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Import changes from ROS1 port
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‎README.md

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@@ -4,12 +4,14 @@ Common ROS packages for Leo Rover that will work no matter on what machine they
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* [leo] - Metapackage for this repository.
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* [leo_description] - Robot description (URDF model).
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* [leo_msgs] - Message and Service definitions.
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* [leo_teleop] - Scripts for robot's teleoperation.
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Visit each package's ROS Wiki page for more information. \
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For more information about the robot, visit [Robots/Leo Rover].
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[leo]: http://wiki.ros.org/leo
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[leo_description]: http://wiki.ros.org/leo_description
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[leo_msgs]: http://wiki.ros.org/leo_msgs
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[leo_teleop]: http://wiki.ros.org/leo_teleop
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[Robots/Leo Rover]: http://wiki.ros.org/Robots/Leo%20Rover

‎leo/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>leo</name>
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<version>1.2.1</version>
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<version>2.1.0</version>
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<description>
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Metapackage of software for Leo Rover common to the robot and ROS desktop
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</description>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>leo_description</exec_depend>
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<exec_depend>leo_msgs</exec_depend>
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<exec_depend>leo_teleop</exec_depend>
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<export>

‎leo_description/package.xml

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<?xml version="1.0"?>
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<package format="3">
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<name>leo_description</name>
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<version>1.2.1</version>
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<version>2.1.0</version>
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<description>
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URDF Description package for Leo Rover
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</description>

‎leo_description/urdf/macros.xacro

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rockers_fixed:=true
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footprint_link:=true
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link_prefix:=''
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joint_prefix:=''">
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joint_prefix:=''
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imu_translation:='0.0628 -0.0314 -0.0393'">
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<xacro:macro name="rocker_link" params="name">
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<link name="${link_prefix}rocker_${name}_link">
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<link name="${link_prefix}camera_frame"/>
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<link name="${link_prefix}camera_optical_frame"/>
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<link name="${link_prefix}imu_frame"/>
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<!-- JOINTS -->
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<child link="${link_prefix}camera_optical_frame"/>
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</joint>
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<joint name="${joint_prefix}imu_joint" type="fixed">
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<origin xyz="${imu_translation}" rpy="0 0 0"/>
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<parent link="${link_prefix}base_link"/>
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<child link="${link_prefix}imu_frame"/>
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</joint>
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</xacro:macro>
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<!-- LEO GAZEBO -->
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<xacro:property name="link_prefix" value="${robot_ns}/"/>
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</xacro:if>
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<!-- base ODE properties -->
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<gazebo reference="${link_prefix}base_footprint">
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<kp>1e6</kp>
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<kd>1.0</kd>
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<mu1>0.3</mu1>
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<mu2>0.3</mu2>
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<minDepth>0.003</minDepth>
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</gazebo>
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<gazebo reference="${link_prefix}base_link">
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<kp>1e6</kp>
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<kd>1.0</kd>
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<mu1>0.3</mu1>
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<mu2>0.3</mu2>
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<minDepth>0.003</minDepth>
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</gazebo>
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<!-- rocker ODE properties -->
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<gazebo reference="${link_prefix}rocker_L_link">
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<kp>1e6</kp>
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<kd>1.0</kd>
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<mu1>0.3</mu1>
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<mu2>0.3</mu2>
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<minDepth>0.003</minDepth>
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</gazebo>
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<gazebo reference="${link_prefix}rocker_R_link">
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<kp>1e6</kp>
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<kd>1.0</kd>
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<mu1>0.3</mu1>
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<mu2>0.3</mu2>
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<minDepth>0.003</minDepth>
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</gazebo>
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<!-- wheel ODE properties -->
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<gazebo reference="${link_prefix}wheel_FL_link">
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<kp>1e6</kp>
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<kd>1.0</kd>
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<kd>100.0</kd>
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<mu1>3.0</mu1>
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<mu2>0.5</mu2>
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<mu2>1.0</mu2>
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<fdir1>1 0 0</fdir1>
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<minDepth>0.003</minDepth>
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</gazebo>
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<gazebo reference="${link_prefix}wheel_FR_link">
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<kp>1e6</kp>
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<kd>1.0</kd>
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<kd>100.0</kd>
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<mu1>3.0</mu1>
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<mu2>0.5</mu2>
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<mu2>1.0</mu2>
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<fdir1>1 0 0</fdir1>
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<minDepth>0.003</minDepth>
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</gazebo>
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<gazebo reference="${link_prefix}wheel_RL_link">
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<kp>1e6</kp>
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<kd>1.0</kd>
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<kd>100.0</kd>
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<mu1>3.0</mu1>
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<mu2>0.5</mu2>
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<mu2>1.0</mu2>
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<fdir1>1 0 0</fdir1>
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<minDepth>0.003</minDepth>
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</gazebo>
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<gazebo reference="${link_prefix}wheel_RR_link">
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<kp>1e6</kp>
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<kd>1.0</kd>
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<kd>100.0</kd>
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<mu1>3.0</mu1>
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<mu2>0.5</mu2>
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<mu2>1.0</mu2>
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<fdir1>1 0 0</fdir1>
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<minDepth>0.003</minDepth>
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</gazebo>
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</plugin>
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</gazebo>
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<gazebo reference="${link_prefix}imu_frame">
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<sensor type="imu" name="leo_imu_sensor">
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<update_rate>100</update_rate>
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<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
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<robotNamespace>${robot_ns}</robotNamespace>
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<topicName>imu/data_raw</topicName>
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<frameName>${link_prefix}imu_frame</frameName>
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<updateRateHZ>100.0</updateRateHZ>
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<gaussianNoise>0.01</gaussianNoise>
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<initialOrientationAsReference>false</initialOrientationAsReference>
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</plugin>
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</sensor>
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</gazebo>
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<ros2_control name="GazeboSystem" type="system">
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<hardware>
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<plugin>gazebo_ros2_control/GazeboSystem</plugin>

‎leo_msgs/CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package leo_msgs
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.1.0 (2022-01-31)
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------------------
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* Fix catkin_lint errors
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2.0.1 (2021-12-28)
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------------------
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2.0.0 (2021-12-02)
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------------------
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* Add comments to the Imu and WheelOdom message definitions
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* Add pwm_duty_cycle field to WheelStates
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* Add WheelOdom and WheelStates messages
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* Add temperature to Imu message
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* Initial leo_msgs package

‎leo_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 3.0.2)
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project(leo_msgs)
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find_package(catkin REQUIRED COMPONENTS
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message_generation
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std_msgs
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)
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add_message_files(FILES
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Imu.msg
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WheelOdom.msg
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WheelStates.msg
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)
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generate_messages()
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catkin_package(
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CATKIN_DEPENDS
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message_runtime
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std_msgs
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)

‎leo_msgs/msg/Imu.msg

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# This message holds the data retrieved from an Accel/Gyro+Temp IMU sensor
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#
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# The temperature field represents the temperature reported by the sensor in Degrees Celcius
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# The gyro_* fields represent the rotational velocity in rad/s
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# The accel_* fields represent the linear acceleration in m/s^2
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time stamp
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float32 temperature
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float32 gyro_x
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float32 gyro_y
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float32 gyro_z
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float32 accel_x
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float32 accel_y
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float32 accel_z

‎leo_msgs/msg/WheelOdom.msg

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# This message represents the pose and velocity of a differential wheeled robot, estimated from the wheel encoders.
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#
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# The velocity_* fields represent the linear and angular velocity of the robot.
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# The pose_* fields represent the x, y and yaw pose of the robot w.r.t. the starting pose.
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#
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# The coordinate frame that represents the robot is located at the center of rotation.
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time stamp
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float32 velocity_lin
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float32 velocity_ang
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float32 pose_x
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float32 pose_y
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float32 pose_yaw

‎leo_msgs/msg/WheelStates.msg

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# This message describes the states of the wheels in Leo Rover
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#
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# The state of each wheel is defined by:
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# * the position of the wheel (rad),
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# * the velocity of the wheel (rad/s)
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# * the torque that is applied in the wheel (Nm)
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# * the PWM Duty cycle (%)
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#
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# The stamp specifies the time at which the wheel states were recorded.
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#
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# This message consists of a multiple arrays, one for each part of the wheel state.
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# The order of the wheels in each array is: FL, RL, FR, RR
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time stamp
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float32[4] position
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float32[4] velocity
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float32[4] torque
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float32[4] pwm_duty_cycle

‎leo_msgs/package.xml

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<?xml version="1.0"?>
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<package format="2">
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<name>leo_msgs</name>
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<version>2.1.0</version>
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<description>
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Message and Service definitions for Leo Rover
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</description>
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<maintainer email="[email protected]">Fictionlab</maintainer>
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<author email="[email protected]">Błażej Sowa</author>
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<license>MIT</license>
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<url type="website">http://wiki.ros.org/leo</url>
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<url type="bugtracker">https://github.com/LeoRover/leo_common/issues</url>
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<url type="repository">https://github.com/LeoRover/leo_common</url>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>message_generation</build_depend>
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<exec_depend>message_runtime</exec_depend>
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<depend>std_msgs</depend>
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<export>
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<architecture_independent/>
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</export>
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</package>

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