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fixed state publish rate error (from 20hz to 50hz), gazebo scout v2 sim ready

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This commit is contained in:
Ruixiang Du
2020-04-02 11:43:29 +08:00
parent a1efd5b609
commit f73a2e2f59
15 changed files with 392 additions and 368 deletions
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28
scout_description/rviz/model_display.rviz
View File

@@ -63,11 +63,11 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_footprint:
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
chassis_link:
Alpha: 1
Show Axes: false
Show Trail: false
@@ -96,10 +96,6 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
world:
Alpha: 1
Show Axes: false
Show Trail: false
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
@@ -111,10 +107,10 @@ Visualization Manager:
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
chassis_link:
Value: true
front_left_wheel_link:
Value: true
front_right_wheel_link:
@@ -125,35 +121,31 @@ Visualization Manager:
Value: true
rear_right_wheel_link:
Value: true
world:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
world:
base_link:
base_footprint:
{}
base_link:
chassis_link:
front_left_wheel_link:
{}
front_right_wheel_link:
{}
inertial_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: world
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
@@ -214,4 +206,4 @@ Window Geometry:
collapsed: true
Width: 1869
X: 632
Y: 381
Y: 291

209
scout_description/rviz/navigation.rviz Normal file
View File

@@ -0,0 +1,209 @@
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

10
scout_description/urdf/scout_v2.gazebo
View File

@@ -1,10 +1,12 @@
<?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
[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" />

277
scout_description/urdf/scout_v2.urdf
View File

@@ -1,277 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from scout_v2.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="scout_v2">
<!-- Virtual link as root -->
<link name="vehicle_reference"/>
<joint name="veh_ref_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="vehicle_reference"/>
<child link="base_link"/>
</joint>
<!-- 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>
<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>
<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>
</link>
<!-- Base footprint: base_link projected to the gound plane -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 -0.23479"/>
<parent link="base_link"/>
<child link="base_footprint"/>
</joint>
<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>
<!-- 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> -->
<!-- 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. -->
<!-- Additional definitions for simulation -->
<!-- <gazebo reference="base_link">
<material>Gazebo/Grey</material>
</gazebo> -->
<!-- kp spring constant, kd damping constant -->
<gazebo reference="front_right_wheel_link">
<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>
<transmission name="front_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_right_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- kp spring constant, kd damping constant -->
<gazebo reference="front_left_wheel_link">
<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>
<transmission name="front_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_left_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- kp spring constant, kd damping constant -->
<gazebo reference="rear_left_wheel_link">
<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>
<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_left_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- kp spring constant, kd damping constant -->
<gazebo reference="rear_right_wheel_link">
<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>
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_right_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<!-- Controller configurations -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/</robotNamespace>
</plugin>
</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>

58
scout_description/urdf/scout_v2.xacro
View File

@@ -24,22 +24,6 @@
<xacro:property name="wheel_length" value="1.1653e-01" />
<xacro:property name="wheel_radius" value="1.6459e-01" />
<!-- Virtual link as root -->
<link name="vehicle_reference" />
<joint name="veh_ref_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="vehicle_reference" />
<child link="base_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> -->
<!-- Base link -->
<link name="base_link">
<visual>
@@ -48,14 +32,6 @@
<mesh filename="package://scout_description/meshes/base_link.dae" />
</geometry>
</visual>
<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>
<collision>
<origin xyz="0 0 0.008" rpy="0 0 0" />
<geometry>
@@ -70,15 +46,37 @@
</collision>
</link>
<!-- Base footprint: base_link projected to the gound plane -->
<link name="base_footprint"/>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${wheel_vertical_offset - wheel_radius}" rpy="0 0 0" />
<!-- <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="base_footprint" />
<child link="chassis_link" />
</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 -->