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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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57
.gitignore vendored Normal file
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@@ -0,0 +1,57 @@
devel/
logs/
build/
bin/
lib/
msg_gen/
srv_gen/
msg/*Action.msg
msg/*ActionFeedback.msg
msg/*ActionGoal.msg
msg/*ActionResult.msg
msg/*Feedback.msg
msg/*Goal.msg
msg/*Result.msg
msg/_*.py
build_isolated/
devel_isolated/
# Webots temporary files
scout_webots_sim/worlds/.scout_base.wbproj
# Generated by dynamic reconfigure
*.cfgc
/cfg/cpp/
/cfg/*.py
# Ignore generated docs
*.dox
*.wikidoc
# eclipse stuff
.project
.cproject
# Visual studio code stuff
*.vscode
# qcreator stuff
CMakeLists.txt.user
srv/_*.py
*.pcd
*.pyc
qtcreator-*
*.user
/planning/cfg
/planning/docs
/planning/src
*~
# Emacs
.#*
# Catkin custom files
CATKIN_IGNORE

4
scout_base/CMakeLists.txt
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@@ -51,6 +51,10 @@ set_property(TARGET scout_messenger PROPERTY POSITION_INDEPENDENT_CODE ON)
add_executable(scout_base_node src/scout_base_node.cpp)
target_link_libraries(scout_base_node scout_messenger ${catkin_LIBRARIES})
add_executable(scout_base_sim_node src/scout_base_sim_node.cpp)
target_link_libraries(scout_base_sim_node scout_messenger ${catkin_LIBRARIES})
#############
## Install ##
#############

22
scout_base/launch/scout_base_sim.launch Normal file
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@@ -0,0 +1,22 @@
<launch>
<!--
The robot can be controlled either through CAN bus or UART port. Make sure the hardware
interface is set up correctly before attempting to connect to the robot.
You only need to specify the port name, such as "can0", "/dev/ttyUSB0". The port should
operate with the following configuration:
* CAN bus: 500k
* UART: 115200, Parity None, 8-bit Data, 1 Stop Bit
-->
<arg name="simulated_robot" default="true" />
<arg name="control_rate" default="50" />
<node name="scout_base_sim_node" pkg="scout_base" type="scout_base_sim_node" output="screen">
<param name="simulated_robot" type="bool" value="$(arg simulated_robot)" />
<param name="control_rate" type="int" value="$(arg control_rate)" />
<param name="odom_frame" type="string" value="odom" />
<param name="base_frame" type="string" value="base_link" />
</node>
</launch>

6
scout_base/src/scout_base_node.cpp
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@@ -40,13 +40,13 @@ int main(int argc, char **argv)
}
messenger.SetupSubscription();
// publish robot state at 20Hz while listening to twist commands
ros::Rate rate_20hz(20); // 20Hz
// publish robot state at 50Hz while listening to twist commands
ros::Rate rate_50hz(50); // 50Hz
while (true)
{
messenger.PublishStateToROS();
ros::spinOnce();
rate_20hz.sleep();
rate_50hz.sleep();
}
return 0;

47
scout_base/src/scout_base_sim_node.cpp Normal file
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@@ -0,0 +1,47 @@
#include <string>
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include "scout_sdk/scout_base.hpp"
#include "scout_base/scout_messenger.hpp"
using namespace wescore;
int main(int argc, char **argv)
{
// setup ROS node
ros::init(argc, argv, "scout_odom");
ros::NodeHandle node(""), private_node("~");
// instantiate a robot object
ScoutBase robot;
ScoutROSMessenger messenger(&robot, &node);
// fetch parameters before connecting to robot
std::string port_name;
private_node.param<std::string>("port_name", port_name, std::string("can0"));
private_node.param<std::string>("odom_frame", messenger.odom_frame_, std::string("odom"));
private_node.param<std::string>("base_frame", messenger.base_frame_, std::string("base_link"));
private_node.param<bool>("simulated_robot", messenger.simulated_robot_, true);
private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
// no connection for simulated robot
// setup ROS subscription
messenger.SetupSubscription();
// publish robot state at 50Hz while listening to twist commands
double linear, angular;
ros::Rate rate_50hz(50); // 50Hz
while (true)
{
messenger.GetCurrentMotionCmdForSim(linear, angular);
messenger.PublishSimStateToROS(linear, angular);
ros::spinOnce();
rate_50hz.sleep();
}
return 0;
}

4
scout_bringup/launch/scout_base_gazebo_sim.launch Normal file
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@@ -0,0 +1,4 @@
<launch>
<include file="$(find scout_gazebo_sim)/launch/scout_empty_world.launch" />
<include file="$(find scout_base)/launch/scout_base_sim.launch" />
</launch>

0
scout_bringup/launch/scout_base_sim.launch → scout_bringup/launch/scout_base_webots_sim.launch
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26
scout_description/rviz/model_display.rviz
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@@ -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:
{}
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
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@@ -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 -->

2
scout_gazebo_sim/launch/scout_empty_world.launch
View File

@@ -14,5 +14,5 @@
<include file="$(find scout_gazebo_sim)/launch/spawn_scout_v2.launch"></include>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/model_display.rviz" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find scout_description)/rviz/navigation.rviz" />
</launch>

2
scout_gazebo_sim/launch/spawn_scout_v2.launch
View File

@@ -9,7 +9,7 @@
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="true" />
<arg name="use_sim_time" default="false" />
<arg name="use_sim_time" default="true" />
<arg name="gui" default="true" />
<arg name="headless" default="false" />
<arg name="debug" default="true" />

34
scout_gazebo_sim/src/scout_skid_steer_controller.cpp
View File

@@ -26,39 +26,5 @@ int main(int argc, char **argv) {
ros::spin();
// // instantiate a robot object
// ScoutBase robot;
// ScoutROSMessenger messenger(&robot, &node);
// // fetch parameters before connecting to robot
// std::string port_name;
// private_node.param<std::string>("port_name", port_name,
// std::string("can0")); private_node.param<std::string>("odom_frame",
// messenger.odom_frame_, std::string("odom"));
// private_node.param<std::string>("base_frame", messenger.base_frame_,
// std::string("base_link")); private_node.param<bool>("simulated_robot",
// messenger.simulated_robot_, false);
// // connect to robot and setup ROS subscription
// if (port_name.find("can") != std::string::npos)
// {
// robot.Connect(port_name);
// ROS_INFO("Using CAN bus to talk with the robot");
// }
// else
// {
// robot.Connect(port_name, 115200);
// ROS_INFO("Using UART to talk with the robot");
// }
// messenger.SetupSubscription();
// publish robot state at 20Hz while listening to twist commands
// ros::Rate rate_20hz(20); // 20Hz
// while (true) {
// messenger.PublishStateToROS();
// ros::spinOnce();
// rate_20hz.sleep();
// }
return 0;
}