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updated scout description, still working on scout gazebo sim control

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This commit is contained in:
Ruixiang Du
2020-03-25 23:46:23 +08:00
parent 9c26ce9c34
commit 38510eb257
17 changed files with 3900 additions and 43 deletions
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12
scout_description/urdf/scout_v2.gazebo
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@@ -1,9 +1,19 @@
<?xml version="1.0"?>
<robot>
<robot xmlns:xacro="http://ros.org/wiki/xacro" >
<xacro:include filename="$(find scout_description)/urdf/scout_wheel.gazebo" />
<!-- Additional definitions for simulation -->
<!-- <gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo> -->
<!-- Actuator configurations -->
<xacro:scout_wheel_transmission wheel_prefix="front_right" />
<xacro:scout_wheel_transmission wheel_prefix="front_left" />
<xacro:scout_wheel_transmission wheel_prefix="rear_left" />
<xacro:scout_wheel_transmission wheel_prefix="rear_right" />
<!-- Controller configurations -->
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace></robotNamespace>

5
scout_description/urdf/scout_v2.xacro
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@@ -85,14 +85,13 @@
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
</xacro:scout_wheel_type2>
<!-- For testing, hang the robot up in the air -->
<!-- <link name="world" />
<link name="world" />
<joint name="world_to_base_link=" type="fixed">
<origin xyz="0 0 0.5" rpy="0 0 0" />
<parent link="world"/>
<child link="base_link"/>
</joint> -->
</joint>
<!-- Additional definitions -->
<xacro:include filename="$(arg urdf_extras)" />

50
scout_description/urdf/scout_wheel.gazebo Normal file
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@@ -0,0 +1,50 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file scout_wheel.xacro (adapted from wheel.urdf.xacro in husky_description)
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
Ruixiang Du <ruixiang.du@westonrobot.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
\copyright Copyright (c) 2020, Weston Robot Pte. Ltd., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="scout_wheel">
<xacro:macro name="scout_wheel_transmission" params="wheel_prefix">
<gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
</gazebo> -->
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
</robot>

19
scout_description/urdf/scout_wheel_type1.xacro
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@@ -54,24 +54,5 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:insert_block name="joint_pose"/>
<axis xyz="0 -1 0" rpy="0 0 0" />
</joint>
<!-- Gazebo definitions -->
<gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
</gazebo>
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
</robot>

19
scout_description/urdf/scout_wheel_type2.xacro
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@@ -54,25 +54,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:insert_block name="joint_pose"/>
<axis xyz="0 -1 0" rpy="0 0 0" />
</joint>
<!-- Gazebo definitions -->
<gazebo reference="${wheel_prefix}_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
</gazebo>
<transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${wheel_prefix}_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="${wheel_prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
</robot>

5
scout_gazebo_sim/CHANGELOG.md Normal file
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@@ -0,0 +1,5 @@
## Changelog
0.0.1 (2020-03-25)
------------------
* Initial release for Melodic.

49
scout_gazebo_sim/CMakeLists.txt Normal file
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@@ -0,0 +1,49 @@
cmake_minimum_required(VERSION 2.8.3)
project(scout_gazebo_sim)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roslaunch
roslint
roscpp
sensor_msgs
std_msgs
geometry_msgs
scout_msgs
scout_sdk
tf2
tf2_ros
)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES
CATKIN_DEPENDS roscpp sensor_msgs
# DEPENDS Boost
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_library(scout_gazebo STATIC src/scout_skid_steer.cpp)
target_link_libraries(scout_gazebo ${catkin_LIBRARIES})
add_executable(scout_skid_steer_controller src/scout_skid_steer_controller.cpp)
target_link_libraries(scout_skid_steer_controller scout_gazebo ${catkin_LIBRARIES})
#############
## Install ##
#############
roslaunch_add_file_check(launch)
install(
DIRECTORY launch worlds
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

37
scout_gazebo_sim/config/scout_v2_control.yaml Normal file
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@@ -0,0 +1,37 @@
# Publish all joint states -----------------------------------
scout_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Joint velocity controllers ---------------------------------
scout_motor_fr_controller:
type: velocity_controllers/JointVelocityController
joint: front_right_wheel
pid:
p: 5.0
i: 20.0
i_clamp: 100.0
scout_motor_fl_controller:
type: velocity_controllers/JointVelocityController
joint: front_left_wheel
pid:
p: 5.0
i: 20.0
i_clamp: 100.0
scout_motor_rl_controller:
type: velocity_controllers/JointVelocityController
joint: rear_left_wheel
pid:
p: 5.0
i: 20.0
i_clamp: 100.0
scout_motor_rr_controller:
type: velocity_controllers/JointVelocityController
joint: rear_right_wheel
pid:
p: 5.0
i: 20.0
i_clamp: 100.0

27
scout_gazebo_sim/include/scout_gazebo/scout_skid_steer.hpp Normal file
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@@ -0,0 +1,27 @@
/*
* scout_skid_steer.hpp
*
* Created on: Mar 25, 2020 22:52
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#ifndef SCOUT_SKID_STEER_HPP
#define SCOUT_SKID_STEER_HPP
#include <string>
#include <ros/ros.h>
namespace wescore {
class ScoutSkidSteer {
public:
ScoutSkidSteer(std::string robot_name);
private:
std::string robot_name;
};
} // namespace wescore
#endif /* SCOUT_SKID_STEER_HPP */

38
scout_gazebo_sim/launch/husky_playpen.launch Normal file
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@@ -0,0 +1,38 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file husky_playpen.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="laser_enabled" default="true"/>
<arg name="kinect_enabled" default="false"/>
<include file="$(find husky_gazebo)/launch/playpen.launch" />
<include file="$(find husky_gazebo)/launch/spawn_husky.launch">
<arg name="laser_enabled" value="$(arg laser_enabled)"/>
<arg name="kinect_enabled" value="$(arg kinect_enabled)"/>
</include>
</launch>

37
scout_gazebo_sim/launch/playpen.launch Normal file
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@@ -0,0 +1,37 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file husky_playpen.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find husky_gazebo)/worlds/clearpath_playpen.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>

43
scout_gazebo_sim/launch/scout_empty_world.launch Normal file
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@@ -0,0 +1,43 @@
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file husky_empty_world.launch
\authors Paul Bovbel <pbovbel@clearpathrobotics.com, Devon Ash <dash@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<launch>
<arg name="world_name" default="worlds/empty.world"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
<!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
<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 scout_gazebo)/launch/spawn_scout_v2.launch"></include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
</launch>

34
scout_gazebo_sim/launch/spawn_scout_v2.launch Normal file
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@@ -0,0 +1,34 @@
<launch>
<!-- initial pose -->
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="z" default="0.0"/>
<arg name="yaw" default="0.0"/>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true" />
<arg name="use_sim_time" default="false" />
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="true" />
<include file="$(find scout_description)/launch/scout_v2_stock.launch"></include>
<node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
-y $(arg y)
-z $(arg z)
-Y $(arg yaw)
-unpause
-urdf
-param robot_description
-model 'scout_v2'" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find scout_gazebo)/config/scout_v2_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
<!-- <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" />
</launch>

31
scout_gazebo_sim/package.xml Normal file
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@@ -0,0 +1,31 @@
<?xml version="1.0"?>
<package>
<name>scout_gazebo_sim</name>
<version>0.0.1</version>
<description>AgileX Scout 2.0 Simulator bringup</description>
<author email="ruixiang.du@westonrobot.com">Ruixiang Du</author>
<maintainer email="ruixiang.du@westonrobot.com">Ruixiang Du</maintainer>
<license>BSD</license>
<url type="website">http://ros.org/wiki/scout_gazebo</url>
<url type="bugtracker">https://github.com/husky/husky_simulator/issues</url>
<url type="repository">https://github.com/westonrobot/scout_ros</url>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roslaunch</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>sensor_msgs</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>sensor_msgs</run_depend>
<run_depend>controller_manager</run_depend>
<run_depend>gazebo_plugins</run_depend>
<run_depend>gazebo_ros</run_depend>
<run_depend>gazebo_ros_control</run_depend>
<run_depend>scout_description</run_depend>
<run_depend>rostopic</run_depend>
<export>
</export>
</package>

14
scout_gazebo_sim/src/scout_skid_steer.cpp Normal file
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@@ -0,0 +1,14 @@
/*
* scout_skid_steer.cpp
*
* Created on: Mar 25, 2020 22:54
* Description:
*
* Copyright (c) 2019 Ruixiang Du (rdu)
*/
#include "scout_gazebo/scout_skid_steer.hpp"
namespace wescore {
}

52
scout_gazebo_sim/src/scout_skid_steer_controller.cpp Normal file
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@@ -0,0 +1,52 @@
#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include "scout_gazebo/scout_skid_steer.hpp"
using namespace wescore;
int main(int argc, char **argv)
{
// setup ROS node
ros::init(argc, argv, "scout_odom");
ros::NodeHandle node(""), private_node("~");
// // instantiate a robot object
// ScoutBase robot;
// ScoutROSMessenger messenger(&robot, &node);
// // fetch parameters before connecting to robot
// std::string port_name;
// private_node.param<std::string>("port_name", port_name, std::string("can0"));
// private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
// private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
// private_node.param<bool>("simulated_robot", messenger.simulated_robot_, false);
// // connect to robot and setup ROS subscription
// if (port_name.find("can") != std::string::npos)
// {
// robot.Connect(port_name);
// ROS_INFO("Using CAN bus to talk with the robot");
// }
// else
// {
// robot.Connect(port_name, 115200);
// ROS_INFO("Using UART to talk with the robot");
// }
// messenger.SetupSubscription();
// // publish robot state at 20Hz while listening to twist commands
// ros::Rate rate_20hz(20); // 20Hz
// while (true)
// {
// messenger.PublishStateToROS();
// ros::spinOnce();
// rate_20hz.sleep();
// }
return 0;
}

3469
scout_gazebo_sim/worlds/clearpath_playpen.world Normal file
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