mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 11:20:02 +08:00
saved work, odom not right, to be fixed
This commit is contained in:
Ruixiang Du
212
scout_robot/CMakeLists.txt
Normal file
212
scout_robot/CMakeLists.txt
Normal file
@@ -0,0 +1,212 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(scout_robot)
|
||||
|
||||
## 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
|
||||
urdf
|
||||
xacro
|
||||
)
|
||||
|
||||
## 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(
|
||||
CATKIN_DEPENDS urdf xacro
|
||||
# INCLUDE_DIRS include
|
||||
# LIBRARIES scout_robot
|
||||
# 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/${PROJECT_NAME}/scout_robot.cpp
|
||||
# )
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${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/scout_robot_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 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 meshes rviz urdf
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
)
|
||||
# install(DIRECTORY include/${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_scout_robot.cpp)
|
||||
# if(TARGET ${PROJECT_NAME}-test)
|
||||
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
||||
# endif()
|
||||
|
||||
## Add folders to be run by python nosetests
|
||||
# catkin_add_nosetests(test)
|
||||
27
scout_robot/launch/display.launch
Normal file
27
scout_robot/launch/display.launch
Normal file
@@ -0,0 +1,27 @@
|
||||
<!-- -->
|
||||
<launch>
|
||||
<arg
|
||||
name="model" />
|
||||
<arg
|
||||
name="gui"
|
||||
default="False" />
|
||||
<param
|
||||
name="robot_description"
|
||||
textfile="$(find scout_robot)/urdf/scout.urdf" />
|
||||
<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="state_publisher" />
|
||||
<node
|
||||
name="rviz"
|
||||
pkg="rviz"
|
||||
type="rviz"
|
||||
args="-d $(find scout_robot)/rviz/urdf.rviz" />
|
||||
</launch>
|
||||
16
scout_robot/launch/gmapping.launch
Normal file
16
scout_robot/launch/gmapping.launch
Normal file
@@ -0,0 +1,16 @@
|
||||
<!-- -->
|
||||
<launch>
|
||||
|
||||
<!-- ************** Global Parameters *************** -->
|
||||
<param name="/use_sim_time" value="true"/>
|
||||
|
||||
<!-- ************** Gmapping *************** -->
|
||||
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
|
||||
<remap from="scan" to="/scan"/>
|
||||
<param name="base_link" value="base_footprint"/>
|
||||
</node>
|
||||
|
||||
<!-- **************** Visualisation **************** -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/mapping.rviz"/>
|
||||
|
||||
</launch>
|
||||
48
scout_robot/launch/navigation.launch
Normal file
48
scout_robot/launch/navigation.launch
Normal file
@@ -0,0 +1,48 @@
|
||||
<!--
|
||||
Simulate a differential drive robot with the teb_local_planner in stage:
|
||||
- map_server
|
||||
- move_base
|
||||
- static map
|
||||
- amcl
|
||||
- rviz view
|
||||
-->
|
||||
<launch>
|
||||
|
||||
<!-- ************** Global Parameters *************** -->
|
||||
<param name="/use_sim_time" value="true"/>
|
||||
|
||||
<!-- ************** Navigation *************** -->
|
||||
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
|
||||
<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
|
||||
<rosparam file="$(find scout_robot)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find scout_robot)/param/diff_drive/local_costmap_params.yaml" command="load" />
|
||||
<rosparam file="$(find scout_robot)/param/diff_drive/global_costmap_params.yaml" command="load" />
|
||||
<rosparam file="$(find scout_robot)/param/diff_drive/teb_local_planner_params.yaml" command="load" />
|
||||
|
||||
<param name="base_global_planner" value="global_planner/GlobalPlanner" />
|
||||
<param name="planner_frequency" value="1.0" />
|
||||
<param name="planner_patience" value="5.0" />
|
||||
|
||||
<param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" />
|
||||
<param name="controller_frequency" value="5.0" />
|
||||
<param name="controller_patience" value="15.0" />
|
||||
</node>
|
||||
|
||||
|
||||
<!-- ****** Maps ***** -->
|
||||
<node name="map_server" pkg="map_server" type="map_server" args="$(find scout_robot)/maps/play.yaml" output="screen">
|
||||
<param name="frame_id" value="map"/>
|
||||
</node>
|
||||
|
||||
<node pkg="amcl" type="amcl" name="amcl" output="screen">
|
||||
<rosparam file="$(find scout_robot)/param/amcl_params.yaml" command="load" />
|
||||
|
||||
<param name="initial_pose_x" value="-2"/>
|
||||
<param name="initial_pose_y" value="-1"/>
|
||||
<param name="initial_pose_a" value="0"/>
|
||||
</node>
|
||||
|
||||
<!-- **************** Visualisation **************** -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/rviz_navigation.rviz"/>
|
||||
|
||||
</launch>
|
||||
28
scout_robot/launch/scout_world.launch
Normal file
28
scout_robot/launch/scout_world.launch
Normal file
@@ -0,0 +1,28 @@
|
||||
<?xml version="1.0"?>
|
||||
<launch>
|
||||
|
||||
<arg name="x_pos" default="-2.0"/>
|
||||
<arg name="y_pos" default="-0.5"/>
|
||||
<arg name="z_pos" default="0.0"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<!--arg name="world_name" value="$(find scout_robot)/worlds/turtlebot3_world.world"/-->
|
||||
<arg name="world_name" value="$(find scout_robot)/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>
|
||||
|
||||
<param name="robot_description" command="$(find xacro)/xacro.py '$(find scout_robot)/urdf/scout.xacro'"/>
|
||||
|
||||
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
|
||||
</node>
|
||||
|
||||
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
|
||||
<param name="publish_frequency" type="double" value="50.0" />
|
||||
</node>
|
||||
|
||||
<node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen" args="-urdf -param robot_description -model robot -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos)" />
|
||||
</launch>
|
||||
5
scout_robot/maps/play.pgm
Executable file
5
scout_robot/maps/play.pgm
Executable file
File diff suppressed because one or more lines are too long
7
scout_robot/maps/play.yaml
Executable file
7
scout_robot/maps/play.yaml
Executable file
@@ -0,0 +1,7 @@
|
||||
image: play.pgm
|
||||
resolution: 0.010000
|
||||
origin: [-20.000000, -20.000000, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
BIN
scout_robot/meshes/back left_Link.STL
Normal file
BIN
scout_robot/meshes/back left_Link.STL
Normal file
Binary file not shown.
BIN
scout_robot/meshes/back right_Link.STL
Normal file
BIN
scout_robot/meshes/back right_Link.STL
Normal file
Binary file not shown.
BIN
scout_robot/meshes/base_link.STL
Normal file
BIN
scout_robot/meshes/base_link.STL
Normal file
Binary file not shown.
BIN
scout_robot/meshes/front left_Link.STL
Normal file
BIN
scout_robot/meshes/front left_Link.STL
Normal file
Binary file not shown.
BIN
scout_robot/meshes/front right_Link.STL
Normal file
BIN
scout_robot/meshes/front right_Link.STL
Normal file
Binary file not shown.
253
scout_robot/meshes/hokuyo.dae
Executable file
253
scout_robot/meshes/hokuyo.dae
Executable file
File diff suppressed because one or more lines are too long
70
scout_robot/package.xml
Normal file
70
scout_robot/package.xml
Normal file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>scout_robot</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The scout_robot package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="a@todo.todo">a</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/scout_robot</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>
|
||||
<depend>urdf</depend>
|
||||
<depend>xacro</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>
|
||||
38
scout_robot/param/amcl_params.yaml
Normal file
38
scout_robot/param/amcl_params.yaml
Normal file
@@ -0,0 +1,38 @@
|
||||
use_map_topic: true
|
||||
|
||||
odom_frame_id: "odom"
|
||||
base_frame_id: "base_footprint"
|
||||
global_frame_id: "map"
|
||||
|
||||
## Publish scans from best pose at a max of 10 Hz
|
||||
odom_model_type: "diff"
|
||||
odom_alpha5: 0.1
|
||||
gui_publish_rate: 10.0
|
||||
laser_max_beams: 60
|
||||
laser_max_range: 12.0
|
||||
min_particles: 500
|
||||
max_particles: 2000
|
||||
kld_err: 0.05
|
||||
kld_z: 0.99
|
||||
odom_alpha1: 0.2
|
||||
odom_alpha2: 0.2
|
||||
## translation std dev, m
|
||||
odom_alpha3: 0.2
|
||||
odom_alpha4: 0.2
|
||||
laser_z_hit: 0.5
|
||||
aser_z_short: 0.05
|
||||
laser_z_max: 0.05
|
||||
laser_z_rand: 0.5
|
||||
laser_sigma_hit: 0.2
|
||||
laser_lambda_short: 0.1
|
||||
laser_model_type: "likelihood_field" # "likelihood_field" or "beam"
|
||||
laser_likelihood_max_dist: 2.0
|
||||
update_min_d: 0.25
|
||||
update_min_a: 0.2
|
||||
|
||||
resample_interval: 1
|
||||
|
||||
## Increase tolerance because the computer can get quite busy
|
||||
transform_tolerance: 1.0
|
||||
recovery_alpha_slow: 0.001
|
||||
recovery_alpha_fast: 0.1
|
||||
33
scout_robot/param/diff_drive/costmap_common_params.yaml
Normal file
33
scout_robot/param/diff_drive/costmap_common_params.yaml
Normal file
@@ -0,0 +1,33 @@
|
||||
|
||||
#---standard pioneer footprint---
|
||||
#---(in meters)---
|
||||
#robot_radius: 0.25 #0.17
|
||||
#footprint_padding: 0.00
|
||||
|
||||
footprint: [ [-0.465,-0.350], [0.465,-0.350], [0.465,0.350], [-0.465,0.350] ]
|
||||
|
||||
transform_tolerance: 0.2
|
||||
map_type: costmap
|
||||
|
||||
always_send_full_costmap: true
|
||||
|
||||
obstacle_layer:
|
||||
enabled: true
|
||||
obstacle_range: 3.0
|
||||
raytrace_range: 4.0
|
||||
inflation_radius: 0.2
|
||||
track_unknown_space: true
|
||||
combination_method: 1
|
||||
|
||||
observation_sources: laser_scan_sensor
|
||||
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
|
||||
|
||||
|
||||
inflation_layer:
|
||||
enabled: true
|
||||
cost_scaling_factor: 10.0 # exponential rate at which the obstacle cost drops off (default: 10)
|
||||
inflation_radius: 0.5 # max. distance from an obstacle at which costs are incurred for planning paths.
|
||||
|
||||
static_layer:
|
||||
enabled: true
|
||||
map_topic: "/map"
|
||||
31
scout_robot/param/diff_drive/costmap_converter_params.yaml
Normal file
31
scout_robot/param/diff_drive/costmap_converter_params.yaml
Normal file
@@ -0,0 +1,31 @@
|
||||
###########################################################################################
|
||||
## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
|
||||
## obstales into clusters, computed in a separate thread in order to improve the overall ##
|
||||
## efficiency of local planning. However, the implemented conversion algorithms are in a ##
|
||||
## very early stage of development. Contributions are welcome! ##
|
||||
###########################################################################################
|
||||
|
||||
TebLocalPlannerROS:
|
||||
|
||||
## Costmap converter plugin
|
||||
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
|
||||
costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSRANSAC"
|
||||
#costmap_converter_plugin: "costmap_converter::CostmapToLinesDBSMCCH"
|
||||
#costmap_converter_plugin: "costmap_converter::CostmapToPolygonsDBSConcaveHull"
|
||||
costmap_converter_spin_thread: True
|
||||
costmap_converter_rate: 5
|
||||
|
||||
|
||||
## Configure plugins (namespace move_base/costmap_to_lines or move_base/costmap_to_polygons)
|
||||
## costmap_converter/CostmapToLinesDBSRANSAC, costmap_converter/CostmapToLinesDBSMCCH, costmap_converter/CostmapToPolygonsDBSMCCH
|
||||
costmap_converter/CostmapToLinesDBSRANSAC:
|
||||
cluster_max_distance: 0.4
|
||||
cluster_min_pts: 2
|
||||
ransac_inlier_distance: 0.15
|
||||
ransac_min_inliers: 10
|
||||
ransac_no_iterations: 1500
|
||||
ransac_remainig_outliers: 3
|
||||
ransac_convert_outlier_pts: True
|
||||
ransac_filter_remaining_outlier_pts: False
|
||||
convex_hull_min_pt_separation: 0.1
|
||||
|
||||
@@ -0,0 +1,41 @@
|
||||
###########################################################################################
|
||||
## NOTE: Costmap conversion is experimental. Its purpose is to combine many point ##
|
||||
## obstales into clusters, computed in a separate thread in order to improve the overall ##
|
||||
## efficiency of local planning. However, the implemented conversion algorithms are in a ##
|
||||
## very early stage of development. Contributions are welcome! ##
|
||||
###########################################################################################
|
||||
|
||||
TebLocalPlannerROS:
|
||||
|
||||
## Costmap converter plugin
|
||||
costmap_converter_plugin: "costmap_converter::CostmapToDynamicObstacles"
|
||||
costmap_converter_spin_thread: True
|
||||
costmap_converter_rate: 5
|
||||
|
||||
|
||||
## Configure plugins (namespace move_base/CostmapToDynamicObstacles)
|
||||
costmap_converter/CostmapToDynamicObstacles:
|
||||
alpha_slow: 0.3
|
||||
alpha_fast: 0.85
|
||||
beta: 0.85
|
||||
min_sep_between_slow_and_fast_filter: 80
|
||||
min_occupancy_probability: 180
|
||||
max_occupancy_neighbors: 100
|
||||
morph_size: 1
|
||||
filter_by_area: True
|
||||
min_area: 3
|
||||
max_area: 300
|
||||
filter_by_circularity: True
|
||||
min_circularity: 0.2
|
||||
max_circularity: 1.0
|
||||
filter_by_inertia: True
|
||||
min_intertia_ratio: 0.2
|
||||
max_inertia_ratio: 1.0
|
||||
filter_by_convexity: False
|
||||
min_convexity: 0.0
|
||||
max_convexity: 1.0
|
||||
dt: 0.2
|
||||
dist_thresh: 60.0
|
||||
max_allowed_skipped_frames: 3
|
||||
max_trace_length: 10
|
||||
static_converter_plugin: "costmap_converter::CostmapToPolygonsDBSMCCH"
|
||||
@@ -0,0 +1,16 @@
|
||||
global_costmap:
|
||||
global_frame: map
|
||||
robot_base_frame: robot_0/base_link
|
||||
update_frequency: 1.0
|
||||
publish_frequency: 0.5
|
||||
static_map: true
|
||||
|
||||
transform_tolerance: 0.5
|
||||
plugins:
|
||||
- {name: static_layer, type: "costmap_2d::StaticLayer"}
|
||||
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
|
||||
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,15 @@
|
||||
local_costmap:
|
||||
global_frame: map
|
||||
robot_base_frame: robot_0/base_link
|
||||
update_frequency: 5.0
|
||||
publish_frequency: 5.001 # actually exactly 5.0Hz, see https://github.com/ros-planning/navigation/issues/383
|
||||
static_map: false
|
||||
rolling_window: true
|
||||
width: 12
|
||||
height: 12
|
||||
resolution: 0.1
|
||||
transform_tolerance: 0.5
|
||||
|
||||
plugins:
|
||||
- {name: static_layer, type: "costmap_2d::StaticLayer"}
|
||||
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
|
||||
@@ -0,0 +1,83 @@
|
||||
TebLocalPlannerROS:
|
||||
|
||||
odom_topic: odom
|
||||
|
||||
# Trajectory
|
||||
|
||||
teb_autosize: True
|
||||
dt_ref: 0.3
|
||||
dt_hysteresis: 0.1
|
||||
global_plan_overwrite_orientation: True
|
||||
allow_init_with_backwards_motion: False
|
||||
max_global_plan_lookahead_dist: 3.0
|
||||
feasibility_check_no_poses: 5
|
||||
|
||||
# Robot
|
||||
|
||||
max_vel_x: 0.4
|
||||
max_vel_x_backwards: 0.2
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 0.3
|
||||
acc_lim_x: 0.5
|
||||
acc_lim_theta: 0.5
|
||||
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
|
||||
|
||||
footprint_model:
|
||||
type: "point"
|
||||
|
||||
# GoalTolerance
|
||||
|
||||
xy_goal_tolerance: 0.2
|
||||
yaw_goal_tolerance: 0.1
|
||||
free_goal_vel: False
|
||||
|
||||
# Obstacles
|
||||
|
||||
min_obstacle_dist: 0.6 # This value must also include our robot radius, since footprint_model is set to "point".
|
||||
inflation_dist: 0.8
|
||||
dynamic_obstacle_inflation_dist: 0.6
|
||||
include_dynamic_obstacles: True
|
||||
include_costmap_obstacles: True
|
||||
costmap_obstacles_behind_robot_dist: 1.5
|
||||
obstacle_poses_affected: 30
|
||||
# costmap_converter parameters are defined in costmap_converter_params.yaml
|
||||
|
||||
# Optimization
|
||||
|
||||
no_inner_iterations: 5
|
||||
no_outer_iterations: 4
|
||||
optimization_activate: True
|
||||
optimization_verbose: False
|
||||
penalty_epsilon: 0.1
|
||||
weight_max_vel_x: 3
|
||||
weight_max_vel_theta: 1
|
||||
weight_acc_lim_x: 2
|
||||
weight_acc_lim_theta: 2
|
||||
weight_kinematics_nh: 1000
|
||||
weight_kinematics_forward_drive: 1
|
||||
weight_kinematics_turning_radius: 1
|
||||
weight_optimaltime: 1
|
||||
weight_obstacle: 50
|
||||
weight_inflation: 0.3
|
||||
weight_dynamic_obstacle: 50
|
||||
weight_dynamic_obstacle_inflation: 0.3
|
||||
weight_adapt_factor: 2
|
||||
|
||||
# Homotopy Class Planner
|
||||
|
||||
enable_homotopy_class_planning: True
|
||||
enable_multithreading: True
|
||||
simple_exploration: False
|
||||
max_number_classes: 4
|
||||
selection_cost_hysteresis: 1.0
|
||||
selection_obst_cost_scale: 1.0
|
||||
selection_alternative_time_cost: True
|
||||
|
||||
roadmap_graph_no_samples: 15
|
||||
roadmap_graph_area_width: 5
|
||||
h_signature_prescaler: 0.5
|
||||
h_signature_threshold: 0.1
|
||||
obstacle_keypoint_offset: 0.1
|
||||
obstacle_heading_threshold: 0.45
|
||||
visualize_hc_graph: False
|
||||
visualize_with_time_as_z_axis_scale: 0.2
|
||||
16
scout_robot/param/diff_drive/global_costmap_params.yaml
Normal file
16
scout_robot/param/diff_drive/global_costmap_params.yaml
Normal file
@@ -0,0 +1,16 @@
|
||||
global_costmap:
|
||||
global_frame: map
|
||||
robot_base_frame: base_footprint
|
||||
update_frequency: 1.0
|
||||
publish_frequency: 0.5
|
||||
static_map: true
|
||||
|
||||
transform_tolerance: 0.5
|
||||
plugins:
|
||||
- {name: static_layer, type: "costmap_2d::StaticLayer"}
|
||||
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
|
||||
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}
|
||||
|
||||
|
||||
|
||||
|
||||
15
scout_robot/param/diff_drive/local_costmap_params.yaml
Normal file
15
scout_robot/param/diff_drive/local_costmap_params.yaml
Normal file
@@ -0,0 +1,15 @@
|
||||
local_costmap:
|
||||
global_frame: map
|
||||
robot_base_frame: base_footprint
|
||||
update_frequency: 5.0
|
||||
publish_frequency: 2.0
|
||||
static_map: false
|
||||
rolling_window: true
|
||||
width: 5.5
|
||||
height: 5.5
|
||||
resolution: 0.1
|
||||
transform_tolerance: 0.5
|
||||
|
||||
plugins:
|
||||
- {name: static_layer, type: "costmap_2d::StaticLayer"}
|
||||
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
|
||||
112
scout_robot/param/diff_drive/teb_local_planner_params.yaml
Normal file
112
scout_robot/param/diff_drive/teb_local_planner_params.yaml
Normal file
@@ -0,0 +1,112 @@
|
||||
TebLocalPlannerROS:
|
||||
|
||||
odom_topic: odom
|
||||
|
||||
# Trajectory
|
||||
|
||||
teb_autosize: True
|
||||
dt_ref: 0.3
|
||||
dt_hysteresis: 0.1
|
||||
max_samples: 500
|
||||
global_plan_overwrite_orientation: True
|
||||
allow_init_with_backwards_motion: False
|
||||
max_global_plan_lookahead_dist: 3.0
|
||||
global_plan_viapoint_sep: -1
|
||||
global_plan_prune_distance: 1
|
||||
exact_arc_length: False
|
||||
feasibility_check_no_poses: 5
|
||||
publish_feedback: False
|
||||
|
||||
# Robot
|
||||
|
||||
max_vel_x: 0.8 #0.4
|
||||
max_vel_x_backwards: 0.2
|
||||
max_vel_y: 0.0
|
||||
max_vel_theta: 1.8 #0.3
|
||||
acc_lim_x: 0.5
|
||||
acc_lim_theta: 1.8 #0.5
|
||||
min_turning_radius: 0.0 # diff-drive robot (can turn on place!)
|
||||
|
||||
footprint_model:
|
||||
type: "line"
|
||||
line_start: [-0.4, 0.0]
|
||||
line_end: [0.4, 0.0]
|
||||
|
||||
# GoalTolerance
|
||||
|
||||
xy_goal_tolerance: 0.2
|
||||
yaw_goal_tolerance: 0.1
|
||||
free_goal_vel: False
|
||||
complete_global_plan: True
|
||||
|
||||
# Obstacles
|
||||
|
||||
min_obstacle_dist: 0.45 #0.25 # This value must also include our robot radius, since footprint_model is set to "point".
|
||||
inflation_dist: 0.6
|
||||
include_costmap_obstacles: True
|
||||
costmap_obstacles_behind_robot_dist: 1.5
|
||||
obstacle_poses_affected: 15
|
||||
|
||||
dynamic_obstacle_inflation_dist: 0.6
|
||||
include_dynamic_obstacles: True
|
||||
|
||||
costmap_converter_plugin: ""
|
||||
costmap_converter_spin_thread: True
|
||||
costmap_converter_rate: 5
|
||||
|
||||
# Optimization
|
||||
|
||||
no_inner_iterations: 5
|
||||
no_outer_iterations: 4
|
||||
optimization_activate: True
|
||||
optimization_verbose: False
|
||||
penalty_epsilon: 0.1
|
||||
obstacle_cost_exponent: 4
|
||||
weight_max_vel_x: 2
|
||||
weight_max_vel_theta: 1
|
||||
weight_acc_lim_x: 1
|
||||
weight_acc_lim_theta: 1
|
||||
weight_kinematics_nh: 1000
|
||||
weight_kinematics_forward_drive: 1
|
||||
weight_kinematics_turning_radius: 1
|
||||
weight_optimaltime: 1 # must be > 0
|
||||
weight_shortest_path: 0
|
||||
weight_obstacle: 100
|
||||
weight_inflation: 0.2
|
||||
weight_dynamic_obstacle: 10
|
||||
weight_dynamic_obstacle_inflation: 0.2
|
||||
weight_viapoint: 1
|
||||
weight_adapt_factor: 2
|
||||
|
||||
# Homotopy Class Planner
|
||||
|
||||
enable_homotopy_class_planning: True
|
||||
enable_multithreading: True
|
||||
max_number_classes: 4
|
||||
selection_cost_hysteresis: 1.0
|
||||
selection_prefer_initial_plan: 0.9
|
||||
selection_obst_cost_scale: 100.0
|
||||
selection_alternative_time_cost: False
|
||||
|
||||
roadmap_graph_no_samples: 15
|
||||
roadmap_graph_area_width: 5
|
||||
roadmap_graph_area_length_scale: 1.0
|
||||
h_signature_prescaler: 0.5
|
||||
h_signature_threshold: 0.1
|
||||
obstacle_heading_threshold: 0.45
|
||||
switching_blocking_period: 0.0
|
||||
viapoints_all_candidates: True
|
||||
delete_detours_backwards: True
|
||||
max_ratio_detours_duration_best_duration: 3.0
|
||||
visualize_hc_graph: False
|
||||
visualize_with_time_as_z_axis_scale: False
|
||||
|
||||
# Recovery
|
||||
|
||||
shrink_horizon_backup: True
|
||||
shrink_horizon_min_duration: 10
|
||||
oscillation_recovery: True
|
||||
oscillation_v_eps: 0.1
|
||||
oscillation_omega_eps: 0.1
|
||||
oscillation_recovery_min_duration: 10
|
||||
oscillation_filter_duration: 10
|
||||
44
scout_robot/readme.md
Normal file
44
scout_robot/readme.md
Normal file
@@ -0,0 +1,44 @@
|
||||
The scout robot simulated in gazebo.
|
||||
|
||||
System environment:
|
||||
|
||||
Ubuntu 16.04
|
||||
ros kinetic
|
||||
gazebo7
|
||||
|
||||
Required configuration environment:
|
||||
|
||||
sudo apt-get install ros-kinetic-navigation
|
||||
sudo apt-get install ros-kinetic-slam-gmapping
|
||||
sudo apt-get install ros-kinetic-openslam-gmapping
|
||||
sudo apt-get install ros-kinetic-teleop-twist-keyboard
|
||||
sudo apt-get install ros-kinetic-teb-local-planner
|
||||
|
||||
Start the robot world:
|
||||
|
||||
roslaunch scout_robot scout_world.launch
|
||||
|
||||
If you can't open the gazebo,you can see this blog:
|
||||
https://blog.csdn.net/qq_37427972/article/details/82853655
|
||||
|
||||
And don't forget to install the graphics driver.
|
||||
|
||||
We can teleop the robot by using this command:
|
||||
|
||||
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
|
||||
|
||||
Start the gmapping:
|
||||
|
||||
roslaunch scout_robot gmapping.launch
|
||||
|
||||
After finishing to build the map,we can save the map data by using this:
|
||||
|
||||
rosrun map_server map_saver -f map
|
||||
|
||||
Start the navigation:
|
||||
|
||||
roslaunch scout_robot navigation.launch
|
||||
|
||||
Then,we can let the robot to the navigation goal by using the 2D Pose Estimate in RVIZ.
|
||||
The moredetails in teb_local_planner,you can see this website:
|
||||
http://wiki.ros.org/teb_local_planner/Tutorials
|
||||
252
scout_robot/rviz/mapping.rviz
Executable file
252
scout_robot/rviz/mapping.rviz
Executable file
@@ -0,0 +1,252 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /Map1
|
||||
- /Odometry1
|
||||
- /RobotModel1
|
||||
- /TF1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 508
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
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
|
||||
- Alpha: 0.7
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /map
|
||||
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/LaserScan
|
||||
Color: 255; 255; 255
|
||||
Color Transformer: Intensity
|
||||
Decay Time: 0
|
||||
Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
|
||||
Max Intensity: 1.12401e-37
|
||||
Min Color: 0; 0; 0
|
||||
Min Intensity: 1.12401e-37
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.01
|
||||
Style: Flat Squares
|
||||
Topic: /robot/laser/scan
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Angle Tolerance: 0.1
|
||||
Class: rviz/Odometry
|
||||
Color: 255; 25; 0
|
||||
Enabled: true
|
||||
Keep: 100
|
||||
Length: 1
|
||||
Name: Odometry
|
||||
Position Tolerance: 0.1
|
||||
Topic: /odom
|
||||
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
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_footprint:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
camera_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
hokuyo_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheel_1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheel_2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheel_3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wheel_4:
|
||||
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: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
base_footprint:
|
||||
Value: true
|
||||
base_link:
|
||||
Value: true
|
||||
camera_link:
|
||||
Value: true
|
||||
hokuyo_link:
|
||||
Value: true
|
||||
map:
|
||||
Value: true
|
||||
odom:
|
||||
Value: true
|
||||
wheel_1:
|
||||
Value: true
|
||||
wheel_2:
|
||||
Value: true
|
||||
wheel_3:
|
||||
Value: true
|
||||
wheel_4:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
map:
|
||||
odom:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
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
|
||||
Topic: /initialpose
|
||||
- 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: 8.13564
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.06
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 0.860398
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.9304
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 681
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000013c0000028bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000000000028b000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000201fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000004100000201000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000002f60000003efc0100000002fb0000000800540069006d00650000000000000002f6000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002f50000028b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1079
|
||||
X: 783
|
||||
Y: 50
|
||||
329
scout_robot/rviz/rviz_navigation.rviz
Normal file
329
scout_robot/rviz/rviz_navigation.rviz
Normal file
@@ -0,0 +1,329 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 81
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Robot1
|
||||
Splitter Ratio: 0.605095983
|
||||
Tree Height: 744
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679016
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: LaserScan
|
||||
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: 0.0299999993
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 50
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 0.699999988
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /map
|
||||
Unreliable: false
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
- Class: rviz/Group
|
||||
Displays:
|
||||
- Alpha: 1
|
||||
Arrow Length: 0.300000012
|
||||
Axes Length: 0.300000012
|
||||
Axes Radius: 0.00999999978
|
||||
Class: rviz/PoseArray
|
||||
Color: 255; 25; 0
|
||||
Enabled: true
|
||||
Head Length: 0.0700000003
|
||||
Head Radius: 0.0299999993
|
||||
Name: TebPoses
|
||||
Shaft Length: 0.230000004
|
||||
Shaft Radius: 0.00999999978
|
||||
Shape: Arrow (Flat)
|
||||
Topic: /move_base/TebLocalPlannerROS/teb_poses
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Class: rviz/Marker
|
||||
Enabled: true
|
||||
Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
|
||||
Name: TebMarker
|
||||
Namespaces:
|
||||
{}
|
||||
Queue Size: 100
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 255; 0; 0
|
||||
Enabled: true
|
||||
Head Diameter: 0.300000012
|
||||
Head Length: 0.200000003
|
||||
Length: 0.300000012
|
||||
Line Style: Lines
|
||||
Line Width: 0.0299999993
|
||||
Name: LocalPath
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Radius: 0.0299999993
|
||||
Shaft Diameter: 0.100000001
|
||||
Shaft Length: 0.100000001
|
||||
Topic: /move_base/TebLocalPlannerROS/local_plan
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 0.400000006
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: LocalCostmap
|
||||
Topic: /move_base/local_costmap/costmap
|
||||
Unreliable: false
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
Enabled: true
|
||||
Name: Local Planner
|
||||
- Class: rviz/Group
|
||||
Displays:
|
||||
- Alpha: 1
|
||||
Buffer Length: 1
|
||||
Class: rviz/Path
|
||||
Color: 25; 255; 0
|
||||
Enabled: true
|
||||
Head Diameter: 0.300000012
|
||||
Head Length: 0.200000003
|
||||
Length: 0.300000012
|
||||
Line Style: Lines
|
||||
Line Width: 0.0299999993
|
||||
Name: GlobalPath
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Pose Color: 255; 85; 255
|
||||
Pose Style: None
|
||||
Radius: 0.0299999993
|
||||
Shaft Diameter: 0.100000001
|
||||
Shaft Length: 0.100000001
|
||||
Topic: /move_base/TebLocalPlannerROS/global_plan
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Alpha: 0.699999988
|
||||
Class: rviz/Map
|
||||
Color Scheme: map
|
||||
Draw Behind: false
|
||||
Enabled: true
|
||||
Name: GlobalCostmap
|
||||
Topic: /move_base/global_costmap/costmap
|
||||
Unreliable: false
|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
Enabled: true
|
||||
Name: Global Planner
|
||||
- Class: rviz/Group
|
||||
Displays:
|
||||
- Alpha: 1
|
||||
Class: rviz/Polygon
|
||||
Color: 85; 0; 255
|
||||
Enabled: true
|
||||
Name: Robot Footprint
|
||||
Topic: /move_base/local_costmap/footprint
|
||||
Unreliable: false
|
||||
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/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: 0
|
||||
Name: LaserScan
|
||||
Position Transformer: XYZ
|
||||
Queue Size: 10
|
||||
Selectable: true
|
||||
Size (Pixels): 3
|
||||
Size (m): 0.00999999978
|
||||
Style: Flat Squares
|
||||
Topic: /scan
|
||||
Unreliable: false
|
||||
Use Fixed Frame: true
|
||||
Use rainbow: true
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Arrow Length: 0.100000001
|
||||
Axes Length: 0.300000012
|
||||
Axes Radius: 0.00999999978
|
||||
Class: rviz/PoseArray
|
||||
Color: 255; 25; 0
|
||||
Enabled: true
|
||||
Head Length: 0.0700000003
|
||||
Head Radius: 0.0299999993
|
||||
Name: AMCL Particles
|
||||
Shaft Length: 0.230000004
|
||||
Shaft Radius: 0.00999999978
|
||||
Shape: Arrow (Flat)
|
||||
Topic: /particlecloud
|
||||
Unreliable: false
|
||||
Value: true
|
||||
- Class: rviz/TF
|
||||
Enabled: false
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: false
|
||||
- Angle Tolerance: 0.100000001
|
||||
Class: rviz/Odometry
|
||||
Covariance:
|
||||
Orientation:
|
||||
Alpha: 0.5
|
||||
Color: 255; 255; 127
|
||||
Color Style: Unique
|
||||
Frame: Local
|
||||
Offset: 1
|
||||
Scale: 1
|
||||
Value: true
|
||||
Position:
|
||||
Alpha: 0.300000012
|
||||
Color: 204; 51; 204
|
||||
Scale: 1
|
||||
Value: true
|
||||
Value: true
|
||||
Enabled: false
|
||||
Keep: 100
|
||||
Name: Odometry
|
||||
Position Tolerance: 0.100000001
|
||||
Shape:
|
||||
Alpha: 1
|
||||
Axes Length: 1
|
||||
Axes Radius: 0.100000001
|
||||
Color: 255; 25; 0
|
||||
Head Length: 0.300000012
|
||||
Head Radius: 0.100000001
|
||||
Shaft Length: 1
|
||||
Shaft Radius: 0.0500000007
|
||||
Value: Arrow
|
||||
Topic: /odom
|
||||
Unreliable: false
|
||||
Value: false
|
||||
Enabled: true
|
||||
Name: Robot
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 255; 255; 255
|
||||
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
|
||||
Topic: /initialpose
|
||||
- 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: 23.5006466
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.338720083
|
||||
Y: 0.705890715
|
||||
Z: -1.42741621
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 1.56480002
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 4.71043015
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1028
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000037a000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003a00000003efc0100000002fb0000000800540069006d00650100000000000003a00000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000002300000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 928
|
||||
X: 65
|
||||
Y: 24
|
||||
156
scout_robot/rviz/urdf.rviz
Normal file
156
scout_robot/rviz/urdf.rviz
Normal file
@@ -0,0 +1,156 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 775
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679016
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
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: 0.0299999993
|
||||
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
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
back left_Link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
back right_Link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front left_Link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front right_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
|
||||
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
|
||||
Topic: /initialpose
|
||||
- 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: 1.64610708
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.0599999987
|
||||
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: 0.0500000007
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.00999999978
|
||||
Pitch: 1.01039815
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.810398042
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1056
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1855
|
||||
X: 65
|
||||
Y: 24
|
||||
144
scout_robot/urdf/scout copy.urdf
Normal file
144
scout_robot/urdf/scout copy.urdf
Normal file
@@ -0,0 +1,144 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot name="scout">
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="0.00040316 0.00018112 0.054777" rpy="0 0 0" />
|
||||
<mass value="50.594" />
|
||||
<inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="front left_Link">
|
||||
<inertial>
|
||||
<origin xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07" rpy="0 0 0" />
|
||||
<mass value="6.2792" />
|
||||
<inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front left_Link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front left_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front left_joint" type="revolute">
|
||||
<origin xyz="0.249 0.29153 0.024097" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="front left_Link" />
|
||||
<axis xyz="0 1 0" />
|
||||
<limit lower="-180" upper="180" effort="0" velocity="0" />
|
||||
</joint>
|
||||
<link name="back left_Link">
|
||||
<inertial>
|
||||
<origin xyz="1.087E-07 3.2717E-05 -2.3629E-08" rpy="0 0 0" />
|
||||
<mass value="6.2792" />
|
||||
<inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back left_Link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back left_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="back left_joint" type="revolute">
|
||||
<origin xyz="-0.249 0.29153 0.024097" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="back left_Link" />
|
||||
<axis xyz="0 -1 0" />
|
||||
<limit lower="-180" upper="180" effort="0" velocity="0" />
|
||||
</joint>
|
||||
<link name="front right_Link">
|
||||
<inertial>
|
||||
<origin xyz="-3.3128E-07 -3.2716E-05 2.169E-08" rpy="0 0 0" />
|
||||
<mass value="6.2792" />
|
||||
<inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front right_Link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front right_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front right_joint" type="revolute">
|
||||
<origin xyz="0.24702 -0.29093 0.024097" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="front right_Link" />
|
||||
<axis xyz="0.0067885 0.99998 0" />
|
||||
<limit lower="-180" upper="180" effort="0" velocity="0" />
|
||||
</joint>
|
||||
<link name="back right_Link">
|
||||
<inertial>
|
||||
<origin xyz="-1.135E-07 3.2717E-05 -2.3624E-08" rpy="0 0 0" />
|
||||
<mass value="6.2792" />
|
||||
<inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back right_Link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back right_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="back right_joint" type="revolute">
|
||||
<origin xyz="-0.24702 -0.29093 0.024097" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="back right_Link" />
|
||||
<axis xyz="0.0067885 -0.99998 0" />
|
||||
<limit lower="-180" upper="180" effort="0" velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
70
scout_robot/urdf/scout.gazebo
Executable file
70
scout_robot/urdf/scout.gazebo
Executable file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
<!-- materials -->
|
||||
<gazebo reference="base_link">
|
||||
<material>Gazebo/While</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="front left_Link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="back left_Link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="front right_Link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="back right_Link">
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
|
||||
<!-- ros_control plugin -->
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>/robot</robotNamespace>
|
||||
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- hokuyo -->
|
||||
<gazebo reference="hokuyo_link">
|
||||
<sensor type="ray" name="head_hokuyo_sensor">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<visualize>false</visualize>
|
||||
<update_rate>40</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>720</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-1.570796</min_angle>
|
||||
<max_angle>1.570796</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.10</min>
|
||||
<max>30.0</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<!-- Noise parameters based on published spec for Hokuyo laser
|
||||
achieving "+-30mm" accuracy at range < 10m. A mean of 0.0m and
|
||||
stddev of 0.01m will put 99.7% of samples within 0.03m of the true
|
||||
reading. -->
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
|
||||
<topicName>/scan</topicName>
|
||||
<frameName>hokuyo_link</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
279
scout_robot/urdf/scout.urdf
Normal file
279
scout_robot/urdf/scout.urdf
Normal file
@@ -0,0 +1,279 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot
|
||||
name="scout">
|
||||
<link
|
||||
name="base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.00040316 0.00018112 0.054777"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="50.594" />
|
||||
<inertia
|
||||
ixx="3.1632"
|
||||
ixy="0.0095354"
|
||||
ixz="-0.0052362"
|
||||
iyy="3.4936"
|
||||
iyz="0.00027654"
|
||||
izz="5.9359" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="front left_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="6.2792" />
|
||||
<inertia
|
||||
ixx="0.048957"
|
||||
ixy="-1.6382E-09"
|
||||
ixz="-8.6738E-09"
|
||||
iyy="0.087434"
|
||||
iyz="6.3603E-10"
|
||||
izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/front left_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/front left_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="front left_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.249 0.29153 0.024097"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="front left_Link" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
<limit
|
||||
lower="-180"
|
||||
upper="180"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="back left_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="1.087E-07 3.2717E-05 -2.3629E-08"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="6.2792" />
|
||||
<inertia
|
||||
ixx="0.048957"
|
||||
ixy="8.5452E-10"
|
||||
ixz="1.5173E-09"
|
||||
iyy="0.087434"
|
||||
iyz="-2.6266E-09"
|
||||
izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/back left_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/back left_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="back left_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.249 0.29153 0.024097"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="back left_Link" />
|
||||
<axis
|
||||
xyz="0 -1 0" />
|
||||
<limit
|
||||
lower="-180"
|
||||
upper="180"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="front right_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-3.3128E-07 -3.2716E-05 2.169E-08"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="6.2792" />
|
||||
<inertia
|
||||
ixx="0.048958"
|
||||
ixy="0.00026119"
|
||||
ixz="-1.925E-08"
|
||||
iyy="0.087432"
|
||||
iyz="3.2348E-09"
|
||||
izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/front right_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/front right_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="front right_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="0.24702 -0.29093 0.024097"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="front right_Link" />
|
||||
<axis
|
||||
xyz="0.0067885 0.99998 0" />
|
||||
<limit
|
||||
lower="-180"
|
||||
upper="180"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
<link
|
||||
name="back right_Link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="-1.135E-07 3.2717E-05 -2.3624E-08"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="6.2792" />
|
||||
<inertia
|
||||
ixx="0.048958"
|
||||
ixy="-0.0002612"
|
||||
ixz="1.5517E-09"
|
||||
iyy="0.087432"
|
||||
iyz="-2.626E-09"
|
||||
izz="0.048957" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/back right_Link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.79216 0.81961 0.93333 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://scout_robot/meshes/back right_Link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="back right_joint"
|
||||
type="revolute">
|
||||
<origin
|
||||
xyz="-0.24702 -0.29093 0.024097"
|
||||
rpy="0 0 0" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="back right_Link" />
|
||||
<axis
|
||||
xyz="0.0067885 -0.99998 0" />
|
||||
<limit
|
||||
lower="-180"
|
||||
upper="180"
|
||||
effort="0"
|
||||
velocity="0" />
|
||||
</joint>
|
||||
</robot>
|
||||
255
scout_robot/urdf/scout.xacro
Normal file
255
scout_robot/urdf/scout.xacro
Normal file
@@ -0,0 +1,255 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from scout.urdf | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<!--robot name="scout"-->
|
||||
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
|
||||
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
|
||||
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
|
||||
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
|
||||
name="scout">
|
||||
|
||||
<xacro:macro name="default_inertial" params="mass">
|
||||
<inertial>
|
||||
<mass value="${mass}" />
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0"
|
||||
iyy="1.0" iyz="0.0"
|
||||
izz="1.0" />
|
||||
</inertial>
|
||||
</xacro:macro>
|
||||
|
||||
<link name="base_footprint">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</visual>
|
||||
<xacro:default_inertial mass="0.0001"/>
|
||||
</link>
|
||||
|
||||
<xacro:include filename="$(find scout_robot)/urdf/scout.gazebo" />
|
||||
|
||||
<gazebo reference="base_footprint">
|
||||
<material>Gazebo/Green</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
|
||||
<joint name="base_footprint_joint" type="fixed">
|
||||
<origin xyz="0 0 0" />
|
||||
<parent link="base_footprint" />
|
||||
<child link="base_link" />
|
||||
</joint>
|
||||
|
||||
<!-- the model -->
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.00040316 0.00018112 0.054777"/>
|
||||
<mass value="50.594"/>
|
||||
<inertia ixx="3.1632" ixy="0.0095354" ixz="-0.0052362" iyy="3.4936" iyz="0.00027654" izz="5.9359"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
<!--material name="">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material-->
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<link name="front left_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-2.6549E-09 -3.2717E-05 -1.1121E-07"/>
|
||||
<mass value="6.2792"/>
|
||||
<inertia ixx="0.048957" ixy="-1.6382E-09" ixz="-8.6738E-09" iyy="0.087434" iyz="6.3603E-10" izz="0.048957"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1"/>
|
||||
</material>
|
||||
<!--material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material-->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front left_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="front left_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.249 0.29153 0.024097"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front left_Link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="0" lower="-180" upper="180" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
<link name="back left_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.087E-07 3.2717E-05 -2.3629E-08"/>
|
||||
<mass value="6.2792"/>
|
||||
<inertia ixx="0.048957" ixy="8.5452E-10" ixz="1.5173E-09" iyy="0.087434" iyz="-2.6266E-09" izz="0.048957"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1"/>
|
||||
</material>
|
||||
<!--material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material-->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back left_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="back left_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.249 0.29153 0.024097"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="back left_Link"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit effort="0" lower="-180" upper="180" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
<link name="front right_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-3.3128E-07 -3.2716E-05 2.169E-08"/>
|
||||
<mass value="6.2792"/>
|
||||
<inertia ixx="0.048958" ixy="0.00026119" ixz="-1.925E-08" iyy="0.087432" iyz="3.2348E-09" izz="0.048957"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1"/>
|
||||
</material>
|
||||
<!--material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material-->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/front right_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="front right_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0.24702 -0.29093 0.024097"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front right_Link"/>
|
||||
<axis xyz="0.0067885 0.99998 0"/>
|
||||
<limit effort="0" lower="-180" upper="180" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
<link name="back right_Link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.135E-07 3.2717E-05 -2.3624E-08"/>
|
||||
<mass value="6.2792"/>
|
||||
<inertia ixx="0.048958" ixy="-0.0002612" ixz="1.5517E-09" iyy="0.087432" iyz="-2.626E-09" izz="0.048957"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.79216 0.81961 0.93333 1"/>
|
||||
</material>
|
||||
<!--material name="black">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material-->
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/back right_Link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="back right_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="-0.24702 -0.29093 0.024097"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="back right_Link"/>
|
||||
<axis xyz="0.0067885 -0.99998 0"/>
|
||||
<limit effort="0" lower="-180" upper="180" velocity="0"/>
|
||||
</joint>
|
||||
|
||||
<!-- Hokuyo joint -->
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin xyz="0.26 0 0.3" rpy="0 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<axis xyz="0 1 0" />
|
||||
<child link="hokuyo_link"/>
|
||||
</joint>
|
||||
|
||||
<!-- Hokuyo Laser -->
|
||||
<link name="hokuyo_link">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_robot/meshes/hokuyo.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<mass value="1e-5" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Drive controller -->
|
||||
<gazebo>
|
||||
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<odometryRate>20.0</odometryRate>
|
||||
<robotBaseFrame>base_footprint</robotBaseFrame>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
|
||||
3469
scout_robot/worlds/clearpath_playpen.world
Normal file
3469
scout_robot/worlds/clearpath_playpen.world
Normal file
File diff suppressed because it is too large
Load Diff
41
scout_robot/worlds/empty.world
Normal file
41
scout_robot/worlds/empty.world
Normal file
@@ -0,0 +1,41 @@
|
||||
<sdf version="1.4">
|
||||
<world name="default">
|
||||
<!-- A global light source -->
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<!-- A ground plane -->
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<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>
|
||||
|
||||
<scene>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>true</shadows>
|
||||
</scene>
|
||||
|
||||
</sdf>
|
||||
52
scout_robot/worlds/turtlebot3_world.world
Normal file
52
scout_robot/worlds/turtlebot3_world.world
Normal file
@@ -0,0 +1,52 @@
|
||||
<sdf version='1.4'>
|
||||
<world name='default'>
|
||||
<!-- A global light source -->
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
|
||||
<!-- A ground plane -->
|
||||
<include>
|
||||
<uri>model://ground_plane</uri>
|
||||
</include>
|
||||
|
||||
<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>
|
||||
|
||||
<!-- Load world -->
|
||||
<include>
|
||||
<uri>model://turtlebot3_world</uri>
|
||||
</include>
|
||||
|
||||
<scene>
|
||||
<ambient>0.4 0.4 0.4 1</ambient>
|
||||
<background>0.7 0.7 0.7 1</background>
|
||||
<shadows>true</shadows>
|
||||
</scene>
|
||||
|
||||
<gui fullscreen='0'>
|
||||
<camera name='user_camera'>
|
||||
<pose>0.8 0.0 12.0 0 1.5708 0</pose>
|
||||
<view_controller>orbit</view_controller>
|
||||
</camera>
|
||||
</gui>
|
||||
</world>
|
||||
</sdf>
|
||||
Reference in New Issue
Block a user