mirror of
https://gitlab.com/yikestone/line_follower_gazebo_sim.git
synced 2025-08-03 13:44:09 +05:30
initial
This commit is contained in:
yikestone
commit
e3894ca3f9
13
line_follower_description/.model.config
Normal file
13
line_follower_description/.model.config
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|
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<?xml version="1.0"?>
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||||
<model>
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||||
<name>line_follower</name>
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||||
<version>1.0</version>
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||||
<sdf>urdf/line_follower.urdf</sdf>
|
||||
<author>
|
||||
<name>yikestone</name>
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||||
<email>name@email.address</email>
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||||
</author>
|
||||
<description>
|
||||
A description of the model
|
||||
</description>
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||||
</model>
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||||
13
line_follower_description/CMakeLists.txt
Normal file
13
line_follower_description/CMakeLists.txt
Normal file
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cmake_minimum_required(VERSION 2.8.3)
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project(line_follower_description)
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find_package(catkin REQUIRED COMPONENTS
|
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geometry_msgs
|
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roscpp
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rviz
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tf
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urdf
|
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xacro
|
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)
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include_directories(
|
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${catkin_INCLUDE_DIRS}
|
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)
|
||||
16
line_follower_description/config/line_follower_config.yaml
Normal file
16
line_follower_description/config/line_follower_config.yaml
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line_follower:
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
|
||||
|
||||
|
||||
# Effort Controllers ---------------------------------------
|
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leftWheel_effort_controller:
|
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type: effort_controllers/JointEffortController
|
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joint: left_wheel_hinge
|
||||
pid: {p: 100.0, i: 0.1, d: 10.0}
|
||||
rightWheel_effort_controller:
|
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type: effort_controllers/JointEffortController
|
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joint: right_wheel_hinge
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pid: {p: 100.0, i: 0.1, d: 10.0}
|
||||
12
line_follower_description/launch/line_follower_robot.launch
Normal file
12
line_follower_description/launch/line_follower_robot.launch
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<launch>
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<arg name="model" />
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<param name="robot_description" command="$(find xacro)/xacro.py $(find line_follower_description)/urdf/line_follower.xacro" />
|
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<param name="use_gui" value="true"/>
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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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 $(find line_follower_description)/urdf.rviz" required="true" />
|
||||
|
||||
|
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<rosparam file="$(find line_follower_description)/config/line_follower_config.yaml" command="load"/>
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/line_follower" args="joint_state_controller rightWheel_effort_controller leftWheel_effort_controller"/>
|
||||
</launch>
|
||||
BIN
line_follower_description/meshes/caster_wheel.stl
Normal file
BIN
line_follower_description/meshes/caster_wheel.stl
Normal file
Binary file not shown.
23
line_follower_description/package.xml
Normal file
23
line_follower_description/package.xml
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<?xml version="1.0"?>
|
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<package format="1">
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<name>line_follower_description</name>
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<version>0.0.0</version>
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<description>The line_follower_description package</description>
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<maintainer email="yikes@todo.todo">yikes</maintainer>
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<license>TODO</license>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>geometry_msgs</build_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rviz</build_depend>
|
||||
<build_depend>tf</build_depend>
|
||||
<build_depend>urdf</build_depend>
|
||||
<build_depend>xacro</build_depend>
|
||||
<run_depend>geometry_msgs</run_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>rviz</run_depend>
|
||||
<run_depend>tf</run_depend>
|
||||
<run_depend>urdf</run_depend>
|
||||
<run_depend>xacro</run_depend>
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<export>
|
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</export>
|
||||
</package>
|
||||
194
line_follower_description/urdf.rviz
Normal file
194
line_follower_description/urdf.rviz
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|
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Panels:
|
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- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 330
|
||||
- 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: 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
|
||||
Value: true
|
||||
bottom_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
elbow_pitch_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
elbow_roll_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_finger_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
gripper_roll_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
r_gripper_aft_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
shoulder_pan_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
shoulder_pitch_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wrist_pitch_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
wrist_roll_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: 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
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Fixed Frame: base_link
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 1.12009
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.06
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: -0.138732
|
||||
Y: -0.0432205
|
||||
Z: 0.292796
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.01
|
||||
Pitch: 0.230398
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.425398
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 611
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd00000004000000000000013c000001d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000001d9000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000001d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000001d9000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c00000003efc0100000002fb0000000800540069006d00650100000000000004c0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000269000001d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1216
|
||||
X: 43
|
||||
Y: 14
|
||||
44
line_follower_description/urdf.vcg
Normal file
44
line_follower_description/urdf.vcg
Normal file
@ -0,0 +1,44 @@
|
||||
Background\ ColorR=0.0941176
|
||||
Background\ ColorG=0
|
||||
Background\ ColorB=0.466667
|
||||
Fixed\ Frame=/base_link
|
||||
Target\ Frame=<Fixed Frame>
|
||||
Grid.Alpha=0.5
|
||||
Grid.Cell\ Size=0.5
|
||||
Grid.ColorR=0.898039
|
||||
Grid.ColorG=0.898039
|
||||
Grid.ColorB=0.898039
|
||||
Grid.Enabled=1
|
||||
Grid.Line\ Style=0
|
||||
Grid.Line\ Width=0.03
|
||||
Grid.Normal\ Cell\ Count=0
|
||||
Grid.OffsetX=0
|
||||
Grid.OffsetY=0
|
||||
Grid.OffsetZ=0
|
||||
Grid.Plane=0
|
||||
Grid.Plane\ Cell\ Count=10
|
||||
Grid.Reference\ Frame=<Fixed Frame>
|
||||
Robot\ Model.Alpha=1
|
||||
Robot\ Model.Collision\ Enabled=0
|
||||
Robot\ Model.Enabled=1
|
||||
Robot\ Model.Robot\ Description=robot_description
|
||||
Robot\ Model.TF\ Prefix=
|
||||
Robot\ Model.Update\ Interval=0
|
||||
Robot\ Model.Visual\ Enabled=1
|
||||
Robot\:\ Robot\ Model\ Link\ base_linkShow\ Axes=0
|
||||
Robot\:\ Robot\ Model\ Link\ base_linkShow\ Trail=0
|
||||
Robot\:\ Robot\ Model\ Link\ legShow\ Axes=0
|
||||
Robot\:\ Robot\ Model\ Link\ legShow\ Trail=0
|
||||
Tool\ 2D\ Nav\ GoalTopic=goal
|
||||
Tool\ 2D\ Pose\ EstimateTopic=initialpose
|
||||
Camera\ Type=rviz::OrbitViewController
|
||||
Camera\ Config=1.15779 3.76081 2.16475 0 0 0
|
||||
Property\ Grid\ State=selection=.Global StatusTopStatus;expanded=.Global Options,Grid.Enabled,Robot Model.Enabled;scrollpos=0,0;splitterpos=150,285;ispageselected=1
|
||||
[Display0]
|
||||
Name=Grid
|
||||
Package=rviz
|
||||
ClassName=rviz::GridDisplay
|
||||
[Display1]
|
||||
Name=Robot Model
|
||||
Package=rviz
|
||||
ClassName=rviz::RobotModelDisplay
|
||||
84
line_follower_description/urdf/line_follower.gazebo
Normal file
84
line_follower_description/urdf/line_follower.gazebo
Normal file
@ -0,0 +1,84 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<gazebo>
|
||||
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||
<robotNamespace>/line_follower</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<legacyMode>false</legacyMode>
|
||||
<updateRate>100</updateRate>
|
||||
<leftJoint>left_wheel_hinge</leftJoint>
|
||||
<rightJoint>right_wheel_hinge</rightJoint>
|
||||
<wheelSeparation>${chassisWidth+wheelWidth}</wheelSeparation>
|
||||
<wheelDiameter>${2*wheelRadius}</wheelDiameter>
|
||||
<wheelTorque>20</wheelTorque>
|
||||
<commandTopic>line_follower/cmd_vel</commandTopic>
|
||||
<publishWheelTF>true</publishWheelTF>
|
||||
<wheelAcceleration>1</wheelAcceleration>
|
||||
<odometryTopic>line_follower/odom_diffdrive</odometryTopic>
|
||||
<publishWheelJointState>true</publishWheelJointState>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<publishTf>true</publishTf>
|
||||
<odometrySource>1</odometrySource>
|
||||
<robotBaseFrame>footprint</robotBaseFrame>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo>
|
||||
<plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
|
||||
<frameName>map</frameName>
|
||||
<bodyName>chassis</bodyName>
|
||||
<topicName>line_follower/odom</topicName>
|
||||
<updateRate>30.0</updateRate>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="chassis">
|
||||
<material>Gazebo/Orange</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="caster_wheel">
|
||||
<mu1>0.0</mu1>
|
||||
<mu2>0.0</mu2>
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo>
|
||||
|
||||
<gazebo reference="camera">
|
||||
<material>Gazebo/Grey</material>
|
||||
<sensor type="camera" name="camera1">
|
||||
<update_rate>30.0</update_rate>
|
||||
<camera name="head">
|
||||
<horizontal_fov>1.3962634</horizontal_fov>
|
||||
<image>
|
||||
<width>800</width>
|
||||
<height>800</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>0.0</updateRate>
|
||||
<cameraName>line_follower/camera1</cameraName>
|
||||
<imageTopicName>image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
|
||||
</robot>
|
||||
270
line_follower_description/urdf/line_follower.urdf
Normal file
270
line_follower_description/urdf/line_follower.urdf
Normal file
@ -0,0 +1,270 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from line_follower.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="line_follower" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/line_follower</robotNamespace>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<legacyMode>false</legacyMode>
|
||||
<updateRate>100</updateRate>
|
||||
<leftJoint>left_wheel_hinge</leftJoint>
|
||||
<rightJoint>right_wheel_hinge</rightJoint>
|
||||
<wheelSeparation>0.25</wheelSeparation>
|
||||
<wheelDiameter>0.2</wheelDiameter>
|
||||
<wheelTorque>20</wheelTorque>
|
||||
<commandTopic>line_follower/cmd_vel</commandTopic>
|
||||
<publishWheelTF>true</publishWheelTF>
|
||||
<wheelAcceleration>1</wheelAcceleration>
|
||||
<odometryTopic>line_follower/odom_diffdrive</odometryTopic>
|
||||
<publishWheelJointState>true</publishWheelJointState>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<publishTf>true</publishTf>
|
||||
<odometrySource>1</odometrySource>
|
||||
<robotBaseFrame>footprint</robotBaseFrame>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_p3d.so" name="ground_truth">
|
||||
<frameName>map</frameName>
|
||||
<bodyName>chassis</bodyName>
|
||||
<topicName>line_follower/odom</topicName>
|
||||
<updateRate>30.0</updateRate>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo reference="chassis">
|
||||
<material>Gazebo/Orange</material>
|
||||
</gazebo>
|
||||
<gazebo reference="caster_wheel">
|
||||
<mu1>0.0</mu1>
|
||||
<mu2>0.0</mu2>
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="camera">
|
||||
<material>Gazebo/Grey</material>
|
||||
<sensor name="camera1" type="camera">
|
||||
<update_rate>30.0</update_rate>
|
||||
<camera name="head">
|
||||
<horizontal_fov>1.3962634</horizontal_fov>
|
||||
<image>
|
||||
<width>800</width>
|
||||
<height>800</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>0.0</updateRate>
|
||||
<cameraName>line_follower/camera1</cameraName>
|
||||
<imageTopicName>image_raw</imageTopicName>
|
||||
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<link name="footprint"/>
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="footprint"/>
|
||||
<child link="chassis"/>
|
||||
</joint>
|
||||
<link name="chassis">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1"/>
|
||||
<geometry>
|
||||
<box size="0.4 0.2 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1"/>
|
||||
<geometry>
|
||||
<box size="0.4 0.2 0.1"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.00416666666667" ixy="0" ixz="0" iyy="0.0141666666667" iyz="0" izz="0.0141666666667"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="fixed" type="fixed">
|
||||
<parent link="chassis"/>
|
||||
<child link="caster_wheel"/>
|
||||
</joint>
|
||||
<link name="caster_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
|
||||
<geometry>
|
||||
<sphere radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
|
||||
<geometry>
|
||||
<sphere radius="0.05"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.15 0 0.05"/>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.0005" ixy="0" ixz="0" iyy="0.0005" iyz="0" izz="0.0005"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="left_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000541666666667" ixy="0" ixz="0" iyy="0.000541666666667" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<gazebo reference="left_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<joint name="left_wheel_hinge" type="continuous">
|
||||
<parent link="chassis"/>
|
||||
<child link="left_wheel"/>
|
||||
<origin rpy="0 0 0" xyz="0.1 -0.125 0.1"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="left_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_wheel_hinge">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="leftMotor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>10</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<link name="right_wheel">
|
||||
<collision>
|
||||
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.1"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin rpy="0 1.57079632679 1.57079632679" xyz="0 0 0"/>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000541666666667" ixy="0" ixz="0" iyy="0.000541666666667" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<gazebo reference="right_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<joint name="right_wheel_hinge" type="continuous">
|
||||
<parent link="chassis"/>
|
||||
<child link="right_wheel"/>
|
||||
<origin rpy="0 0 0" xyz="0.1 0.125 0.1"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<transmission name="right_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_wheel_hinge">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="rightMotor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>10</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<origin rpy="0 0.60 0" xyz="0.2 0 0.175"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="camera"/>
|
||||
</joint>
|
||||
<link name="camera">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.05"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="4.16666666667e-06" ixy="0" ixz="0" iyy="4.16666666667e-06" iyz="0" izz="4.16666666667e-06"/>
|
||||
</inertial>
|
||||
</link>
|
||||
</robot>
|
||||
119
line_follower_description/urdf/line_follower.xacro
Normal file
119
line_follower_description/urdf/line_follower.xacro
Normal file
@ -0,0 +1,119 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<robot name="line_follower" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
|
||||
<xacro:property name="PI" value="3.1415926535897931"/>
|
||||
|
||||
<xacro:property name="chassisHeight" value="0.1"/>
|
||||
<xacro:property name="chassisLength" value="0.4"/>
|
||||
<xacro:property name="chassisWidth" value="0.2"/>
|
||||
<xacro:property name="chassisMass" value="1"/>
|
||||
|
||||
<xacro:property name="casterRadius" value="0.05"/>
|
||||
<xacro:property name="casterMass" value="0.5"/>
|
||||
|
||||
<xacro:property name="wheelWidth" value="0.05"/>
|
||||
<xacro:property name="wheelRadius" value="0.1"/>
|
||||
<xacro:property name="wheelPos" value="0.2"/>
|
||||
<xacro:property name="wheelMass" value="0.2"/>
|
||||
|
||||
<xacro:property name="cameraSize" value="0.05"/>
|
||||
<xacro:property name="cameraMass" value="0.01"/>
|
||||
|
||||
<xacro:include filename="$(find line_follower_description)/urdf/line_follower.gazebo" />
|
||||
<xacro:include filename="$(find line_follower_description)/urdf/materials.xacro" />
|
||||
<xacro:include filename="$(find line_follower_description)/urdf/macros.xacro" />
|
||||
|
||||
<link name="footprint" />
|
||||
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="footprint"/>
|
||||
<child link="chassis"/>
|
||||
</joint>
|
||||
|
||||
<link name="chassis">
|
||||
<collision>
|
||||
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${chassisLength} ${chassisWidth} ${chassisHeight}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${chassisLength} ${chassisWidth} ${chassisHeight}"/>
|
||||
</geometry>
|
||||
<material name="orange"/>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 ${wheelRadius}" rpy="0 0 0"/>
|
||||
<mass value="${chassisMass}"/>
|
||||
<box_inertia m="${chassisMass}" x="${chassisLength}" y="${chassisWidth}" z="${chassisHeight}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="fixed" type="fixed">
|
||||
<parent link="chassis"/>
|
||||
<child link="caster_wheel"/>
|
||||
</joint>
|
||||
|
||||
<link name="caster_wheel">
|
||||
|
||||
<collision>
|
||||
<origin xyz="${casterRadius-chassisLength/2} 0 ${casterRadius-chassisHeight+wheelRadius}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${casterRadius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="${casterRadius-chassisLength/2} 0 ${casterRadius-chassisHeight+wheelRadius}" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="${casterRadius}"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="${casterRadius-chassisLength/2} 0 ${casterRadius-chassisHeight+wheelRadius}" rpy="0 0 0"/>
|
||||
<mass value="${casterMass}"/>
|
||||
<sphere_inertia m="${casterMass}" r="${casterRadius}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<wheel lr="left" tY="-1"/>
|
||||
<wheel lr="right" tY="1"/>
|
||||
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<origin xyz="${chassisLength/2} 0 ${cameraSize+wheelRadius+cameraSize/2}" rpy="0 0.60 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="camera"/>
|
||||
</joint>
|
||||
|
||||
<link name="camera">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${cameraSize} ${cameraSize} ${cameraSize}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="${cameraSize} ${cameraSize} ${cameraSize}"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<mass value="${cameraMass}" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<box_inertia m="${cameraMass}" x="${cameraSize}" y="${cameraSize}" z="${cameraSize}" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
78
line_follower_description/urdf/macros.xacro
Normal file
78
line_follower_description/urdf/macros.xacro
Normal file
@ -0,0 +1,78 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<xacro:macro name="cylinder_inertia" params="m r h">
|
||||
<inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
|
||||
iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
|
||||
izz="${m*r*r/2}" />
|
||||
</xacro:macro>
|
||||
|
||||
<xacro:macro name="box_inertia" params="m x y z">
|
||||
<inertia ixx="${m*(y*y+z*z)/12}" ixy = "0" ixz = "0"
|
||||
iyy="${m*(x*x+z*z)/12}" iyz = "0"
|
||||
izz="${m*(x*x+z*z)/12}" />
|
||||
</xacro:macro>
|
||||
|
||||
<xacro:macro name="sphere_inertia" params="m r">
|
||||
<inertia ixx="${2*m*r*r/5}" ixy = "0" ixz = "0"
|
||||
iyy="${2*m*r*r/5}" iyz = "0"
|
||||
izz="${2*m*r*r/5}" />
|
||||
</xacro:macro>
|
||||
|
||||
<xacro:macro name="wheel" params="lr tY">
|
||||
|
||||
<link name="${lr}_wheel">
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
|
||||
<geometry>
|
||||
<cylinder length="${wheelWidth}" radius="${wheelRadius}"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
|
||||
<geometry>
|
||||
<cylinder length="${wheelWidth}" radius="${wheelRadius}"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
|
||||
<mass value="${wheelMass}"/>
|
||||
<cylinder_inertia m="${wheelMass}" r="${wheelRadius}" h="${wheelWidth}"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<gazebo reference="${lr}_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0" />
|
||||
<kd value="1.0" />
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
|
||||
|
||||
<joint name="${lr}_wheel_hinge" type="continuous">
|
||||
<parent link="chassis"/>
|
||||
<child link="${lr}_wheel"/>
|
||||
<origin xyz="${+wheelPos-chassisLength/4} ${tY*wheelWidth/2+tY*chassisWidth/2} ${wheelRadius}" rpy="0 0 0" />
|
||||
<axis xyz="0 1 0" rpy="0 0 0" />
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<transmission name="${lr}_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="${lr}_wheel_hinge">
|
||||
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="${lr}Motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>10</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
36
line_follower_description/urdf/materials.xacro
Normal file
36
line_follower_description/urdf/materials.xacro
Normal file
@ -0,0 +1,36 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="orange">
|
||||
<color rgba="${255/255} ${108/255} ${10/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="brown">
|
||||
<color rgba="${222/255} ${207/255} ${195/255} 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
</robot>
|
||||
24
line_follower_gazebo/CMakeLists.txt
Normal file
24
line_follower_gazebo/CMakeLists.txt
Normal file
@ -0,0 +1,24 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(line_follower_gazebo)
|
||||
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
roscpp
|
||||
gazebo_ros
|
||||
)
|
||||
|
||||
find_package(gazebo REQUIRED)
|
||||
|
||||
catkin_package(
|
||||
DEPENDS
|
||||
roscpp
|
||||
gazebo_ros
|
||||
)
|
||||
|
||||
link_directories(${GAZEBO_LIBRARY_DIRS})
|
||||
include_directories(${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})
|
||||
install(DIRECTORY launch/
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
|
||||
)
|
||||
#add_library(${PROJECT_NAME} src/simple_world_plugin.cpp)
|
||||
#target_link_libraries(${catkin_LIBRARIES})
|
||||
|
||||
10
line_follower_gazebo/launch/line_follower.launch
Normal file
10
line_follower_gazebo/launch/line_follower.launch
Normal file
@ -0,0 +1,10 @@
|
||||
<launch>
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find line_follower_gazebo)/worlds/line.world"/>
|
||||
<arg name="paused" value="false"/>
|
||||
<arg name="use_sim_time" value="true"/>
|
||||
<arg name="gui" value="true"/>
|
||||
<arg name="recording" value="false"/>
|
||||
<arg name="debug" value="false"/>
|
||||
</include>
|
||||
</launch>
|
||||
54
line_follower_gazebo/package.xml
Normal file
54
line_follower_gazebo/package.xml
Normal file
@ -0,0 +1,54 @@
|
||||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>line_follower_gazebo</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The line_follower_gazebo package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="yikes@todo.todo">yikes</maintainer>
|
||||
|
||||
<license>TODO</license>
|
||||
|
||||
<build_depend>roscpp</build_depend>
|
||||
<exec_depend>roscpp</exec_depend>
|
||||
<build_depend>gazebo_ros</build_depend>
|
||||
<exec_depend>gazebo_ros</exec_depend>
|
||||
<!-- 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/line_follower_gazebo</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: -->
|
||||
|
||||
<!-- more default parameters can be changed here -->
|
||||
<export>
|
||||
</export>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
</package>
|
||||
12
line_follower_gazebo/worlds/line.world
Normal file
12
line_follower_gazebo/worlds/line.world
Normal file
@ -0,0 +1,12 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.4">
|
||||
<world name="default">
|
||||
<include>
|
||||
<uri>model://sun</uri>
|
||||
</include>
|
||||
<include>
|
||||
<uri>model://path</uri>
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
</include>
|
||||
</world>
|
||||
</sdf>
|
||||
Loading…
x
Reference in New Issue
Block a user