localization_slam_toolbox_node, + start_state="configuring", + goal_state="inactive", + entities=[ + LogInfo(msg="[LifecycleLaunch] Slamtoolbox node is activating."), + EmitEvent(event=ChangeState( + lifecycle_node_matcher=matches_action(start_localization_slam_toolbox_node), + transition_id=Transition.TRANSITION_ACTIVATE + )) + ] + ), + condition=IfCondition(AndSubstitution(autostart, NotSubstitution(use_lifecycle_manager))) + ) + + ld = LaunchDescription() + + ld.add_action(declare_use_sim_time_argument) + ld.add_action(declare_slam_params_file_cmd) + ld.add_action(declare_autostart_cmd) + ld.add_action(declare_use_lifecycle_manager) + ld.add_action(start_localization_slam_toolbox_node) + ld.add_action(configure_event) + ld.add_action(activate_event) + + return ld \ No newline at end of file diff --git a/rusty/rusty/ekf_for_gps.py b/rusty/rusty/ekf_for_gps.py new file mode 100644 index 0000000..50b96f0 --- /dev/null +++ b/rusty/rusty/ekf_for_gps.py @@ -0,0 +1,164 @@ +import numpy as np +import matplotlib.pyplot as plt + +import rclpy +from rclpy.node import Node +from rusty_msgs.msg import VnHundred +from rusty_msgs.msg import GPSmsg + +import numpy as np + +class ExtendedKF(): + def __init__(self, state_dim, measurement_dim, control_dim, dt): + self.X = np.zeros((state_dim, 1)) # State vector (px, py, vx, vy) + self.P = np.eye(state_dim) # Covariance matrix + self.Q = np.eye(state_dim) * 0.1 # Process noise covariance + self.R = np.eye(measurement_dim) * 0.5 # Measurement noise covariance + self.I = np.eye(state_dim) # Identity matrix + self.dt = dt # Time step + + def g(self, X, U): + # Motion model: state transition with control input + px, py, vx, vy = X.flatten() + ax, ay = U.flatten() # Control input (acceleration in x and y) + + # State prediction with velocity and acceleration + return np.array([[px + vx * self.dt], + [py + vy * self.dt], + [vx + ax * self.dt], + [vy + ay * self.dt]]) + + def h(self, X): + # Measurement model: only position is measured + px, py = X[0, 0], X[1, 0] + return np.array([[px], + [py]]) + + def jacobian_G(self): + # Jacobian of the motion model (g) with respect to the state + return np.array([[1, 0, self.dt, 0], + [0, 1, 0, self.dt], + [0, 0, 1, 0], + [0, 0, 0, 1]]) + + def jacobian_H(self): + # Jacobian of the measurement model (h) with respect to the state + return np.array([[1, 0, 0, 0], + [0, 1, 0, 0]]) + + def predict(self, U): + G = self.jacobian_G() # Get the Jacobian of the motion model + self.X = self.g(self.X, U) # Predict the new state + self.P = np.dot(np.dot(G, self.P), G.T) + self.Q # Update the covariance + return self.X + + def update(self, Z): + # Measurement update using the predicted state + H = self.jacobian_H() # Get the Jacobian of the measurement model + y = Z - self.h(self.X) # Measurement residual (innovation) + S = np.dot(np.dot(H, self.P), H.T) + self.R # Innovation covariance + K = np.dot(np.dot(self.P, H.T), np.linalg.inv(S)) # Kalman gain + + self.X = self.X + np.dot(K, y) # Update state estimate + self.P = np.dot(self.I - np.dot(K, H), self.P) # Update the covariance + return self.X + + +class GPSRectifier(Node): + def __init__(self): + super().__init__('gps_rectifier') + + + self.subscription = self.create_subscription(GPSmsg, 'gps_data', self.gps_callback, 10) + + self.pub = self.create_publisher(GPSmsg, 'updated_state', 10) + + self.filtered_pub = self.create_publisher(GPSmsg, 'kalman_filtered_data', 10) + + + self.ekf=ExtendedKF(4,2,2,0.1) + + + self.unfiltered_easting = [] + self.unfiltered_northing = [] + self.filtered_easting = [] + self.filtered_northing = [] + + def gps_callback(self, msg): + + latitude = msg.latitude + longitude = msg.longitude + altitude = msg.altitude + utm_easting = msg.utm_easting + utm_northing = msg.utm_northing + zone = msg.zone + + + self.unfiltered_easting.append(utm_easting) + self.unfiltered_northing.append(utm_northing) + + + measurement = np.array([[utm_easting], [utm_northing]]) + self.get_logger().info(f"Received Measurement: {measurement}") + + U=np.array([[0],[0]]) + self.ekf.predict(U) + X = self.ekf.update(measurement) + self.get_logger().info(f"Updated State from Kalman Filter: {X}") + + + kalman_msg = GPSmsg() + kalman_msg.latitude = latitude + kalman_msg.longitude = longitude + kalman_msg.altitude = altitude + kalman_msg.utm_easting = float(X[0]) + kalman_msg.utm_northing = float(X[1]) + kalman_msg.zone = zone + + + self.filtered_easting.append(float(X[0])) + self.filtered_northing.append(float(X[1])) + + self.filtered_pub.publish(kalman_msg) + self.get_logger().info('Published EKF GPS data.') + + + if len(self.unfiltered_easting) % 10 == 0: + self.plot_data() + + def plot_data(self): + plt.figure(figsize=(10, 5)) + + # Plot UTM easting + plt.subplot(1, 2, 1) + plt.plot(self.unfiltered_easting, label='Unfiltered UTM Easting', color='blue') + plt.plot(self.filtered_easting, label='EKF UTM Easting', color='red') + plt.title('UTM Easting') + plt.xlabel('time') + plt.ylabel('Easting (m)') + plt.legend() + plt.grid() + + # Plot UTM northing + plt.subplot(1, 2, 2) + plt.plot(self.unfiltered_northing, label='Unfiltered UTM Northing', color='blue') + plt.plot(self.filtered_northing, label='EKF UTM Northing', color='red') + plt.title('UTM Northing') + plt.xlabel('time') + plt.ylabel('Northing (m)') + plt.legend() + plt.grid() + + plt.tight_layout() + plt.show() + + +def main(): + rclpy.init() + gps_rectifier = GPSRectifier() + rclpy.spin(gps_rectifier) + gps_rectifier.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/rusty/rusty/gps.py b/rusty/rusty/gps.py index 5eaabb6..b8b1cf2 100644 --- a/rusty/rusty/gps.py +++ b/rusty/rusty/gps.py @@ -120,7 +120,7 @@ def publish_gps_data(self): # Populate GPSmsg fields gps_msg.header = Header() gps_msg.header.stamp = self.get_clock().now().to_msg() - gps_msg.header.frame_id = 'GPS1_Frame' + gps_msg.header.frame_id = 'gps' gps_msg.latitude = latitude gps_msg.longitude = longitude diff --git a/rusty/rusty/kalman_filter.py b/rusty/rusty/kalman_filter.py index 69edb0a..1e3eed7 100644 --- a/rusty/rusty/kalman_filter.py +++ b/rusty/rusty/kalman_filter.py @@ -1,111 +1,150 @@ import rclpy from rusty_msgs.msg import GPSmsg -from rclpy.node import Node - -import math +from rclpy.node import Node import numpy as np -import matplotlib as plt - - +import matplotlib.pyplot as plt class KalmanFilter(): - def __init__(self,state_space, measurement, dt, control=0): - self.X = np.zeros((state_space,1)) #State vector (initial) (4x1) - #print(f"state \n {self.X}") - self.P = np.eye(state_space) #Covariance Matrix - - #print(f"Covariance matrix of state \n {self.P}") + def __init__(self, state_space, measurement, dt, control=0): + self.X = np.zeros((state_space, 1)) # State vector (initial) (4x1) + self.P = np.eye(state_space) # Covariance Matrix - #State transition Matrix + # State transition Matrix self.A = np.eye(state_space) - for i in range (state_space//2): - self.A[i,i+state_space//2]=dt - #print(f"Transition state matrix \n {self.A}") - - #Control matrix - self.B = np.zeros((state_space,control)) - #print(f"Control matrix \n {self.B}") + for i in range(state_space // 2): + self.A[i, i + state_space // 2] = dt - #Measurement Matrix (H) - self.H = np.zeros((measurement,state_space)) - for i in range (measurement): - self.H[i,i]=1 - - #print(f"Measurement matrix \n {self.H}") + # Control matrix + self.B = np.zeros((state_space, control)) - #Process Noise covar (Q) + # Measurement Matrix (H) + self.H = np.zeros((measurement, state_space)) + for i in range(measurement): + self.H[i, i] = 1 - self.Q=np.diag([0.01,0.01,0.01,0.01]) + # Process Noise covariance (Q) + self.Q = np.diag([0.01, 0.01, 0.01, 0.01]) - self.R=np.eye(measurement)*0.005 + # Measurement noise covariance (R) + self.R = np.eye(measurement) * 0.005 - #Identity - self.I= np.eye(state_space) + # Identity matrix + self.I = np.eye(state_space) + def predict(self, U=np.zeros((1, 1))): + # Finding State and covariance (predicted) + self.X = np.dot(self.A, self.X) + self.P = np.dot(np.dot(self.A, self.P), self.A.T) + self.Q - def predict(self,U=np.zeros((1,1))): - - # Finding State and covariance (predicted) - self.X = np.dot(self.A,self.X) - self.P = np.dot(np.dot(self.A,self.P),self.A.T) + self.Q + return self.X - return self.X - - def update(self,Z): - - #Calculate kalman gain (K_k) - Y=Z- np.dot (self.H,self.X) - S=np.dot(np.dot(self.H,self.P),np.matrix.transpose(self.H))+self.R - K = np.dot(np.dot(self.P,np.matrix.transpose(self.H)),np.linalg.inv(S)) + def update(self, Z): + # Calculate kalman gain (K_k) + Y = Z - np.dot(self.H, self.X) + S = np.dot(np.dot(self.H, self.P), self.H.T) + self.R + K = np.dot(np.dot(self.P, self.H.T), np.linalg.inv(S)) - self.X=self.X+ np.dot(K,Y) - self.P=np.dot(self.I-np.dot(K,self.H),self.P) + self.X = self.X + np.dot(K, Y) + self.P = np.dot(self.I - np.dot(K, self.H), self.P) - return self.X + return self.X -class GPS_Rectifier(Node): +class GPSRectifier(Node): def __init__(self): super().__init__('gps_rectifier') - self.subscription = self.create_subscription(GPSmsg, 'gps_data', self.gps_callback, 10) - self.measurement=0.0 - - def gps_callback(self, msg): - #self.get_logger().info(f'Received GPS data: {msg}') + self.subscription = self.create_subscription(GPSmsg, 'gps_data', self.gps_callback, 10) + + self.pub = self.create_publisher(GPSmsg, 'updated_state', 10) + + self.filtered_pub = self.create_publisher(GPSmsg, 'kalman_filtered_data', 10) + + + self.kalman = KalmanFilter(4, 2, 0.1) + + + self.unfiltered_easting = [] + self.unfiltered_northing = [] + self.filtered_easting = [] + self.filtered_northing = [] + + def gps_callback(self, msg): + latitude = msg.latitude longitude = msg.longitude altitude = msg.altitude utm_easting = msg.utm_easting utm_northing = msg.utm_northing zone = msg.zone - # rectified_msg.letter = msg.letter # Ensure this is a string - self.measurement=np.array([[utm_easting],[utm_northing]]) - self.get_logger().info(f"Measurement {self.measurement}") - - kalman=KalmanFilter(4,2,0.1) - kalman.predict() - self.get_logger().info("Prediction done") - X=kalman.update(self.measurement) - self.get_logger().info(f"Updated states {X}") - - + + + self.unfiltered_easting.append(utm_easting) + self.unfiltered_northing.append(utm_northing) + + + measurement = np.array([[utm_easting], [utm_northing]]) + self.get_logger().info(f"Received Measurement: {measurement}") + + + self.kalman.predict() + X = self.kalman.update(measurement) + self.get_logger().info(f"Updated State from Kalman Filter: {X}") + + + kalman_msg = GPSmsg() + kalman_msg.latitude = latitude + kalman_msg.longitude = longitude + kalman_msg.altitude = altitude + kalman_msg.utm_easting = float(X[0]) + kalman_msg.utm_northing = float(X[1]) + kalman_msg.zone = zone + + self.filtered_easting.append(float(X[0])) + self.filtered_northing.append(float(X[1])) + + self.filtered_pub.publish(kalman_msg) + self.get_logger().info('Published Kalman Filtered GPS data.') + + + if len(self.unfiltered_easting) % 10 == 0: + self.plot_data() + + def plot_data(self): + plt.figure(figsize=(10, 5)) + + # Plot UTM easting + plt.subplot(1, 2, 1) + plt.plot(self.unfiltered_easting, label='Unfiltered UTM Easting', color='blue') + plt.plot(self.filtered_easting, label='Kalman Filtered UTM Easting', color='red') + plt.title('UTM Easting') + plt.xlabel('time') + plt.ylabel('Easting (m)') + plt.legend() + plt.grid() + + # Plot UTM northing + plt.subplot(1, 2, 2) + plt.plot(self.unfiltered_northing, label='Unfiltered UTM Northing', color='blue') + plt.plot(self.filtered_northing, label='Kalman Filtered UTM Northing', color='red') + plt.title('UTM Northing') + plt.xlabel('time') + plt.ylabel('Northing (m)') + plt.legend() + plt.grid() + + plt.tight_layout() + plt.show() + def main(): rclpy.init() - gps_rectifier = GPS_Rectifier() + gps_rectifier = GPSRectifier() rclpy.spin(gps_rectifier) gps_rectifier.destroy_node() rclpy.shutdown() - - - - - - - -if __name__=="__main__": - main() \ No newline at end of file +if __name__ == "__main__": + main() diff --git a/rusty/setup.py b/rusty/setup.py index 83bd9ae..ab9aaf0 100644 --- a/rusty/setup.py +++ b/rusty/setup.py @@ -13,6 +13,9 @@ ['resource/' + package_name]), ('share/' + package_name, ['package.xml']), (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')), + (os.path.join('share', package_name, 'config'), glob('config/*.yaml')), + (os.path.join('share', package_name, 'config'), glob('config/*.lua')) + ], install_requires=['setuptools'], zip_safe=True, @@ -25,7 +28,8 @@ 'console_scripts': [ 'gps_node = rusty.gps:main', 'bayes_node=rusty.bayes_filter:main', - 'kalman_f = rusty.kalman_filter:main' + 'kalman_f = rusty.kalman_filter:main', + 'ekf = rusty.ekf_for_gps:main', ], }, ) diff --git a/rusty_description/launch/gazebo.launch.py b/rusty_description/launch/gazebo.launch.py index c838b9d..0c33be3 100644 --- a/rusty_description/launch/gazebo.launch.py +++ b/rusty_description/launch/gazebo.launch.py @@ -7,7 +7,7 @@ def generate_launch_description(): pkg_share = launch_ros.substitutions.FindPackageShare(package='rusty_description').find('rusty_description') - world_path = '/home/siddarth/ros2ws/src/Rusty/rusty_description/worlds/house.sdf' + world_path = '/home/siddarth/ros2ws/src/Rusty/rusty_description/worlds/base_station.sdf' default_model_path = os.path.join(pkg_share, 'urdf/rusty.xacro') use_sim_time = LaunchConfiguration('use_sim_time') robot_state_publisher_node = launch_ros.actions.Node( diff --git a/rusty_description/launch/gz.launch.py b/rusty_description/launch/gz.launch.py index 95ec6f4..bdd5207 100644 --- a/rusty_description/launch/gz.launch.py +++ b/rusty_description/launch/gz.launch.py @@ -1,59 +1,69 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + import os + +from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription -from launch.actions import SetEnvironmentVariable, DeclareLaunchArgument, IncludeLaunchDescription +from launch.actions import AppendEnvironmentVariable +from launch.actions import IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration -from ament_index_python.packages import get_package_share_directory -from launch_ros.actions import Node + def generate_launch_description(): - pkg_share = get_package_share_directory('rusty_description') + launch_file_dir = os.path.join(get_package_share_directory('rusty_description'), 'launch') ros_gz_sim = get_package_share_directory('ros_gz_sim') - default_model_path = os.path.join(pkg_share, 'urdf', 'rusty.urdf') # Ensure this is a .urdf file - world_path = os.path.join( - get_package_share_directory('rusty_description'), - 'worlds', - 'empty_world.world' - ) - x_pose = LaunchConfiguration('x_pose', default='0.0') - y_pose = LaunchConfiguration('y_pose', default='0.0') use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') - # Ensure the right Ignition version is being used (Harmonic) - set_ign_version_cmd = SetEnvironmentVariable('IGN_GAZEBO_VERSION', 'harmonic') + world = os.path.join( + get_package_share_directory('rusty_description'), + 'worlds', + 'base_station.world' + ) + - # Gazebo server (simulation) launch command gzserver_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') ), - launch_arguments={ - 'gz_args': f'-r -s -v4 {world_path}', - 'on_exit_shutdown': 'true' - }.items() + launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items() ) - - # Gazebo client (GUI) launch command gzclient_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') ), - launch_arguments={'gz_args': '-g -v4'}.items() + launch_arguments={'gz_args': '-g -v4 '}.items() ) - # Node to publish the robot state (robot_state_publisher) - robot_state_publisher_node = IncludeLaunchDescription( + robot_state_publisher_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_share +'/launch/', 'robot_state_publisher.launch.py') + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') ), launch_arguments={'use_sim_time': use_sim_time}.items() ) - # Node to spawn the robot in Ignition Gazebo - spawn_robot_node = IncludeLaunchDescription( + spawn_turtlebot_cmd = IncludeLaunchDescription( PythonLaunchDescriptionSource( - os.path.join(pkg_share +'/launch/', 'spawn_rusty.launch.py') + os.path.join(launch_file_dir, 'spawn_rusty.launch.py') ), launch_arguments={ 'x_pose': x_pose, @@ -61,50 +71,13 @@ def generate_launch_description(): }.items() ) - bridge_params = os.path.join( - get_package_share_directory('rusty_description'), - 'config', - 'gz_params.yaml' - ) - - start_gazebo_ros_bridge_cmd = Node( - package='ros_gz_bridge', - executable='parameter_bridge', - arguments=[ - '--ros-args', - '-p', - f'config_file:={bridge_params}', - ], - output='screen', - ) - - start_gazebo_ros_image_bridge_cmd = Node( - package='ros_gz_image', - executable='image_bridge', - arguments=['/camera/image_raw'], - output='screen', -) - # Time synchronization between ROS 2 and Ignition - clock_bridge_node = Node( - package='ros_gz_bridge', - executable='parameter_bridge', - name='clock_bridge', - output='screen', - arguments=['/clock@rosgraph_msgs/msg/Clock@gz.msgs.Clock'], - remappings=[('/world/default/clock', '/clock')] # Synchronize clocks - ) - - # Launch description ld = LaunchDescription() - # Add actions to the launch description - ld.add_action(set_ign_version_cmd) # Set the correct Ignition version - ld.add_action(gzserver_cmd) # Start the Gazebo server - ld.add_action(gzclient_cmd) # Start the Gazebo client - ld.add_action(robot_state_publisher_node) # Start the robot state publisher - ld.add_action(spawn_robot_node) # Spawn the robot in Gazebo - ld.add_action(clock_bridge_node) # Start the clock synchronization - ld.add_action(start_gazebo_ros_bridge_cmd) - ld.add_action(start_gazebo_ros_image_bridge_cmd) + # Add the commands to the launch description + + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) - return ld + return ld \ No newline at end of file diff --git a/rusty_description/launch/robot_state_publisher.launch.py b/rusty_description/launch/robot_state_publisher.launch.py index 78fa2a1..c8c93d3 100644 --- a/rusty_description/launch/robot_state_publisher.launch.py +++ b/rusty_description/launch/robot_state_publisher.launch.py @@ -26,10 +26,10 @@ def generate_launch_description(): - + - use_sim_time = LaunchConfiguration('use_sim_time', default='false') - urdf_file_name = 'rusty.urdf' + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + urdf_file_name = 'rusty'+ '.sdf' print('urdf_file_name : {}'.format(urdf_file_name)) @@ -44,7 +44,7 @@ def generate_launch_description(): return LaunchDescription([ DeclareLaunchArgument( 'use_sim_time', - default_value='false', + default_value='true', description='Use simulation (Gazebo) clock if true'), Node( diff --git a/rusty_description/launch/spawn_rusty.launch.py b/rusty_description/launch/spawn_rusty.launch.py index 8a8758d..631d798 100644 --- a/rusty_description/launch/spawn_rusty.launch.py +++ b/rusty_description/launch/spawn_rusty.launch.py @@ -23,9 +23,11 @@ def generate_launch_description(): # Get the urdf file + urdf_path = os.path.join( get_package_share_directory('rusty_description'), - 'urdf','rusty.urdf' + 'urdf', + 'rusty.sdf' ) # Launch configuration variables specific to simulation @@ -45,7 +47,7 @@ def generate_launch_description(): package='ros_gz_sim', executable='create', arguments=[ - + '-name', 'rusty', '-file', urdf_path, '-x', x_pose, '-y', y_pose, @@ -54,6 +56,30 @@ def generate_launch_description(): output='screen', ) + bridge_params = os.path.join( + get_package_share_directory('rusty_description'), + 'config', + 'gz_params.yaml' + ) + + start_gazebo_ros_bridge_cmd = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '--ros-args', + '-p', + f'config_file:={bridge_params}', + ], + output='screen', + ) + + start_gazebo_ros_image_bridge_cmd = Node( + package='ros_gz_image', + executable='image_bridge', + arguments=['/camera/image_raw'], + output='screen', + ) + ld = LaunchDescription() # Declare the launch options @@ -62,6 +88,7 @@ def generate_launch_description(): # Add any conditioned actions ld.add_action(start_gazebo_ros_spawner_cmd) - print("RUSTY LAUNCHED") + ld.add_action(start_gazebo_ros_bridge_cmd) + ld.add_action(start_gazebo_ros_image_bridge_cmd) return ld \ No newline at end of file diff --git a/rusty_description/urdf/model.sdf b/rusty_description/urdf/rusty.sdf similarity index 61% rename from rusty_description/urdf/model.sdf rename to rusty_description/urdf/rusty.sdf index b2466d9..9482cfe 100644 --- a/rusty_description/urdf/model.sdf +++ b/rusty_description/urdf/rusty.sdf @@ -1,49 +1,6 @@ <?xml version="1.0" ?> -<sdf version="1.9"> -<world name="default"> - <physics name="1ms" type="ignored"> - <max_step_size>0.001</max_step_size> - <real_time_factor>1.0</real_time_factor> - </physics> - <plugin - filename="gz-sim-physics-system" - name="gz::sim::systems::Physics"> - </plugin> - <plugin - filename="gz-sim-user-commands-system" - name="gz::sim::systems::UserCommands"> - </plugin> - <plugin - filename="gz-sim-scene-broadcaster-system" - name="gz::sim::systems::SceneBroadcaster"> - </plugin> - <plugin filename="gz-sim-imu-system" - name="gz::sim::systems::Imu"> - </plugin> - - - <plugin - filename="gz-sim-sensors-system" - name="gz::sim::systems::Sensors"> - <render_engine>ogre2</render_engine> - </plugin> - - - <light type="directional" name="sun"> - <cast_shadows>true</cast_shadows> - <pose>0 0 10 0 0 0</pose> - <diffuse>0.8 0.8 0.8 1</diffuse> - <specular>0.2 0.2 0.2 1</specular> - <attenuation> - <range>1000</range> - <constant>0.9</constant> - <linear>0.01</linear> - <quadratic>0.001</quadratic> - </attenuation> - <direction>-0.5 0.1 -0.9</direction> - </light> - - <model name="rusty_v1"> +<sdf version="1.5"> + <model name="rusty_v1"> <link name="base_link"> <inertial> <mass>0.0001</mass> @@ -56,27 +13,53 @@ <izz>1e-09</izz> </inertia> </inertial> - <sensor name="imu_sensor" type="imu"> - <always_on>1</always_on> - <update_rate>1</update_rate> - <visualize>true</visualize> + <sensor name="rusty_imu" type="imu"> + <always_on>true</always_on> + <update_rate>200</update_rate> <topic>imu</topic> - </sensor> - </link> - <link name="base_link_1"> - <pose relative_to="__model__">0.0 0.0 0.025 0.0 -0.0 0.0</pose> - <inertial> - <pose>0.0002544970294304579 -2.7411733823236023e-17 0.05841254857000653 0.0 -0.0 0.0</pose> - <mass>14.333340375312384</mass> - <inertia> - <ixx>0.17330689589626652</ixx> - <ixy>3.770856504009189e-16</ixy> - <ixz>-0.00017122611970999112</ixz> - <iyy>0.37322862931138256</iyy> - <iyz>8.481746606555297e-18</iyz> - <izz>0.49091749554724184</izz> - </inertia> - </inertial> + <imu> + <angular_velocity> + <x> + <noise type="gaussian"> + <mean>0.0</mean> + <stddev>2e-4</stddev> + </noise> + </x> + <y> + <noise type="gaussian"> + <mean>0.0</mean> + <stddev>2e-4</stddev> + </noise> + </y> + <z> + <noise type="gaussian"> + <mean>0.0</mean> + <stddev>2e-4</stddev> + </noise> + </z> + </angular_velocity> + <linear_acceleration> + <x> + <noise type="gaussian"> + <mean>0.0</mean> + <stddev>1.7e-2</stddev> + </noise> + </x> + <y> + <noise type="gaussian"> + <mean>0.0</mean> + <stddev>1.7e-2</stddev> + </noise> + </y> + <z> + <noise type="gaussian"> + <mean>0.0</mean> + <stddev>1.7e-2</stddev> + </noise> + </z> + </linear_acceleration> + </imu> + </sensor> <visual name="base_link_1__base_link_visual"> <geometry> <mesh> @@ -86,7 +69,7 @@ </geometry> </visual> <collision name="base_link_1__base_link_collision"> - <pose relative_to="__model__">0.0 0.0 0.0875 -0.0 -1.5707963267948966 0</pose> + <pose relative_to="base_link">0.0 0.0 0.0875 -0.0 -1.5707963267948966 0</pose> <geometry> <box> <size>0.125 0.34 0.5</size> @@ -94,8 +77,11 @@ </geometry> </collision> </link> + + + <link name="rw1_1"> - <pose relative_to="__model__">-0.048075934676033716 0.16599272944775692 0.035152659990737724 6.938893903907236e-18 -0.0 0.0</pose> + <pose relative_to="base_link">-0.048075934676033716 0.16599272944775692 0.035152659990737724 6.938893903907236e-18 -0.0 0.0</pose> <inertial> <pose>0.1430759346760337 -0.3384927294477569 0.014847340009262286 -6.938893903907236e-18 -0.0 0.0</pose> <mass>0.1826050729899068</mass> @@ -117,7 +103,7 @@ </geometry> </visual> <collision name="rw1_1__rw1_collision"> - <pose relative_to="__model__">0.095 -0.1725 0.05 -0.0 -1.5707963267948966 0</pose> + <pose relative_to="base_link">0.095 -0.1725 0.05 -0.0 -1.5707963267948966 0</pose> <geometry> <box> <size>0.10000000000000003 0.025 0.10000000000000002</size> @@ -125,8 +111,11 @@ </geometry> </collision> </link> + + + <link name="lw1_1"> - <pose relative_to="__model__">-0.0029629661386292127 -0.06704285733682042 0.04257306317273629 0.0 -0.0 0.0</pose> + <pose relative_to="base_link">-0.0029629661386292127 -0.06704285733682042 0.04257306317273629 0.0 -0.0 0.0</pose> <inertial> <pose>0.09796296613862925 0.23954285733682046 0.007426936827263732 0.0 -0.0 0.0</pose> <mass>0.1826050729899069</mass> @@ -148,7 +137,7 @@ </geometry> </visual> <collision name="lw1_1__lw1_collision"> - <pose relative_to="__model__">0.095 0.1725 0.05000000000000001 -0.0 -1.5707963267948966 0</pose> + <pose relative_to="base_link">0.095 0.1725 0.05000000000000001 -0.0 -1.5707963267948966 0</pose> <geometry> <box> <size>0.10000000000000005 0.025 0.10000000000000003</size> @@ -156,8 +145,10 @@ </geometry> </collision> </link> + + <link name="rw2_1"> - <pose relative_to="__model__">0.05430130702462311 0.165 0.0004577485078454657 0.0 -0.0 0.0</pose> + <pose relative_to="base_link">0.05430130702462311 0.165 0.0004577485078454657 0.0 -0.0 0.0</pose> <inertial> <pose>-0.1493013070246231 -0.3375 0.049542251492154535 0.0 -0.0 0.0</pose> <mass>0.18260507298990683</mass> @@ -179,7 +170,7 @@ </geometry> </visual> <collision name="rw2_1__rw2_collision"> - <pose relative_to="__model__">-0.095 -0.1725 0.05 -0.0 -1.5707963267948966 0</pose> + <pose relative_to="base_link">-0.095 -0.1725 0.05 -0.0 -1.5707963267948966 0</pose> <geometry> <box> <size>0.10000000000000003 0.025 0.10000000000000005</size> @@ -187,8 +178,10 @@ </geometry> </collision> </link> + + <link name="lw2_1"> - <pose relative_to="__model__">0.06544107043140138 -0.18624680235844282 -0.0338269179372204 2.7755575615628914e-17 -0.0 0.0</pose> + <pose relative_to="base_link">0.06544107043140138 -0.18624680235844282 -0.0338269179372204 2.7755575615628914e-17 -0.0 0.0</pose> <inertial> <pose>-0.16044107043140138 0.35874680235844275 0.08382691793722039 -2.7755575615628914e-17 -0.0 0.0</pose> <mass>0.18260507298990683</mass> @@ -210,7 +203,7 @@ </geometry> </visual> <collision name="lw2_1__lw2_collision"> - <pose relative_to="__model__">-0.095 0.1725 0.04999999999999999 -0.0 -1.5707963267948966 0</pose> + <pose relative_to="base_link">-0.095 0.1725 0.04999999999999999 -0.0 -1.5707963267948966 0</pose> <geometry> <box> <size>0.10000000000000003 0.025 0.1</size> @@ -218,8 +211,9 @@ </geometry> </collision> </link> + <link name="holder_1"> - <pose relative_to="__model__">0.0 0.0 -0.175 0.0 -0.0 0.0</pose> + <pose relative_to="base_link">0.0 0.0 -0.175 0.0 -0.0 0.0</pose> <inertial> <pose>-4.445233212745621e-17 0.0 0.3375 0.0 -0.0 0.0</pose> <mass>25.69775961700859</mass> @@ -241,7 +235,7 @@ </geometry> </visual> <collision name="holder_1__holder_collision"> - <pose relative_to="__model__">0.0 0.0 0.1625 -0.0 -1.5707963267948966 0</pose> + <pose relative_to="base_link">0.0 0.0 0.1625 -0.0 -1.5707963267948966 0</pose> <geometry> <box> <size>0.025 0.28079487118715435 0.4739759520955434</size> @@ -249,8 +243,9 @@ </geometry> </collision> </link> + <link name="lidar_1"> - <pose relative_to="__model__">-0.1750000035017729 0.0 0.025 0.0 -0.0 0.0</pose> + <pose relative_to="base_link">-0.1750000035017729 0.0 0.025 0.0 -0.0 0.0</pose> <inertial> <pose>0.41740216277899855 -0.00023091322011423596 0.11500000000000002 0.0 -0.0 0.0</pose> <mass>0.008257286244679606</mass> @@ -272,44 +267,45 @@ </geometry> </visual> <collision name="lidar_1__lidar_collision"> - <pose relative_to="__model__">0.2436204795744473 -0.0002689191593257145 0.139999999999608 0.031185268471219173 -1.5707963267948966 0</pose> + <pose relative_to="base_link">0.2436204795744473 -0.0002689191593257145 0.139999999999608 0.031185268471219173 -1.5707963267948966 0</pose> <geometry> <box> <size>0.01 0.035608988160144975 0.018359642015575127</size> </box> </geometry> </collision> - <sensor name='lidar' type='gpu_lidar'>" - - <topic>lidar</topic> - <update_rate>10</update_rate> - <ray> - <scan> - <horizontal> - <samples>640</samples> - <resolution>1</resolution> - <min_angle>-1.396263</min_angle> - <max_angle>1.396263</max_angle> - </horizontal> - <vertical> - <samples>1</samples> - <resolution>0.01</resolution> - <min_angle>0</min_angle> - <max_angle>0</max_angle> - </vertical> - </scan> - <range> - <min>0.08</min> - <max>10.0</max> - <resolution>0.01</resolution> - </range> - </ray> - <always_on>1</always_on> + <sensor name="rusty_lidar" type="gpu_lidar"> + <always_on>true</always_on> <visualize>true</visualize> + <pose>-0.064 0 0.121 0 0 0</pose> + <update_rate>5</update_rate> + <topic>scan</topic> + <gz_frame_id>lidar_1</gz_frame_id> + <lidar> + <scan> + <horizontal> + <samples>360</samples> + <resolution>1.000000</resolution> + <min_angle>0.000000</min_angle> + <max_angle>6.280000</max_angle> + </horizontal> + </scan> + <range> + <min>0.120000</min> + <max>3.5</max> + <resolution>0.015000</resolution> + </range> + <noise> + <type>gaussian</type> + <mean>0.0</mean> + <stddev>0.01</stddev> + </noise> + </lidar> </sensor> </link> + <link name="camera_1"> - <pose relative_to="__model__">0.005088479046599446 0.004599132655587397 0.0 0.0 -0.0 6.123233995736766e-17</pose> + <pose relative_to="base_link">0.005088479046599446 0.004599132655587397 0.0 0.0 -0.0 6.123233995736766e-17</pose> <inertial> <pose>0.23253901869823768 0.08250000000000439 0.12975699657340425 0.0 -0.0 -6.123233995736766e-17</pose> <mass>0.007791207915918992</mass> @@ -331,7 +327,7 @@ </geometry> </visual> <collision name="camera_1__body1_collision"> - <pose relative_to="__model__">0.23758847904659944 0.08709913265558741 0.13 -0.0 -1.5707963267948966 0</pose> + <pose relative_to="base_link">0.23758847904659944 0.08709913265558741 0.13 -0.0 -1.5707963267948966 0</pose> <geometry> <box> <size>0.01 0.035 0.015</size> @@ -341,95 +337,100 @@ <!-- Camera Sensor --> <sensor name="camera" type="camera"> - <camera> - <horizontal_fov>1.047</horizontal_fov> - <image> - <width>320</width> - <height>240</height> - </image> - <clip> - <near>0.1</near> - <far>100</far> - </clip> - </camera> - <always_on>1</always_on> - <update_rate>30</update_rate> - <visualize>true</visualize> - <topic>image</topic> + <always_on>true</always_on> + <visualize>true</visualize> + <update_rate>30</update_rate> + <topic>camera/image_raw</topic> + <gz_frame_id>camera_1</gz_frame_id> + <camera name="intel_realsense_r200"> + <camera_info_topic>camera/camera_info</camera_info_topic> + <horizontal_fov>1.02974</horizontal_fov> + <image> + <width>1920</width> + <height>1080</height> + <format>R8G8B8</format> + </image> + <clip> + <near>0.02</near> + <far>300</far> + </clip> + <noise> + <type>gaussian</type> + <!-- Noise is sampled independently per pixel on each frame. + That pixel's noise value is added to each of its color + channels, which at that point lie in the range [0,1]. --> + <mean>0.0</mean> + <stddev>0.007</stddev> + </noise> + </camera> </sensor> - <sensor name="depth_camera1" type="depth_camera"> - - <update_rate>10</update_rate> - <topic>depth</topic> - <camera> - <horizontal_fov>1.05</horizontal_fov> - <image> - <width>256</width> - <height>256</height> - <format>R_FLOAT32</format> - </image> - <clip> - <near>0.1</near> - <far>10.0</far> - </clip> - </camera> - </sensor> </link> + + + <!--JOINTS--> + + <joint name="rw2" type="continuous"> - <pose relative_to="__model__">-0.095 -0.16 0.05 0.0 -0.0 0.0</pose> - <parent>base_link_1</parent> + <pose relative_to="base_link">-0.095 -0.16 0.05 0.0 -0.0 0.0</pose> + <parent>base_link</parent> <child>rw2_1</child> <axis> - <xyz expressed_in="__model__">0.0 -1.0 0.0</xyz> + <xyz expressed_in="base_link">0.0 -1.0 0.0</xyz> </axis> </joint> + <joint name="rw1" type="continuous"> - <pose relative_to="__model__">0.095 -0.16 0.05 0.0 -0.0 0.0</pose> - <parent>base_link_1</parent> + <pose relative_to="base_link">0.095 -0.16 0.05 0.0 -0.0 0.0</pose> + <parent>base_link</parent> <child>rw1_1</child> <axis> - <xyz expressed_in="__model__">0.0 1.0 0.0</xyz> + <xyz expressed_in="base_link">0.0 1.0 0.0</xyz> </axis> </joint> + + <joint name="lw2" type="continuous"> - <pose relative_to="__model__">-0.095 0.16 0.05000000000000002 0.0 -0.0 0.0</pose> - <parent>base_link_1</parent> + <pose relative_to="base_link">-0.095 0.16 0.05000000000000002 0.0 -0.0 0.0</pose> + <parent>base_link</parent> <child>lw2_1</child> <axis> - <xyz expressed_in="__model__">0.0 -1.0 0.0</xyz> + <xyz expressed_in="base_link">0.0 -1.0 0.0</xyz> </axis> </joint> + + <joint name="lw1" type="continuous"> - <pose relative_to="__model__">0.09500000000000001 0.16 0.05000000000000002 0.0 -0.0 0.0</pose> - <parent>base_link_1</parent> + <pose relative_to="base_link">0.09500000000000001 0.16 0.05000000000000002 0.0 -0.0 0.0</pose> + <parent>base_link</parent> <child>lw1_1</child> <axis> - <xyz expressed_in="__model__">0.0 1.0 0.0</xyz> + <xyz expressed_in="base_link">0.0 1.0 0.0</xyz> </axis> </joint> - <joint name="rigid_10" type="fixed"> - <pose relative_to="__model__">0.0 0.0 0.15 0.0 -0.0 0.0</pose> - <parent>base_link_1</parent> + + + <joint name="holder" type="fixed"> + <pose relative_to="base_link">0.0 0.0 0.15 0.0 -0.0 0.0</pose> + <parent>base_link</parent> <child>holder_1</child> <axis/> </joint> + <joint name="lidar" type="fixed"> - <pose relative_to="__model__">0.235 0.0 0.135 0.0 -0.0 0.0</pose> - <parent>base_link_1</parent> + <pose relative_to="base_link">0.235 0.0 0.135 0.0 -0.0 0.0</pose> + <parent>base_link</parent> <child>lidar_1</child> <axis/> </joint> + + <joint name="camera" type="fixed"> - <pose relative_to="__model__">0.23758847904659944 0.08709913265558741 0.125 0.0 -0.0 0.0</pose> - <parent>base_link_1</parent> - <child>camera_1</child> - <axis/> - </joint> - <joint name="base_link_joint" type="fixed"> + <pose relative_to="base_link">0.23758847904659944 0.08709913265558741 0.125 0.0 -0.0 0.0</pose> <parent>base_link</parent> - <child>base_link_1</child> + <child>camera_1</child> <axis/> </joint> + <plugin filename="ignition-gazebo-diff-drive-system" @@ -449,19 +450,27 @@ <min_linear_velocity>-0.5</min_linear_velocity> <max_angular_velocity>1</max_angular_velocity> <topic>cmd_vel</topic> + <odom_topic>odom</odom_topic> + <frame_id>odom</frame_id> + <tf_topic>/tf</tf_topic> + <odom_publisher_frequency>30</odom_publisher_frequency> + <child_frame_id>base_link</child_frame_id> + <!-- <topic>/cmd_vel</topic> <odom_topic>/odom</odom_topic> <tf_topic>/tf</tf> --> - </plugin> - + </plugin> - - - - - + <plugin filename="gz-sim-joint-state-publisher-system" + name="gz::sim::systems::JointStatePublisher"> + <topic>joint_states</topic> + <!-- <update_rate>30</update_rate> --> + <joint_name>lw1</joint_name> + <joint_name>lw2</joint_name> + <joint_name>rw1</joint_name> + <joint_name>rw2</joint_name> + </plugin> </model> -</world> </sdf> diff --git a/rusty_description/worlds/base_station.sdf b/rusty_description/worlds/base_station.sdf new file mode 100644 index 0000000..bd0dc0c --- /dev/null +++ b/rusty_description/worlds/base_station.sdf @@ -0,0 +1,1758 @@ +<sdf version='1.7'> + <world name='default'> + <light name='sun' type='directional'> + <cast_shadows>1</cast_shadows> + <pose>0 0 10 0 -0 0</pose> + <diffuse>0.8 0.8 0.8 1</diffuse> + <specular>0.2 0.2 0.2 1</specular> + <attenuation> + <range>1000</range> + <constant>0.9</constant> + <linear>0.01</linear> + <quadratic>0.001</quadratic> + </attenuation> + <direction>-0.5 0.1 -0.9</direction> + <spot> + <inner_angle>0</inner_angle> + <outer_angle>0</outer_angle> + <falloff>0</falloff> + </spot> + </light> + <model name='ground_plane'> + <static>1</static> + <link name='link'> + <collision name='collision'> + <geometry> + <plane> + <normal>0 0 1</normal> + <size>100 100</size> + </plane> + </geometry> + <surface> + <contact> + <collide_bitmask>65535</collide_bitmask> + <ode/> + </contact> + <friction> + <ode> + <mu>100</mu> + <mu2>50</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='visual'> + <cast_shadows>0</cast_shadows> + <geometry> + <plane> + <normal>0 0 1</normal> + <size>100 100</size> + </plane> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Grey</name> + </script> + </material> + </visual> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + </model> + <gravity>0 0 -9.8</gravity> + <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> + <atmosphere type='adiabatic'/> + <physics type='ode'> + <max_step_size>0.001</max_step_size> + <real_time_factor>1</real_time_factor> + <real_time_update_rate>1000</real_time_update_rate> + </physics> + <scene> + <ambient>0.4 0.4 0.4 1</ambient> + <background>0.7 0.7 0.7 1</background> + <shadows>1</shadows> + </scene> + <audio> + <device>default</device> + </audio> + <wind/> + <spherical_coordinates> + <surface_model>EARTH_WGS84</surface_model> + <latitude_deg>0</latitude_deg> + <longitude_deg>0</longitude_deg> + <elevation>0</elevation> + <heading_deg>0</heading_deg> + </spherical_coordinates> + <model name='house_world'> + <pose>1.28 0.043787 0 0 -0 0</pose> + <link name='Wall_1'> + <collision name='Wall_1_Collision'> + <geometry> + <box> + <size>7.5 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_1_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>7.5 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <pose>-0.475 -2.88379 0 0 -0 0</pose> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <link name='Wall_10'> + 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name='Wall_9_Visual_1'> + <pose>3.26963 0 0.25 0 -0 0</pose> + <geometry> + <box> + <size>4.96073 0.15 0.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <collision name='Wall_9_Collision_1'> + <geometry> + <box> + <size>4.96073 0.15 0.5</size> + </box> + </geometry> + <pose>3.26963 0 0.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_9_Visual_2'> + <pose>3.66963 0 1.5 0 -0 0</pose> + <geometry> + <box> + <size>4.16073 0.15 2</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <collision name='Wall_9_Collision_2'> + <geometry> + <box> + <size>4.16073 0.15 2</size> + </box> + </geometry> + <pose>3.66963 0 1.5 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_9_Visual_3'> + <pose>1.18927 0 1.9 0 -0 0</pose> + <geometry> + <box> + <size>0.8 0.15 1.2</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <collision name='Wall_9_Collision_3'> + <geometry> + <box> + <size>0.8 0.15 1.2</size> + </box> + </geometry> + <pose>1.18927 0 1.9 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <static>1</static> + </model> + <model name='grocery_store'> + <static>1</static> + <link name='link'> + <collision name='collision'> + <pose>0 0 4.04605 0 -0 0</pose> + <geometry> + <box> + <size>32.1985 17.5425 8.09209</size> + </box> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='visual'> + <pose>0 -1.96155 0 0 -0 0</pose> + <geometry> + <mesh> + <uri>model://grocery_store/meshes/grocery_store.dae</uri> + </mesh> + </geometry> + </visual> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <pose>-5.77886 37.3727 0 0 -0 0</pose> + </model> + <model name='jersey_barrier'> + <static>1</static> + <link name='link'> + <visual name='visual'> + <geometry> + <mesh> + <uri>model://jersey_barrier/meshes/jersey_barrier.dae</uri> + </mesh> + </geometry> + </visual> + <collision name='upright'> + <pose>0 0 0.5715 0 -0 0</pose> + <geometry> + <box> + <size>4.06542 0.3063 1.143</size> + </box> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <collision name='base'> + <pose>0 0 0.032258 0 -0 0</pose> + <geometry> + <box> + <size>4.06542 0.8107 0.064516</size> + </box> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <collision name='base2'> + <pose>0 0 0.1 0 -0 0</pose> + <geometry> + <box> + <size>4.06542 0.65 0.1</size> + </box> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <collision name='base3'> + <pose>0 0 0.2 0 -0 0</pose> + <geometry> + <box> + <size>4.06542 0.5 0.1</size> + </box> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <collision name='left-angle'> + <pose>0 -0.224 0.2401 0.9 -0 0</pose> + <geometry> + <box> + <size>4.06542 0.5 0.064516</size> + </box> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <collision name='right-angle'> + <pose>0 0.224 0.2401 -0.9 0 0</pose> + <geometry> + <box> + <size>4.06542 0.5 0.064516</size> + </box> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <pose>1.70513 7.81999 0 0 -0 0</pose> + </model> + <model name='radio_tower'> + <static>1</static> + <link name='link'> + <collision name='collision'> + <geometry> + <mesh> + <uri>model://radio_tower/meshes/radio_tower.dae</uri> + </mesh> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='visual'> + <geometry> + <mesh> + <uri>model://radio_tower/meshes/radio_tower.dae</uri> + </mesh> + </geometry> + </visual> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <pose>22.2214 41.557 0 0 -0 0</pose> + </model> + <model name='table_marble'> + <static>1</static> + <pose>18.9989 8.58019 0.648 0 -0 0</pose> + <link name='link'> + <collision name='collision'> + <geometry> + <mesh> + <uri>model:///table_marble/meshes/table_lightmap.dae</uri> + <scale>0.25 0.25 0.25</scale> + </mesh> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='visual'> + <geometry> + <mesh> + <uri>model://table_marble/meshes/table_lightmap.dae</uri> + <scale>0.25 0.25 0.25</scale> + </mesh> + </geometry> + <material> + <script> + <uri>model://table_marble/materials/scripts</uri> + <uri>model://table_marble/materials/textures</uri> + <name>Table/Marble_Lightmap</name> + </script> + <lighting>0</lighting> + </material> + </visual> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + </model> + <model name='telephone_pole'> + <static>1</static> + <link name='link'> + <collision name='collision_pole'> + <pose>0 0 4.572 0 -0 0</pose> + <geometry> + <cylinder> + <radius>0.0779475</radius> + <length>9.144</length> + </cylinder> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <collision name='collision_cross'> + <pose>0 -0.098806 8.04836 0 -0 0</pose> + <geometry> + <box> + <size>2.11606 0.041763 0.177806</size> + </box> + </geometry> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='visual'> + <geometry> + <mesh> + <uri>model://telephone_pole/meshes/telephone_pole.dae</uri> + </mesh> + </geometry> + </visual> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <pose>22.445 -3.57152 0 0 -0 0</pose> + </model> + <model name='washer'> + <link name='link'> + <pose>0 0 0.001 0 -0 0</pose> + <inertial> + <mass>0.0122</mass> + <inertia> + <ixx>1.08758e-06</ixx> + <ixy>0</ixy> + <ixz>0</ixz> + <iyy>1.08758e-06</iyy> + <iyz>0</iyz> + <izz>2.16703e-06</izz> + </inertia> + <pose>0 0 0 0 -0 0</pose> + </inertial> + <collision name='collision'> + <geometry> + <mesh> + <uri>model://washer/meshes/washer.dae</uri> + </mesh> + </geometry> + <surface> + <contact> + <poissons_ratio>0.305</poissons_ratio> + <elastic_modulus>2e+11</elastic_modulus> + <ode> + <kp>100000</kp> + <kd>100</kd> + <max_vel>100</max_vel> + <min_depth>0.001</min_depth> + </ode> + </contact> + <friction> + <torsional> + <coefficient>1</coefficient> + <use_patch_radius>0</use_patch_radius> + <surface_radius>0.01</surface_radius> + <ode/> + </torsional> + <ode/> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='visual'> + <geometry> + <mesh> + <uri>model://washer/meshes/washer.dae</uri> + </mesh> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Grey</name> + </script> + </material> + </visual> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <pose>17.7361 1.30244 0 0 -0 0</pose> + </model> + <state world_name='default'> + <sim_time>708 468000000</sim_time> + <real_time>784 629308457</real_time> + <wall_time>1729452759 882561474</wall_time> + <iterations>708468</iterations> + <model name='grocery_store'> + <pose>-5.77886 37.3727 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>-5.77886 37.3727 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='ground_plane'> + <pose>0 0 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>0 0 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='house_world'> + <pose>1.28 0.043787 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='Wall_1'> + <pose>0.805 -2.84 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_10'> + <pose>-11.595 -2.64 0 0 -0 3.14159</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_12'> + <pose>-11.4209 8.77758 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_14'> + <pose>15.1863 6.52758 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_3'> + <pose>4.48 -2.04 0 0 -0 1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_4'> + <pose>13.78 -1.24 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_5'> + <pose>23.08 6.31 0 0 -0 1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_6'> + <pose>1.28 13.86 0 0 -0 3.14159</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_7'> + <pose>-20.52 -0.065 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_8'> + <pose>-11.595 -13.99 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_9'> + <pose>-2.67 -8.315 0 0 -0 1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='jersey_barrier'> + <pose>11.2942 8.32183 0 0 -0 1.62308</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>11.2942 8.32183 0 0 -0 1.62308</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='radio_tower'> + <pose>22.2214 41.557 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>22.2214 41.557 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='table_marble'> + <pose>18.9989 8.58019 0.648 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>18.9989 8.58019 0.648 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='telephone_pole'> + <pose>22.445 -3.57152 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>22.445 -3.57152 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='washer'> + <pose>17.7361 1.30244 -0.000187 -0.005431 -0.001828 7e-06</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>17.7361 1.30245 0.000813 -0.005431 -0.001828 7e-06</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>-0.002548 -0.000732 0.003453 -2.43277 -0.560372 -3.12482</acceleration> + <wrench>-3.1e-05 -9e-06 4.2e-05 0 -0 0</wrench> + </link> + </model> + <light name='sun'> + <pose>0 0 10 0 -0 0</pose> + </light> + </state> + <gui fullscreen='0'> + <camera name='user_camera'> + <pose>22.462 30.35 16.4791 0 0.483643 -2.16299</pose> + <view_controller>orbit</view_controller> + <projection_type>perspective</projection_type> + </camera> + </gui> + </world> +</sdf> diff --git a/rusty_description/worlds/base_station.world b/rusty_description/worlds/base_station.world new file mode 100644 index 0000000..311feda --- /dev/null +++ b/rusty_description/worlds/base_station.world @@ -0,0 +1,584 @@ +<sdf version='1.7'> + <world name='default'> + <plugin + filename="gz-sim-physics-system" + name="gz::sim::systems::Physics"> + </plugin> + <plugin + filename="gz-sim-user-commands-system" + name="gz::sim::systems::UserCommands"> + </plugin> + <plugin + filename="gz-sim-scene-broadcaster-system" + name="gz::sim::systems::SceneBroadcaster"> + </plugin> + <plugin + filename="gz-sim-sensors-system" + name="gz::sim::systems::Sensors"> + <render_engine>ogre2</render_engine> + </plugin> + <plugin + filename="gz-sim-imu-system" + name="gz::sim::systems::Imu"> + </plugin> + <light name='sun' type='directional'> + <cast_shadows>1</cast_shadows> + <pose>0 0 10 0 -0 0</pose> + <diffuse>0.8 0.8 0.8 1</diffuse> + <specular>0.2 0.2 0.2 1</specular> + <attenuation> + <range>1000</range> + <constant>0.9</constant> + <linear>0.01</linear> + <quadratic>0.001</quadratic> + </attenuation> + <direction>-0.5 0.1 -0.9</direction> + <spot> + <inner_angle>0</inner_angle> + <outer_angle>0</outer_angle> + <falloff>0</falloff> + </spot> + </light> + <model name='ground_plane'> + <static>1</static> + <link name='link'> + <collision name='collision'> + <geometry> + <plane> + <normal>0 0 1</normal> + <size>100 100</size> + </plane> + </geometry> + <surface> + <contact> + <collide_bitmask>65535</collide_bitmask> + <ode/> + </contact> + <friction> + <ode> + <mu>100</mu> + <mu2>50</mu2> + </ode> + <torsional> + <ode/> + </torsional> + </friction> + <bounce/> + </surface> + <max_contacts>10</max_contacts> + </collision> + <visual name='visual'> + <cast_shadows>0</cast_shadows> + <geometry> + <plane> + <normal>0 0 1</normal> + <size>100 100</size> + </plane> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Grey</name> + </script> + </material> + </visual> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + </model> + <gravity>0 0 -9.8</gravity> + <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field> + <atmosphere type='adiabatic'/> + <physics type='ode'> + <max_step_size>0.001</max_step_size> + <real_time_factor>1</real_time_factor> + <real_time_update_rate>1000</real_time_update_rate> + </physics> + <scene> + <ambient>0.4 0.4 0.4 1</ambient> + <background>0.7 0.7 0.7 1</background> + <shadows>1</shadows> + </scene> + <audio> + <device>default</device> + </audio> + <wind/> + <spherical_coordinates> + <surface_model>EARTH_WGS84</surface_model> + <latitude_deg>0</latitude_deg> + <longitude_deg>0</longitude_deg> + <elevation>0</elevation> + <heading_deg>0</heading_deg> + </spherical_coordinates> + <model name='base.sdf'> + <pose>0.722097 -0.560636 0 0 -0 0</pose> + <link name='Wall_10'> + <collision name='Wall_10_Collision'> + <geometry> + <box> + <size>5.25 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_10_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>5.25 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <pose>0.959623 3.50012 0 0 -0 -1.5708</pose> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <link name='Wall_11'> + <collision name='Wall_11_Collision'> + <geometry> + <box> + <size>9.67279 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_11_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>9.67279 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <pose>-3.79867 1.1219 0 0 -0 3.10551</pose> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <link name='Wall_3'> + <collision name='Wall_3_Collision'> + <geometry> + <box> + <size>2.5 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_3_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>2.5 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <pose>-8.55697 0.118681 0 0 -0 -1.5708</pose> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <link name='Wall_6'> + <collision name='Wall_6_Collision'> + <geometry> + <box> + <size>5.14358 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_6_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>5.14358 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <pose>-8.54867 -3.5531 0 0 -0 -1.56747</pose> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <link name='Wall_7'> + <collision name='Wall_7_Collision'> + <geometry> + <box> + <size>17.25 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_7_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>17.25 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <pose>0.009623 -6.04988 0 0 -0 0</pose> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <link name='Wall_8'> + <collision name='Wall_8_Collision'> + <geometry> + <box> + <size>12.25 0.15 2.5</size> + </box> + </geometry> + <pose>0 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_8_Visual'> + <pose>0 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>12.25 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <pose>8.55962 0.000124 0 0 -0 1.5708</pose> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <link name='Wall_9'> + <pose>4.75962 6.05012 0 0 -0 3.14159</pose> + <visual name='Wall_9_Visual_0'> + <pose>-2.22706 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>3.29587 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <collision name='Wall_9_Collision_0'> + <geometry> + <box> + <size>3.29587 0.15 2.5</size> + </box> + </geometry> + <pose>-2.22706 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_9_Visual_1'> + <pose>2.09794 0 1.25 0 -0 0</pose> + <geometry> + <box> + <size>3.55413 0.15 2.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <collision name='Wall_9_Collision_1'> + <geometry> + <box> + <size>3.55413 0.15 2.5</size> + </box> + </geometry> + <pose>2.09794 0 1.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <visual name='Wall_9_Visual_2'> + <pose>-0.129128 0 2.25 0 -0 0</pose> + <geometry> + <box> + <size>0.9 0.15 0.5</size> + </box> + </geometry> + <material> + <script> + <uri>file://media/materials/scripts/gazebo.material</uri> + <name>Gazebo/Bricks</name> + </script> + <ambient>1 1 1 1</ambient> + </material> + <meta> + <layer>0</layer> + </meta> + </visual> + <collision name='Wall_9_Collision_2'> + <geometry> + <box> + <size>0.9 0.15 0.5</size> + </box> + </geometry> + <pose>-0.129128 0 2.25 0 -0 0</pose> + <max_contacts>10</max_contacts> + <surface> + <contact> + <ode/> + </contact> + <bounce/> + <friction> + <torsional> + <ode/> + </torsional> + <ode/> + </friction> + </surface> + </collision> + <self_collide>0</self_collide> + <enable_wind>0</enable_wind> + <kinematic>0</kinematic> + </link> + <static>1</static> + </model> + <state world_name='default'> + <sim_time>826 667000000</sim_time> + <real_time>832 158264646</real_time> + <wall_time>1729450942 231974349</wall_time> + <iterations>826667</iterations> + <model name='base.sdf'> + <pose>0.722097 -0.560636 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='Wall_10'> + <pose>1.68172 2.93948 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_11'> + <pose>-3.07657 0.561264 0 0 -0 3.10551</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_3'> + <pose>-7.83487 -0.441955 0 0 0 -1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_6'> + <pose>-7.82657 -4.11374 0 0 0 -1.56747</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_7'> + <pose>0.73172 -6.61052 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_8'> + <pose>9.28172 -0.560512 0 0 -0 1.5708</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + <link name='Wall_9'> + <pose>5.48172 5.48948 0 0 -0 3.14159</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <model name='ground_plane'> + <pose>0 0 0 0 -0 0</pose> + <scale>1 1 1</scale> + <link name='link'> + <pose>0 0 0 0 -0 0</pose> + <velocity>0 0 0 0 -0 0</velocity> + <acceleration>0 0 0 0 -0 0</acceleration> + <wrench>0 0 0 0 -0 0</wrench> + </link> + </model> + <light name='sun'> + <pose>0 0 10 0 -0 0</pose> + </light> + </state> + <gui fullscreen='0'> + <camera name='user_camera'> + <pose>17.3172 1.44865 4.07996 -0 0.171642 -2.83099</pose> + <view_controller>orbit</view_controller> + <projection_type>perspective</projection_type> + </camera> + </gui> + </world> +</sdf> diff --git a/rusty_msgs/CMakeLists.txt b/rusty_msgs/CMakeLists.txt index f3422f0..57a5f3d 100644 --- a/rusty_msgs/CMakeLists.txt +++ b/rusty_msgs/CMakeLists.txt @@ -18,12 +18,13 @@ find_package(geometry_msgs REQUIRED) set(msg_files "msg/GPSmsg.msg" "msg/Bayes.msg" + "msg/VnHundred.msg" ) rosidl_generate_interfaces(${PROJECT_NAME} ${msg_files} - DEPENDENCIES geometry_msgs std_msgs + DEPENDENCIES geometry_msgs std_msgs sensor_msgs ) # uncomment the following section in order to fill in # further dependencies manually. diff --git a/rusty_msgs/msg/VnHundred.msg b/rusty_msgs/msg/VnHundred.msg new file mode 100644 index 0000000..17845a3 --- /dev/null +++ b/rusty_msgs/msg/VnHundred.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +sensor_msgs/Imu imu +# sensor_msgs/MagneticField mag \ No newline at end of file

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