mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 03:15:01 +08:00
moved navigation and simulation packages to scout_nav
This commit is contained in:
Ruixiang Du
34
README.md
34
README.md
@@ -1,17 +1,12 @@
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||||
# ROS Packages for Scout Mobile Base
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# ROS Packages for Scout Mobile Robot
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## Packages
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This repository contains minimal packages to control the scout robot using ROS.
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* scout_bringup: launch and configuration files to start ROS nodes
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* scout_base: a ROS wrapper around Scout SDK to monitor and control the robot
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* scout_base: a ROS wrapper around [wrp_sdk](https://github.com/westonrobot/wrp_sdk) to monitor and control the scout robot
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* scout_msgs: scout related message definitions
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* (scout_ros: meta package for the Scout robot ROS packages)
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The following diagram may help you to understand how the components are inter-connected with each other:
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<img src="./docs/diagram.png" height="135" >
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The purple blocks represent ROS packages included within this repository.
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## Communication interface setup
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@@ -22,11 +17,8 @@ Please refer to the [README](https://github.com/westonrobot/wrp_sdk#hardware-int
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1. Install dependent libraries
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```
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$ sudo apt install libasio-dev
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$ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard
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$ sudo apt install ros-melodic-teleop-twist-keyboard
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$ sudo apt-get install ros-melodic-joint-state-publisher-gui
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$ sudo apt install ros-melodic-ros-controllers
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$ sudo apt install -y libasio-dev
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$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
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```
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2. Clone the packages into your catkin workspace and compile
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@@ -36,7 +28,7 @@ Please refer to the [README](https://github.com/westonrobot/wrp_sdk#hardware-int
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```
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$ cd ~/catkin_ws/src
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$ git clone https://github.com/westonrobot/wrp_sdk.git
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$ git clone https://github.com/westonrobot/scout_ros.git
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$ git clone https://github.com/westonrobot/scout_base.git
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$ cd ..
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$ catkin_make
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```
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@@ -55,18 +47,6 @@ Please refer to the [README](https://github.com/westonrobot/wrp_sdk#hardware-int
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$ roslaunch scout_bringup scout_minimal_uart.launch
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```
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* Start the Webots-based simulation (Scout V1)
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```
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$ roslaunch scout_bringup scout_base_webots_sim.launch
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```
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* Start the Gazebo-based simulation (Scout V2)
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```
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$ roslaunch scout_bringup scout_base_gazebo_sim.launch
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```
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* Start the keyboard tele-op node
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```
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@@ -43,7 +43,7 @@ include_directories(
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add_library(scout_messenger STATIC src/scout_messenger.cpp)
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target_link_libraries(scout_messenger ${catkin_LIBRARIES})
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set_property(TARGET scout_messenger PROPERTY POSITION_INDEPENDENT_CODE ON)
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add_dependencies(scout_messenger ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_executable(scout_base_node src/scout_base_node.cpp)
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target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
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@@ -52,8 +52,6 @@ target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
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## Install ##
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#############
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# roslaunch_add_file_check(launch)
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install(TARGETS scout_messenger scout_base_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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@@ -1,13 +0,0 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(scout_description)
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find_package(catkin REQUIRED COMPONENTS roslaunch)
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catkin_package()
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# roslaunch_add_file_check(launch)
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install(
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DIRECTORY launch meshes urdf
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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@@ -1,10 +0,0 @@
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<launch>
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<arg name="model" />
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<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'" />
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<!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> -->
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<node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" ></node>
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||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
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</launch>
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@@ -1,10 +0,0 @@
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<launch>
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<arg name="robot_namespace" default="/"/>
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<arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
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<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
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robot_namespace:=$(arg robot_namespace)
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onboard_sensors:='true'
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urdf_extras:=$(arg urdf_extras)" />
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</launch>
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@@ -1,10 +0,0 @@
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<launch>
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||||
<arg name="robot_namespace" default="/"/>
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<arg name="urdf_extras" default="$(find scout_description)/urdf/empty.urdf"/>
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<param name="robot_description" command="$(find xacro)/xacro '$(find scout_description)/urdf/scout_v2.xacro'
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robot_namespace:=$(arg robot_namespace)
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onboard_sensors:='false'
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urdf_extras:=$(arg urdf_extras)" />
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</launch>
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File diff suppressed because one or more lines are too long
@@ -1,15 +0,0 @@
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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<asset>
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||||
<contributor />
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||||
<created>2020-03-27T18:56:12.965296</created>
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||||
<modified>2020-03-27T18:56:12.965305</modified>
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||||
<unit name="meter" meter="1.0" />
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||||
<up_axis>Z_UP</up_axis>
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||||
</asset>
|
||||
<library_visual_scenes>
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||||
<visual_scene id="myscene" />
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||||
</library_visual_scenes>
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||||
<scene>
|
||||
<instance_visual_scene url="#myscene" />
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||||
</scene>
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||||
</COLLADA>
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||||
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
@@ -1,30 +0,0 @@
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<?xml version="1.0"?>
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||||
<package>
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||||
<name>scout_description</name>
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||||
<version>0.4.2</version>
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||||
<description>AgileX Scout Husky URDF description</description>
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||||
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||||
<author email="rgariepy@clearpathrobotics.com">Ryan Gariepy</author>
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||||
<author email="pmukherj@clearpathrobotics.com">Prasenjit Mukherjee</author>
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||||
<author email="mpurvis@clearpathrobotics.com">Mike Purvis</author>
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||||
<author email="paul@bovbel.com">Paul Bovbel</author>
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||||
<author email="dash@clearpathrobotics.com">Devon Ash</author>
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||||
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||||
<maintainer email="paul@bovbel.com">Paul Bovbel</maintainer>
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||||
<maintainer email="tbaltovski@clearpathrobotics.com">Tony Baltovski</maintainer>
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||||
|
||||
<url type="website">http://ros.org/wiki/scout_description</url>
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||||
<url type="bugtracker">https://github.com/husky/husky/issues</url>
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||||
<url type="repository">https://github.com/husky/husky</url>
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||||
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||||
<license>BSD</license>
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||||
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||||
<buildtool_depend>catkin</buildtool_depend>
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||||
<build_depend>roslaunch</build_depend>
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||||
<run_depend>urdf</run_depend>
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||||
<run_depend>xacro</run_depend>
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||||
<run_depend>lms1xx</run_depend>
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||||
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||||
<export>
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||||
</export>
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||||
</package>
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File diff suppressed because one or more lines are too long
@@ -1,209 +0,0 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
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||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 732
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
chassis_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
inertial_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
rear_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
rear_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
base_link:
|
||||
Value: true
|
||||
chassis_link:
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Value: true
|
||||
inertial_link:
|
||||
Value: true
|
||||
rear_left_wheel_link:
|
||||
Value: true
|
||||
rear_right_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
base_link:
|
||||
chassis_link:
|
||||
front_left_wheel_link:
|
||||
{}
|
||||
front_right_wheel_link:
|
||||
{}
|
||||
rear_left_wheel_link:
|
||||
{}
|
||||
rear_right_wheel_link:
|
||||
{}
|
||||
inertial_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: 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
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 2.9432930946350098
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.027046792209148407
|
||||
Y: -0.03490818291902542
|
||||
Z: -0.09952529519796371
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5447957515716553
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 4.27542781829834
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1029
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1869
|
||||
X: 632
|
||||
Y: 291
|
||||
@@ -1,209 +0,0 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
- /RobotModel1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 732
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
chassis_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
inertial_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
rear_left_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
rear_right_wheel_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
- Class: rviz/TF
|
||||
Enabled: true
|
||||
Frame Timeout: 15
|
||||
Frames:
|
||||
All Enabled: true
|
||||
base_link:
|
||||
Value: true
|
||||
chassis_link:
|
||||
Value: true
|
||||
front_left_wheel_link:
|
||||
Value: true
|
||||
front_right_wheel_link:
|
||||
Value: true
|
||||
inertial_link:
|
||||
Value: true
|
||||
rear_left_wheel_link:
|
||||
Value: true
|
||||
rear_right_wheel_link:
|
||||
Value: true
|
||||
Marker Scale: 1
|
||||
Name: TF
|
||||
Show Arrows: true
|
||||
Show Axes: true
|
||||
Show Names: true
|
||||
Tree:
|
||||
base_link:
|
||||
chassis_link:
|
||||
front_left_wheel_link:
|
||||
{}
|
||||
front_right_wheel_link:
|
||||
{}
|
||||
rear_left_wheel_link:
|
||||
{}
|
||||
rear_right_wheel_link:
|
||||
{}
|
||||
inertial_link:
|
||||
{}
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: odom
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 2.9432930946350098
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.027046792209148407
|
||||
Y: -0.03490818291902542
|
||||
Z: -0.09952529519796371
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.5447957515716553
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 4.27542781829834
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 1029
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000015600000367fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000367000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000074d0000003efc0100000002fb0000000800540069006d006501000000000000074d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005f10000036700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1869
|
||||
X: 632
|
||||
Y: 291
|
||||
@@ -1,6 +0,0 @@
|
||||
<robot>
|
||||
<!-- This file is a placeholder which is included by default from
|
||||
husky.urdf.xacro. If a robot is being customized and requires
|
||||
additional URDF, set the HUSKY_URDF_EXTRAS environment variable
|
||||
to the full path of the file you would like included. -->
|
||||
</robot>
|
||||
@@ -1,31 +0,0 @@
|
||||
<robot>
|
||||
<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_description/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>
|
||||
</robot>
|
||||
@@ -1,111 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<!--
|
||||
Reference:
|
||||
[1] https://answers.ros.org/question/246914/four-wheeled-skid-steering-in-gazebo-and-ros-using-gazebo-ros-control/
|
||||
[2] https://answers.ros.org/question/10119/gazebo-controller-for-skid-steering/
|
||||
[3] https://answers.ros.org/question/9640/rotation-error-in-gazebo-simulation/
|
||||
[4] https://www.youtube.com/watch?v=fuRAv6PDwdw
|
||||
-->
|
||||
|
||||
<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>$(arg robot_namespace)</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<!-- kp spring constant, kd damping constant -->
|
||||
<gazebo>
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0" />
|
||||
<kd value="1.0" />
|
||||
<fdir1 value="1 0 0"/>
|
||||
<minDepth value="0.001" />
|
||||
<maxContacts value="64"/>
|
||||
</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>
|
||||
|
||||
<!-- <gazebo>
|
||||
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
|
||||
<updateRate>100.0</updateRate>
|
||||
<robotNamespace></robotNamespace>
|
||||
<leftFrontJoint>front_left_wheel</leftFrontJoint>
|
||||
<rightFrontJoint>front_right_wheel</rightFrontJoint>
|
||||
<leftRearJoint>rear_left_wheel</leftRearJoint>
|
||||
<rightRearJoint>rear_right_wheel</rightRearJoint>
|
||||
<wheelSeparation>4</wheelSeparation>
|
||||
<wheelDiameter>0.32918</wheelDiameter>
|
||||
<robotBaseFrame>base_link</robotBaseFrame>
|
||||
<torque>1000</torque>
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<broadcastTF>true</broadcastTF>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<covariance_x>0.000100</covariance_x>
|
||||
<covariance_y>0.000100</covariance_y>
|
||||
<covariance_yaw>0.010000</covariance_yaw>
|
||||
</plugin>
|
||||
</gazebo> -->
|
||||
|
||||
<!-- <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>
|
||||
@@ -1,6 +0,0 @@
|
||||
#VRML_SIM R2019a utf8
|
||||
# license: Apache License 2.0
|
||||
# license url: http://www.apache.org/licenses/LICENSE-2.0
|
||||
# This is a proto file for Webots for the ScoutV2
|
||||
# Extracted from: ./scout_v2.urdf
|
||||
|
||||
@@ -1,137 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from scout_description/urdf/scout_v2_webots.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="scout_v2">
|
||||
<!-- Base link -->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/base_link.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.008"/>
|
||||
<geometry>
|
||||
<box size="0.925 0.38 0.21"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.035"/>
|
||||
<geometry>
|
||||
<box size="0.154166666667 0.627 0.07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="40"/>
|
||||
<origin xyz="0.0 0.0 0.0"/>
|
||||
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="front_right_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front_right_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_right_wheel_link"/>
|
||||
<origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="front_left_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="front_left_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_left_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="rear_left_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type1.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rear_left_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_left_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<link name="rear_right_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type2.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.11653" radius="0.16459"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="rear_right_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_right_wheel_link"/>
|
||||
<origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/>
|
||||
<axis rpy="0 0 0" xyz="0 -1 0"/>
|
||||
</joint>
|
||||
<!-- Additional definitions -->
|
||||
<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
|
||||
<!-- Gazebo definitions -->
|
||||
<!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
|
||||
</robot>
|
||||
@@ -1,115 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="scout_v2"
|
||||
xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:arg name="robot_namespace" default="/" />
|
||||
<xacro:arg name="urdf_extras" default="empty.urdf" />
|
||||
<xacro:arg name="onboard_sensors" default="true" />
|
||||
|
||||
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
|
||||
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
|
||||
|
||||
<!-- Variables -->
|
||||
<xacro:property name="M_PI" value="3.14159"/>
|
||||
|
||||
<!-- Vehicle Geometries -->
|
||||
<xacro:property name="base_x_size" value="0.9250000" />
|
||||
<xacro:property name="base_y_size" value="0.380000" />
|
||||
<xacro:property name="base_z_size" value="0.210000" />
|
||||
|
||||
<xacro:property name="wheelbase" value="0.498" />
|
||||
<xacro:property name="track" value="0.58306" />
|
||||
<xacro:property name="wheel_vertical_offset" value="-0.0702" />
|
||||
|
||||
<xacro:property name="wheel_length" value="1.1653e-01" />
|
||||
<xacro:property name="wheel_radius" value="1.6459e-01" />
|
||||
|
||||
<!-- Base link -->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/base_link.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.008" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- <joint name="chassis_link_joint" type="fixed">
|
||||
<origin xyz="0 0 ${wheel_radius - wheel_vertical_offset}" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="chassis_link" />
|
||||
</joint> -->
|
||||
|
||||
<link name="base_footprint"/>
|
||||
|
||||
<joint name="base_footprint_joint" type="fixed">
|
||||
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="base_footprint" />
|
||||
</joint>
|
||||
|
||||
<link name="inertial_link">
|
||||
<inertial>
|
||||
<mass value="40" />
|
||||
<!-- <mass value="50" /> -->
|
||||
<!-- <origin xyz="-0.00065 -0.085 0.062" />
|
||||
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296" /> -->
|
||||
<origin xyz="0.0 0.0 0.0" />
|
||||
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="inertial_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="base_link" />
|
||||
<child link="inertial_link" />
|
||||
</joint>
|
||||
|
||||
<!-- For testing, hang the robot up in the air -->
|
||||
<!-- <link name="world" />
|
||||
<joint name="world_to_base_link=" type="fixed">
|
||||
<origin xyz="0 0 0.5" rpy="0 0 0" />
|
||||
<parent link="world"/>
|
||||
<child link="base_link"/>
|
||||
</joint> -->
|
||||
|
||||
<!-- Scout wheel macros -->
|
||||
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
|
||||
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
|
||||
<xacro:scout_wheel_type1 wheel_prefix="front_right">
|
||||
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
|
||||
</xacro:scout_wheel_type1>
|
||||
<xacro:scout_wheel_type2 wheel_prefix="front_left">
|
||||
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
|
||||
</xacro:scout_wheel_type2>
|
||||
<xacro:scout_wheel_type1 wheel_prefix="rear_left">
|
||||
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
|
||||
</xacro:scout_wheel_type1>
|
||||
<xacro:scout_wheel_type2 wheel_prefix="rear_right">
|
||||
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
|
||||
</xacro:scout_wheel_type2>
|
||||
|
||||
<!-- Onboard sensors -->
|
||||
<xacro:if value="$(arg onboard_sensors)">
|
||||
<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
|
||||
</xacro:if>
|
||||
|
||||
<!-- Additional definitions -->
|
||||
<xacro:include filename="$(arg urdf_extras)" />
|
||||
|
||||
<!-- Gazebo definitions -->
|
||||
<xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" />
|
||||
</robot>
|
||||
@@ -1,83 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="scout_v2"
|
||||
xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
|
||||
<xacro:arg name="robot_namespace" default="/" />
|
||||
<xacro:arg name="urdf_extras" default="empty.urdf" />
|
||||
<xacro:arg name="onboard_sensors" default="false" />
|
||||
|
||||
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type1.xacro" />
|
||||
<xacro:include filename="$(find scout_description)/urdf/scout_wheel_type2.xacro" />
|
||||
|
||||
<!-- Variables -->
|
||||
<xacro:property name="M_PI" value="3.14159"/>
|
||||
|
||||
<!-- Vehicle Geometries -->
|
||||
<xacro:property name="base_x_size" value="0.9250000" />
|
||||
<xacro:property name="base_y_size" value="0.380000" />
|
||||
<xacro:property name="base_z_size" value="0.210000" />
|
||||
|
||||
<xacro:property name="wheelbase" value="0.498" />
|
||||
<xacro:property name="track" value="0.58306" />
|
||||
<xacro:property name="wheel_vertical_offset" value="-0.0702" />
|
||||
|
||||
<xacro:property name="wheel_length" value="1.1653e-01" />
|
||||
<xacro:property name="wheel_radius" value="1.6459e-01" />
|
||||
|
||||
<!-- Base link -->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/base_link.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.008" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin xyz="0 0 ${base_z_size/6}" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="${base_x_size/6} ${base_y_size*1.65} ${base_z_size/3}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="40" />
|
||||
<origin xyz="0.0 0.0 0.0" />
|
||||
<inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Scout wheel macros -->
|
||||
<!-- wheel labeled from 0 to 3, conter-clockwise, starting from front right wheel -->
|
||||
<!-- motor 1 and 2 (left side) are mechanically installed in a reversed direction -->
|
||||
<xacro:scout_wheel_type1 wheel_prefix="front_right">
|
||||
<origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
|
||||
</xacro:scout_wheel_type1>
|
||||
<xacro:scout_wheel_type2 wheel_prefix="front_left">
|
||||
<origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
|
||||
</xacro:scout_wheel_type2>
|
||||
<xacro:scout_wheel_type1 wheel_prefix="rear_left">
|
||||
<origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
|
||||
</xacro:scout_wheel_type1>
|
||||
<xacro:scout_wheel_type2 wheel_prefix="rear_right">
|
||||
<origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="3.14 0 0" />
|
||||
</xacro:scout_wheel_type2>
|
||||
|
||||
<!-- Onboard sensors -->
|
||||
<xacro:if value="$(arg onboard_sensors)">
|
||||
<!-- <xacro:include filename="$(find scout_description)/urdf/onboard_sensors.xacro" />
|
||||
<xacro:sensor_frame /> -->
|
||||
<xacro:include filename="$(find scout_description)/urdf/onboard_sensors.urdf" />
|
||||
</xacro:if>
|
||||
|
||||
<!-- Additional definitions -->
|
||||
<!-- <xacro:include filename="$(arg urdf_extras)" /> -->
|
||||
|
||||
<!-- Gazebo definitions -->
|
||||
<!-- <xacro:include filename="$(find scout_description)/urdf/scout_v2.gazebo" /> -->
|
||||
</robot>
|
||||
@@ -1,42 +0,0 @@
|
||||
<?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">
|
||||
<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>
|
||||
@@ -1,59 +0,0 @@
|
||||
<?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_type1" params="wheel_prefix *joint_pose">
|
||||
<link name="${wheel_prefix}_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type1.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="${wheel_length}" radius="${wheel_radius}" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${wheel_prefix}_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="${wheel_prefix}_wheel_link"/>
|
||||
<xacro:insert_block name="joint_pose"/>
|
||||
<axis xyz="0 -1 0" rpy="0 0 0" />
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
@@ -1,59 +0,0 @@
|
||||
<?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_type2" params="wheel_prefix *joint_pose">
|
||||
<link name="${wheel_prefix}_wheel_link">
|
||||
<inertial>
|
||||
<mass value="3" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://scout_description/meshes/wheel_type2.dae" />
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="${wheel_length}" radius="${wheel_radius}" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${wheel_prefix}_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="${wheel_prefix}_wheel_link"/>
|
||||
<xacro:insert_block name="joint_pose"/>
|
||||
<axis xyz="0 -1 0" rpy="0 0 0" />
|
||||
</joint>
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
@@ -1,5 +0,0 @@
|
||||
## Changelog
|
||||
|
||||
0.0.1 (2020-03-25)
|
||||
------------------
|
||||
* Initial release for Melodic.
|
||||
@@ -1,47 +0,0 @@
|
||||
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
|
||||
std_msgs
|
||||
sensor_msgs
|
||||
geometry_msgs
|
||||
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}
|
||||
)
|
||||
@@ -1,37 +0,0 @@
|
||||
# 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
|
||||
@@ -1,49 +0,0 @@
|
||||
/*
|
||||
* 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 <geometry_msgs/Twist.h>
|
||||
#include <ros/ros.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
namespace westonrobot {
|
||||
class ScoutSkidSteer {
|
||||
public:
|
||||
ScoutSkidSteer(ros::NodeHandle *nh, std::string robot_name = "");
|
||||
|
||||
void SetupSubscription();
|
||||
|
||||
private:
|
||||
std::string robot_name_;
|
||||
std::string motor_fr_topic_;
|
||||
std::string motor_fl_topic_;
|
||||
std::string motor_rl_topic_;
|
||||
std::string motor_rr_topic_;
|
||||
std::string cmd_topic_;
|
||||
|
||||
const double SCOUT_WHEELBASE = 0.498;
|
||||
const double SCOUT_WHEEL_RADIUS = 0.16459;
|
||||
|
||||
ros::NodeHandle *nh_;
|
||||
|
||||
ros::Publisher motor_fr_pub_;
|
||||
ros::Publisher motor_fl_pub_;
|
||||
ros::Publisher motor_rl_pub_;
|
||||
ros::Publisher motor_rr_pub_;
|
||||
|
||||
ros::Subscriber cmd_sub_;
|
||||
|
||||
void TwistCmdCallback(const geometry_msgs::Twist::ConstPtr &msg);
|
||||
};
|
||||
} // namespace westonrobot
|
||||
|
||||
#endif /* SCOUT_SKID_STEER_HPP */
|
||||
@@ -1,18 +0,0 @@
|
||||
<launch>
|
||||
<arg name="robot_namespace" default="/"/>
|
||||
<arg name="world_name" default="$(find scout_gazebo_sim)worlds/weston_robot_empty.world"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(arg world_name)"/>
|
||||
<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="$(find scout_gazebo_sim)/launch/spawn_scout_v2_base.launch"></include>
|
||||
<include file="$(find scout_base)/launch/scout_base_sim.launch" />
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/navigation.rviz" />
|
||||
</launch>
|
||||
@@ -1,44 +0,0 @@
|
||||
<?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="robot_namespace" default="/"/>
|
||||
<arg name="world_name" default="$(find scout_gazebo_sim)/worlds/clearpath_playpen.world"/>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(arg world_name)"/>
|
||||
<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="$(find scout_gazebo_sim)/launch/spawn_scout_v2_sensors.launch"></include>
|
||||
<include file="$(find scout_base)/launch/scout_base_sim.launch" />
|
||||
|
||||
<!-- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" /> -->
|
||||
</launch>
|
||||
@@ -1,40 +0,0 @@
|
||||
<launch>
|
||||
<!-- initial pose -->
|
||||
<arg name="x" default="0.0"/>
|
||||
<arg name="y" default="0.0"/>
|
||||
<arg name="z" default="0.0"/>
|
||||
<arg name="yaw" default="0.0"/>
|
||||
|
||||
<arg name="robot_namespace" default=""/>
|
||||
|
||||
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
|
||||
<arg name="paused" default="true" />
|
||||
<arg name="use_sim_time" default="true" />
|
||||
<arg name="gui" default="true" />
|
||||
<arg name="headless" default="false" />
|
||||
<arg name="debug" default="true" />
|
||||
|
||||
<include file="$(find scout_description)/launch/scout_v2_stock.launch">
|
||||
<arg name="robot_namespace" value="$(arg robot_namespace)" />
|
||||
</include>
|
||||
|
||||
<node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
|
||||
-y $(arg y)
|
||||
-z $(arg z)
|
||||
-Y $(arg yaw)
|
||||
-unpause
|
||||
-urdf
|
||||
-param robot_description
|
||||
-model 'scout$(arg robot_namespace)'" />
|
||||
|
||||
<!-- Load joint controller configurations from YAML file to parameter server -->
|
||||
<rosparam file="$(find scout_gazebo_sim)/config/scout_v2_control.yaml" command="load"/>
|
||||
|
||||
<!-- load the controllers -->
|
||||
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
|
||||
<node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
|
||||
<param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
|
||||
</node>
|
||||
</launch>
|
||||
@@ -1,40 +0,0 @@
|
||||
<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"/>
|
||||
|
||||
<arg name="robot_namespace" default=""/>
|
||||
|
||||
<!-- 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="true" />
|
||||
<arg name="gui" default="true" />
|
||||
<arg name="headless" default="false" />
|
||||
<arg name="debug" default="true" />
|
||||
|
||||
<include file="$(find scout_description)/launch/scout_v2_sensors.launch">
|
||||
<arg name="robot_namespace" value="$(arg robot_namespace)" />
|
||||
</include>
|
||||
|
||||
<node name="spawn_scout_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
|
||||
-y $(arg y)
|
||||
-z $(arg z)
|
||||
-Y $(arg yaw)
|
||||
-unpause
|
||||
-urdf
|
||||
-param robot_description
|
||||
-model 'scout$(arg robot_namespace)'" />
|
||||
|
||||
<!-- Load joint controller configurations from YAML file to parameter server -->
|
||||
<rosparam file="$(find scout_gazebo_sim)/config/scout_v2_control.yaml" command="load"/>
|
||||
|
||||
<!-- load the controllers -->
|
||||
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="scout_state_controller scout_motor_fr_controller scout_motor_fl_controller scout_motor_rl_controller scout_motor_rr_controller"/>
|
||||
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
|
||||
|
||||
<node name="scout_skid_steer_controller" pkg="scout_gazebo_sim" type="scout_skid_steer_controller">
|
||||
<param name="robot_namespace" type="string" value="$(arg robot_namespace)" />
|
||||
</node>
|
||||
</launch>
|
||||
@@ -1,31 +0,0 @@
|
||||
<?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>
|
||||
@@ -1,60 +0,0 @@
|
||||
/*
|
||||
* 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"
|
||||
|
||||
#include <geometry_msgs/Twist.h>
|
||||
#include <std_msgs/Float64.h>
|
||||
|
||||
namespace westonrobot {
|
||||
ScoutSkidSteer::ScoutSkidSteer(ros::NodeHandle *nh, std::string robot_name)
|
||||
: nh_(nh), robot_name_(robot_name) {
|
||||
motor_fr_topic_ = robot_name_ + "/scout_motor_fr_controller/command";
|
||||
motor_fl_topic_ = robot_name_ + "/scout_motor_fl_controller/command";
|
||||
motor_rl_topic_ = robot_name_ + "/scout_motor_rl_controller/command";
|
||||
motor_rr_topic_ = robot_name_ + "/scout_motor_rr_controller/command";
|
||||
cmd_topic_ = robot_name_ + "/cmd_vel";
|
||||
}
|
||||
|
||||
void ScoutSkidSteer::SetupSubscription() {
|
||||
// command subscriber
|
||||
cmd_sub_ = nh_->subscribe<geometry_msgs::Twist>(
|
||||
cmd_topic_, 5, &ScoutSkidSteer::TwistCmdCallback, this);
|
||||
|
||||
// motor command publisher
|
||||
motor_fr_pub_ = nh_->advertise<std_msgs::Float64>(motor_fr_topic_, 50);
|
||||
motor_fl_pub_ = nh_->advertise<std_msgs::Float64>(motor_fl_topic_, 50);
|
||||
motor_rl_pub_ = nh_->advertise<std_msgs::Float64>(motor_rl_topic_, 50);
|
||||
motor_rr_pub_ = nh_->advertise<std_msgs::Float64>(motor_rr_topic_, 50);
|
||||
}
|
||||
|
||||
void ScoutSkidSteer::TwistCmdCallback(
|
||||
const geometry_msgs::Twist::ConstPtr &msg) {
|
||||
std_msgs::Float64 motor_cmd[4];
|
||||
|
||||
double driving_vel = msg->linear.x;
|
||||
double steering_vel = msg->angular.z;
|
||||
|
||||
double left_side_velocity =
|
||||
(driving_vel - steering_vel * SCOUT_WHEELBASE) / SCOUT_WHEEL_RADIUS;
|
||||
double right_side_velocity =
|
||||
(driving_vel + steering_vel * SCOUT_WHEELBASE) / SCOUT_WHEEL_RADIUS;
|
||||
|
||||
motor_cmd[0].data = right_side_velocity;
|
||||
motor_cmd[1].data = -left_side_velocity;
|
||||
motor_cmd[2].data = -left_side_velocity;
|
||||
motor_cmd[3].data = right_side_velocity;
|
||||
|
||||
motor_fr_pub_.publish(motor_cmd[0]);
|
||||
motor_fl_pub_.publish(motor_cmd[1]);
|
||||
motor_rl_pub_.publish(motor_cmd[2]);
|
||||
motor_rr_pub_.publish(motor_cmd[3]);
|
||||
}
|
||||
|
||||
} // namespace westonrobot
|
||||
@@ -1,30 +0,0 @@
|
||||
#include <nav_msgs/Odometry.h>
|
||||
#include <ros/ros.h>
|
||||
#include <sensor_msgs/JointState.h>
|
||||
#include <tf/transform_broadcaster.h>
|
||||
|
||||
#include <string>
|
||||
|
||||
#include "scout_gazebo/scout_skid_steer.hpp"
|
||||
|
||||
using namespace westonrobot;
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
// setup ROS node
|
||||
ros::init(argc, argv, "scout_skid_steer");
|
||||
ros::NodeHandle node(""), private_node("~");
|
||||
|
||||
// fetch parameters
|
||||
std::string robot_namespace;
|
||||
private_node.param<std::string>("robot_namespace", robot_namespace,
|
||||
std::string("scout_default"));
|
||||
|
||||
ROS_INFO("Namespace: %s", robot_namespace.c_str());
|
||||
|
||||
ScoutSkidSteer skid_steer_controller(&node, robot_namespace);
|
||||
skid_steer_controller.SetupSubscription();
|
||||
|
||||
ros::spin();
|
||||
|
||||
return 0;
|
||||
}
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,22 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<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 -->
|
||||
<physics type='ode'>
|
||||
<max_step_size>0.01</max_step_size>
|
||||
<real_time_factor>1</real_time_factor>
|
||||
<real_time_update_rate>100</real_time_update_rate>
|
||||
<gravity>0 0 -9.8</gravity>
|
||||
</physics>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -1,209 +0,0 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(scout_navigation)
|
||||
|
||||
## 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
|
||||
sensor_msgs
|
||||
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
|
||||
# sensor_msgs# std_msgs
|
||||
# )
|
||||
|
||||
################################################
|
||||
## Declare ROS dynamic reconfigure parameters ##
|
||||
################################################
|
||||
|
||||
## To declare and build dynamic reconfigure parameters within this
|
||||
## package, follow these steps:
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "dynamic_reconfigure" to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||
## and list every .cfg file to be processed
|
||||
|
||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||
# generate_dynamic_reconfigure_options(
|
||||
# cfg/DynReconf1.cfg
|
||||
# cfg/DynReconf2.cfg
|
||||
# )
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
catkin_package(
|
||||
# INCLUDE_DIRS include
|
||||
# LIBRARIES scout_navigation
|
||||
# CATKIN_DEPENDS roscpp rospy sensor_msgs std_msgs urdf xacro
|
||||
# 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/${PROJECT_NAME}/scout_navigation.cpp
|
||||
# )
|
||||
|
||||
## Add cmake target dependencies of the library
|
||||
## as an example, code may need to be generated before libraries
|
||||
## either from message generation or dynamic reconfigure
|
||||
# add_dependencies(${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_navigation_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 ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${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_navigation.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)
|
||||
@@ -1,11 +0,0 @@
|
||||
<!-- -->
|
||||
<launch>
|
||||
<param name="/use_sim_time" value="true"/>
|
||||
|
||||
<node name="slam_gmapping" pkg="gmapping" type="slam_gmapping">
|
||||
<remap from="scan" to="/scan"/>
|
||||
<param name="base_link" value="base_footprint"/>
|
||||
</node>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_robot)/rviz/mapping.rviz"/>
|
||||
</launch>
|
||||
@@ -1,33 +0,0 @@
|
||||
<launch>
|
||||
<param name="/use_sim_time" value="true"/>
|
||||
<arg name="map_file" default="$(find scout_navigation)/maps/play.yaml"/>
|
||||
|
||||
<node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" output="screen">
|
||||
<param name="frame_id" value="map"/>
|
||||
</node>
|
||||
|
||||
<node pkg="amcl" type="amcl" name="amcl" output="screen">
|
||||
<rosparam file="$(find scout_navigation)/param/amcl_params.yaml" command="load" />
|
||||
<param name="initial_pose_x" value="0"/>
|
||||
<param name="initial_pose_y" value="0"/>
|
||||
<param name="initial_pose_a" value="0"/>
|
||||
</node>
|
||||
|
||||
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
|
||||
<rosparam file="$(find scout_navigation)/param/diff_drive/costmap_common_params.yaml" command="load" ns="global_costmap" />
|
||||
<rosparam file="$(find scout_navigation)/param/diff_drive/costmap_common_params.yaml" command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find scout_navigation)/param/diff_drive/local_costmap_params.yaml" command="load" />
|
||||
<rosparam file="$(find scout_navigation)/param/diff_drive/global_costmap_params.yaml" command="load" />
|
||||
<rosparam file="$(find scout_navigation)/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>
|
||||
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_navigation)/rviz/rviz_navigation.rviz"/>
|
||||
</launch>
|
||||
File diff suppressed because one or more lines are too long
@@ -1,7 +0,0 @@
|
||||
image: play.pgm
|
||||
resolution: 0.010000
|
||||
origin: [-20.000000, -20.000000, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
@@ -1,77 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>scout_navigation</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The scout_navigation package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="rdu@todo.todo">rdu</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_navigation</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>sensor_msgs</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>urdf</build_depend>
|
||||
<build_depend>xacro</build_depend>
|
||||
<build_export_depend>roscpp</build_export_depend>
|
||||
<build_export_depend>rospy</build_export_depend>
|
||||
<build_export_depend>sensor_msgs</build_export_depend>
|
||||
<build_export_depend>std_msgs</build_export_depend>
|
||||
<build_export_depend>urdf</build_export_depend>
|
||||
<build_export_depend>xacro</build_export_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<exec_depend>rospy</exec_depend>
|
||||
<exec_depend>sensor_msgs</exec_depend>
|
||||
<exec_depend>std_msgs</exec_depend>
|
||||
<exec_depend>urdf</exec_depend>
|
||||
<exec_depend>xacro</exec_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
@@ -1,38 +0,0 @@
|
||||
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
|
||||
@@ -1,33 +0,0 @@
|
||||
|
||||
#---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"
|
||||
@@ -1,31 +0,0 @@
|
||||
###########################################################################################
|
||||
## 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
|
||||
|
||||
@@ -1,41 +0,0 @@
|
||||
###########################################################################################
|
||||
## 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"
|
||||
@@ -1,16 +0,0 @@
|
||||
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"}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
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"}
|
||||
@@ -1,83 +0,0 @@
|
||||
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
|
||||
@@ -1,16 +0,0 @@
|
||||
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"}
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,15 +0,0 @@
|
||||
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"}
|
||||
@@ -1,112 +0,0 @@
|
||||
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
|
||||
@@ -1,252 +0,0 @@
|
||||
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
|
||||
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||||
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||||
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||||
Panels:
|
||||
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|
||||
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|
||||
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|
||||
Property Tree Widget:
|
||||
Expanded:
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||||
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||||
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|
||||
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|
||||
Tree Height: 744
|
||||
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|
||||
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|
||||
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|
||||
Expanded:
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
toolButtonStyle: 2
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
Shaft Radius: 0.00999999978
|
||||
Shape: Arrow (Flat)
|
||||
Topic: /move_base/TebLocalPlannerROS/teb_poses
|
||||
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|
||||
Value: true
|
||||
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|
||||
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|
||||
Marker Topic: /move_base/TebLocalPlannerROS/teb_markers
|
||||
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|
||||
Namespaces:
|
||||
{}
|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
Offset:
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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
|
||||
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|
||||
Enabled: true
|
||||
Name: LocalCostmap
|
||||
Topic: /move_base/local_costmap/costmap
|
||||
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|
||||
Use Timestamp: false
|
||||
Value: true
|
||||
Enabled: true
|
||||
Name: Local Planner
|
||||
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|
||||
Displays:
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
Line Style: Lines
|
||||
Line Width: 0.0299999993
|
||||
Name: GlobalPath
|
||||
Offset:
|
||||
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|
||||
Y: 0
|
||||
Z: 0
|
||||
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|
||||
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
|
||||
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|
||||
Displays:
|
||||
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|
||||
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:
|
||||
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|
||||
Hide Inactive Objects: true
|
||||
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|
||||
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|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
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|
||||
Topic: /initialpose
|
||||
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|
||||
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:
|
||||
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|
||||
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|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
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|
||||
X: 0.338720083
|
||||
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|
||||
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|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.0500000007
|
||||
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|
||||
Name: Current View
|
||||
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|
||||
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
|
||||
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|
||||
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|
||||
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|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 928
|
||||
X: 65
|
||||
Y: 24
|
||||
@@ -1,156 +0,0 @@
|
||||
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
|
||||
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|
||||
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
|
||||
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|
||||
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|
||||
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|
||||
toolButtonStyle: 2
|
||||
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|
||||
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|
||||
Displays:
|
||||
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|
||||
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|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
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|
||||
Line Style:
|
||||
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|
||||
Value: Lines
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
Plane Cell Count: 10
|
||||
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|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
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|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
back left_Link:
|
||||
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|
||||
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|
||||
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|
||||
Value: true
|
||||
back right_Link:
|
||||
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|
||||
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|
||||
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|
||||
Value: true
|
||||
base_link:
|
||||
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|
||||
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|
||||
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|
||||
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:
|
||||
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|
||||
Hide Inactive Objects: true
|
||||
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|
||||
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|
||||
- 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
|
||||
@@ -1,6 +0,0 @@
|
||||
# Changelog for package scout_robot
|
||||
|
||||
## 0.0.1 (2019-05-08)
|
||||
------------------
|
||||
* Initial development of scout_robot for Scout
|
||||
* Contributors: Ruixiang Du
|
||||
@@ -1,4 +0,0 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(scout_ros)
|
||||
find_package(catkin REQUIRED)
|
||||
catkin_metapackage()
|
||||
@@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>scout_ros</name>
|
||||
<version>0.3.3</version>
|
||||
<description>Metapackage for AgileX Scout Mobile Base</description>
|
||||
|
||||
<maintainer email="ruixiang.du@gmail.com">Ruixiang Du</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
|
||||
<url type="website">TODO</url>
|
||||
<url type="bugtracker">TODO</url>
|
||||
<url type="repository">TODO</url>
|
||||
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<run_depend>scout_bringup</run_depend>
|
||||
<run_depend>scout_base</run_depend>
|
||||
|
||||
<export>
|
||||
<metapackage/>
|
||||
</export>
|
||||
</package>
|
||||
@@ -1,219 +0,0 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(scout_webots_sim)
|
||||
|
||||
## 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
|
||||
roslaunch
|
||||
geometry_msgs
|
||||
roscpp
|
||||
rospy
|
||||
scout_base
|
||||
sensor_msgs
|
||||
std_msgs
|
||||
message_generation
|
||||
tf
|
||||
webots_ros
|
||||
pcl_ros
|
||||
)
|
||||
|
||||
## 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
|
||||
# BoolStamped.msg
|
||||
# Float64Stamped.msg
|
||||
# Int32Stamped.msg
|
||||
# )
|
||||
|
||||
## Generate services in the 'srv' folder
|
||||
# add_service_files(
|
||||
# FILES
|
||||
# camera_get_focus_info.srv
|
||||
# camera_get_info.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
|
||||
# sensor_msgs
|
||||
# )
|
||||
|
||||
################################################
|
||||
## Declare ROS dynamic reconfigure parameters ##
|
||||
################################################
|
||||
|
||||
## To declare and build dynamic reconfigure parameters within this
|
||||
## package, follow these steps:
|
||||
## * In the file package.xml:
|
||||
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
||||
## * In this file (CMakeLists.txt):
|
||||
## * add "dynamic_reconfigure" to
|
||||
## find_package(catkin REQUIRED COMPONENTS ...)
|
||||
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
||||
## and list every .cfg file to be processed
|
||||
|
||||
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
||||
# generate_dynamic_reconfigure_options(
|
||||
# cfg/DynReconf1.cfg
|
||||
# cfg/DynReconf2.cfg
|
||||
# )
|
||||
|
||||
###################################
|
||||
## catkin specific configuration ##
|
||||
###################################
|
||||
## The catkin_package macro generates cmake config files for your package
|
||||
## Declare things to be passed to dependent projects
|
||||
## INCLUDE_DIRS: uncomment this if your package contains header files
|
||||
## LIBRARIES: libraries you create in this project that dependent projects also need
|
||||
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
||||
## DEPENDS: system dependencies of this project that dependent projects also need
|
||||
catkin_package(
|
||||
# INCLUDE_DIRS include
|
||||
# LIBRARIES scout_webots_sim
|
||||
CATKIN_DEPENDS geometry_msgs roscpp rospy scout_base sensor_msgs std_msgs message_runtime tf webots_ros pcl_ros
|
||||
# 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
|
||||
# set(SCOUT_WEBOTS_SRC
|
||||
# src/scout_webots_interface.cpp
|
||||
# )
|
||||
# add_library(scout_webots_sim STATIC ${SCOUT_WEBOTS_SRC})
|
||||
# target_link_libraries(scout_webots_sim ${catkin_LIBRARIES})
|
||||
# target_include_directories(scout_webots_sim PUBLIC
|
||||
# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
# $<INSTALL_INTERFACE:include>
|
||||
# PRIVATE src)
|
||||
## Specify libraries to link a library or executable target against
|
||||
# target_link_libraries(${PROJECT_NAME}_node
|
||||
# ${catkin_LIBRARIES}
|
||||
# )
|
||||
|
||||
## Declare a C++ executable
|
||||
add_executable(scout_webots_node src/scout_webots_node.cpp src/scout_webots_interface.cpp)
|
||||
add_dependencies(scout_webots_node webots_ros_generate_messages_cpp)
|
||||
target_link_libraries(scout_webots_node ${catkin_LIBRARIES})
|
||||
|
||||
#############
|
||||
## Install ##
|
||||
#############
|
||||
|
||||
# roslaunch_add_file_check(launch)
|
||||
|
||||
install(TARGETS scout_webots_node
|
||||
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
|
||||
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
|
||||
|
||||
install(DIRECTORY launch urdf worlds
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
|
||||
|
||||
# all install targets should use catkin DESTINATION variables
|
||||
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
||||
|
||||
## Mark executable scripts (Python etc.) for installation
|
||||
## in contrast to setup.py, you can choose the destination
|
||||
# install(PROGRAMS
|
||||
# scripts/my_python_script
|
||||
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark executables for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
||||
# install(TARGETS ${PROJECT_NAME}_node
|
||||
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
# install(TARGETS ${PROJECT_NAME}
|
||||
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
# )
|
||||
|
||||
## Mark cpp header files for installation
|
||||
# install(DIRECTORY include/${PROJECT_NAME}/
|
||||
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
# FILES_MATCHING PATTERN "*.h"
|
||||
# PATTERN ".svn" EXCLUDE
|
||||
# )
|
||||
|
||||
## Mark other files for installation (e.g. launch and bag files, etc.)
|
||||
# install(FILES
|
||||
# # myfile1
|
||||
# # myfile2
|
||||
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
||||
# )
|
||||
|
||||
#############
|
||||
## Testing ##
|
||||
#############
|
||||
|
||||
## Add gtest based cpp test target and link libraries
|
||||
# catkin_add_gtest(${PROJECT_NAME}-test test/test_scout_webots_sim.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)
|
||||
@@ -1,36 +0,0 @@
|
||||
/*
|
||||
* scout_sim_params.hpp
|
||||
*
|
||||
* Created on: Sep 27, 2019 15:08
|
||||
* Description:
|
||||
*
|
||||
* Copyright (c) 2019 Ruixiang Du (rdu)
|
||||
*/
|
||||
|
||||
#ifndef SCOUT_SIM_PARAMS_HPP
|
||||
#define SCOUT_SIM_PARAMS_HPP
|
||||
|
||||
#include <cstdint>
|
||||
|
||||
namespace westonrobot
|
||||
{
|
||||
struct ScoutSimParams
|
||||
{
|
||||
/* Scout Parameters */
|
||||
static constexpr double max_steer_angle = 30.0; // in degree
|
||||
|
||||
static constexpr double track = 0.576; // in meter (left & right wheel distance)
|
||||
static constexpr double wheelbase = 0.648; // in meter (front & rear wheel distance)
|
||||
static constexpr double wheel_radius = 0.165; // in meter
|
||||
|
||||
// from user manual v1.2.8 P18
|
||||
// max linear velocity: 1.5 m/s
|
||||
// max angular velocity: 0.7853 rad/s
|
||||
static constexpr double max_linear_speed = 1.5; // in m/s
|
||||
static constexpr double max_angular_speed = 0.7853; // in rad/s
|
||||
static constexpr double max_speed_cmd = 10.0; // in rad/s
|
||||
};
|
||||
} // namespace westonrobot
|
||||
|
||||
|
||||
#endif /* SCOUT_SIM_PARAMS_HPP */
|
||||
@@ -1,41 +0,0 @@
|
||||
/*
|
||||
* scout_webots_interface.hpp
|
||||
*
|
||||
* Created on: Sep 26, 2019 23:04
|
||||
* Description:
|
||||
*
|
||||
* Copyright (c) 2019 Ruixiang Du (rdu)
|
||||
*/
|
||||
|
||||
#ifndef SCOUT_WEBOTS_INTERFACE_HPP
|
||||
#define SCOUT_WEBOTS_INTERFACE_HPP
|
||||
|
||||
#include <string>
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <sensor_msgs/PointCloud.h>
|
||||
#include <sensor_msgs/Imu.h>
|
||||
|
||||
#include "scout_base/scout_messenger.hpp"
|
||||
|
||||
namespace westonrobot
|
||||
{
|
||||
class ScoutWebotsInterface
|
||||
{
|
||||
public:
|
||||
ScoutWebotsInterface(ros::NodeHandle *nh, ScoutROSMessenger* msger, uint32_t time_step);
|
||||
|
||||
void InitComponents(std::string controller_name);
|
||||
void UpdateSimState();
|
||||
|
||||
private:
|
||||
ros::NodeHandle *nh_;
|
||||
ScoutROSMessenger* messenger_;
|
||||
uint32_t time_step_;
|
||||
|
||||
std::string robot_name_ = "agilex_scout";
|
||||
const std::vector<std::string> motor_names_{"motor_fr", "motor_fl", "motor_rl", "motor_rr"};
|
||||
};
|
||||
} // namespace westonrobot
|
||||
|
||||
#endif /* SCOUT_WEBOTS_INTERFACE_HPP */
|
||||
@@ -1,129 +0,0 @@
|
||||
/*
|
||||
* scout_webots_interface.cpp
|
||||
*
|
||||
* Created on: Sep 26, 2019 23:19
|
||||
* Description:
|
||||
*
|
||||
* Copyright (c) 2019 Ruixiang Du (rdu)
|
||||
*/
|
||||
|
||||
#include "scout_webots_sim/scout_webots_interface.hpp"
|
||||
|
||||
#include <sensor_msgs/PointCloud2.h>
|
||||
#include <sensor_msgs/point_cloud_conversion.h>
|
||||
#include <pcl_ros/transforms.h>
|
||||
|
||||
#include <webots_ros/set_float.h>
|
||||
#include <webots_ros/get_float.h>
|
||||
#include <webots_ros/set_int.h>
|
||||
#include <webots_ros/set_bool.h>
|
||||
|
||||
#include "scout_webots_sim/scout_sim_params.hpp"
|
||||
|
||||
namespace westonrobot
|
||||
{
|
||||
ScoutWebotsInterface::ScoutWebotsInterface(ros::NodeHandle *nh, ScoutROSMessenger *msger, uint32_t time_step)
|
||||
: nh_(nh), messenger_(msger), time_step_(time_step)
|
||||
{
|
||||
}
|
||||
|
||||
void ScoutWebotsInterface::InitComponents(std::string controller_name)
|
||||
{
|
||||
// reset controller name
|
||||
robot_name_ = controller_name;
|
||||
|
||||
// init motors
|
||||
for (int i = 0; i < 4; ++i)
|
||||
{
|
||||
// position
|
||||
webots_ros::set_float set_position_srv;
|
||||
ros::ServiceClient set_position_client = nh_->serviceClient<webots_ros::set_float>(robot_name_ + "/" + std::string(motor_names_[i]) +
|
||||
std::string("/set_position"));
|
||||
|
||||
set_position_srv.request.value = INFINITY;
|
||||
if (set_position_client.call(set_position_srv) && set_position_srv.response.success)
|
||||
ROS_INFO("Position set to INFINITY for motor %s.", motor_names_[i].c_str());
|
||||
else
|
||||
ROS_ERROR("Failed to call service set_position on motor %s.", motor_names_[i].c_str());
|
||||
|
||||
// speed
|
||||
ros::ServiceClient set_velocity_client;
|
||||
webots_ros::set_float set_velocity_srv;
|
||||
set_velocity_client = nh_->serviceClient<webots_ros::set_float>(robot_name_ + "/" + std::string(motor_names_[i]) +
|
||||
std::string("/set_velocity"));
|
||||
|
||||
set_velocity_srv.request.value = 0.0;
|
||||
if (set_velocity_client.call(set_velocity_srv) && set_velocity_srv.response.success == 1)
|
||||
ROS_INFO("Velocity set to 0.0 for motor %s.", motor_names_[i].c_str());
|
||||
else
|
||||
ROS_ERROR("Failed to call service set_velocity on motor %s.", motor_names_[i].c_str());
|
||||
}
|
||||
}
|
||||
|
||||
void ScoutWebotsInterface::UpdateSimState()
|
||||
{
|
||||
// constants for calculation
|
||||
constexpr double rotation_radius = std::hypot(ScoutSimParams::wheelbase / 2.0, ScoutSimParams::track / 2.0) * 2.0;
|
||||
constexpr double rotation_theta = std::atan2(ScoutSimParams::wheelbase, ScoutSimParams::track);
|
||||
|
||||
// update robot state
|
||||
double wheel_speeds[4];
|
||||
for (int i = 0; i < 4; ++i)
|
||||
{
|
||||
webots_ros::get_float get_velocity_srv;
|
||||
ros::ServiceClient get_velocity_client = nh_->serviceClient<webots_ros::get_float>(robot_name_ + "/" + std::string(motor_names_[i]) +
|
||||
std::string("/get_velocity"));
|
||||
|
||||
if (get_velocity_client.call(get_velocity_srv))
|
||||
{
|
||||
wheel_speeds[i] = get_velocity_srv.response.value;
|
||||
ROS_INFO("Velocity set to 0.0 for motor %s.", motor_names_[i].c_str());
|
||||
}
|
||||
else
|
||||
ROS_ERROR("Failed to call service set_velocity on motor %s.", motor_names_[i].c_str());
|
||||
}
|
||||
float left_speed = (wheel_speeds[1] + wheel_speeds[2]) / 2.0 * ScoutSimParams::wheel_radius;
|
||||
float right_speed = (wheel_speeds[0] + wheel_speeds[3]) / 2.0 * ScoutSimParams::wheel_radius;
|
||||
double linear_speed = (right_speed + left_speed) / 2.0;
|
||||
double angular_speed = (right_speed - left_speed) * std::cos(rotation_theta) / rotation_radius;
|
||||
|
||||
messenger_->PublishSimStateToROS(linear_speed, angular_speed);
|
||||
|
||||
// send robot command
|
||||
double linear, angular;
|
||||
messenger_->GetCurrentMotionCmdForSim(linear, angular);
|
||||
|
||||
if (linear > ScoutSimParams::max_linear_speed)
|
||||
linear = ScoutSimParams::max_linear_speed;
|
||||
if (linear < -ScoutSimParams::max_linear_speed)
|
||||
linear = -ScoutSimParams::max_linear_speed;
|
||||
|
||||
if (angular > ScoutSimParams::max_angular_speed)
|
||||
angular = ScoutSimParams::max_angular_speed;
|
||||
if (angular < -ScoutSimParams::max_angular_speed)
|
||||
angular = -ScoutSimParams::max_angular_speed;
|
||||
|
||||
double vel_left_cmd = (linear - angular * rotation_radius / std::cos(rotation_theta)) / ScoutSimParams::wheel_radius;
|
||||
double vel_right_cmd = (linear + angular * rotation_radius / std::cos(rotation_theta)) / ScoutSimParams::wheel_radius;
|
||||
|
||||
double wheel_cmds[4];
|
||||
wheel_cmds[0] = vel_right_cmd;
|
||||
wheel_cmds[1] = vel_left_cmd;
|
||||
wheel_cmds[2] = vel_left_cmd;
|
||||
wheel_cmds[3] = vel_right_cmd;
|
||||
for (int i = 0; i < 4; ++i)
|
||||
{
|
||||
ros::ServiceClient set_velocity_client;
|
||||
webots_ros::set_float set_velocity_srv;
|
||||
set_velocity_client = nh_->serviceClient<webots_ros::set_float>(robot_name_ + "/" + std::string(motor_names_[i]) +
|
||||
std::string("/set_velocity"));
|
||||
|
||||
set_velocity_srv.request.value = wheel_cmds[i];
|
||||
if (set_velocity_client.call(set_velocity_srv) && set_velocity_srv.response.success == 1)
|
||||
ROS_INFO("Velocity set to 0.0 for motor %s.", motor_names_[i].c_str());
|
||||
else
|
||||
ROS_ERROR("Failed to call service set_velocity on motor %s.", motor_names_[i].c_str());
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace westonrobot
|
||||
@@ -1,119 +0,0 @@
|
||||
/*
|
||||
* scout_webots_node.cpp
|
||||
*
|
||||
* Created on: Sep 26, 2019 23:03
|
||||
* Description:
|
||||
*
|
||||
* Copyright (c) 2019 Ruixiang Du (rdu)
|
||||
*/
|
||||
|
||||
#include <signal.h>
|
||||
|
||||
#include <iostream>
|
||||
|
||||
#include <ros/ros.h>
|
||||
#include <std_msgs/String.h>
|
||||
|
||||
#include <webots_ros/set_float.h>
|
||||
#include <webots_ros/set_int.h>
|
||||
|
||||
#include "scout_webots_sim/scout_webots_interface.hpp"
|
||||
|
||||
using namespace westonrobot;
|
||||
|
||||
ros::ServiceClient timeStepClient;
|
||||
webots_ros::set_int timeStepSrv;
|
||||
|
||||
static int controllerCount;
|
||||
static std::vector<std::string> controllerList;
|
||||
|
||||
void quit(int sig)
|
||||
{
|
||||
ROS_INFO("User stopped the 'agilex_scout' node.");
|
||||
timeStepSrv.request.value = 0;
|
||||
timeStepClient.call(timeStepSrv);
|
||||
ros::shutdown();
|
||||
exit(0);
|
||||
}
|
||||
|
||||
// catch names of the controllers availables on ROS network
|
||||
void controllerNameCallback(const std_msgs::String::ConstPtr &name)
|
||||
{
|
||||
controllerCount++;
|
||||
controllerList.push_back(name->data);
|
||||
ROS_INFO("Controller #%d: %s.", controllerCount, controllerList.back().c_str());
|
||||
}
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
ros::init(argc, argv, "scout_webots_node", ros::init_options::AnonymousName);
|
||||
ros::NodeHandle nh, private_node("~");
|
||||
|
||||
ScoutROSMessenger messenger(&nh);
|
||||
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<int>("sim_control_rate", messenger.sim_control_rate_, 50);
|
||||
private_node.param<bool>("simulated_robot", messenger.simulated_robot_, true);
|
||||
messenger.SetupSubscription();
|
||||
|
||||
const uint32_t time_step = 1000 / messenger.sim_control_rate_;
|
||||
ScoutWebotsInterface scout_webots(&nh, &messenger, time_step);
|
||||
|
||||
signal(SIGINT, quit);
|
||||
|
||||
// subscribe to the topic model_name to get the list of availables controllers
|
||||
std::string controllerName;
|
||||
ros::Subscriber nameSub = nh.subscribe("model_name", 100, controllerNameCallback);
|
||||
while (controllerCount == 0 || controllerCount < nameSub.getNumPublishers())
|
||||
{
|
||||
ros::spinOnce();
|
||||
ros::spinOnce();
|
||||
ros::spinOnce();
|
||||
}
|
||||
ros::spinOnce();
|
||||
|
||||
// if there is more than one controller available, it let the user choose
|
||||
if (controllerCount == 1)
|
||||
controllerName = controllerList[0];
|
||||
else
|
||||
{
|
||||
int wantedController = 0;
|
||||
std::cout << "Choose the # of the controller you want to use:\n";
|
||||
std::cin >> wantedController;
|
||||
if (1 <= wantedController && wantedController <= controllerCount)
|
||||
controllerName = controllerList[wantedController - 1];
|
||||
else
|
||||
{
|
||||
ROS_ERROR("Invalid number for controller choice.");
|
||||
return 1;
|
||||
}
|
||||
}
|
||||
ROS_INFO("Using controller: '%s'", controllerName.c_str());
|
||||
|
||||
// leave topic once it is not necessary anymore
|
||||
nameSub.shutdown();
|
||||
|
||||
// init robot components
|
||||
scout_webots.InitComponents(controllerName);
|
||||
|
||||
ROS_INFO("Entering ROS main loop...");
|
||||
|
||||
// main loop
|
||||
timeStepClient = nh.serviceClient<webots_ros::set_int>(controllerName + "/robot/time_step");
|
||||
timeStepSrv.request.value = time_step;
|
||||
while (ros::ok())
|
||||
{
|
||||
if (!timeStepClient.call(timeStepSrv) || !timeStepSrv.response.success)
|
||||
{
|
||||
ROS_ERROR("Failed to call service time_step for next step.");
|
||||
break;
|
||||
}
|
||||
scout_webots.UpdateSimState();
|
||||
ros::spinOnce();
|
||||
}
|
||||
timeStepSrv.request.value = 0;
|
||||
timeStepClient.call(timeStepSrv);
|
||||
|
||||
ros::shutdown();
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user