🎉 init: first commit

SMBU-PolarBear-Robotics-Team · Jun 29, 2024 · 28fab61 · 28fab61
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diff --git a/.gitignore b/.gitignore
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+# Python
+__pycache__/
+*.pyc
+
+# ROS
+build/
+devel/
+logs/
+install/
+build_isolated/
+devel_isolated/
+*.bag
+CATKIN_IGNORE
+
+# Misc
+.vscode/
+*.swp
+log/
+test/
diff --git a/CMakeLists.txt b/CMakeLists.txt
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+cmake_minimum_required(VERSION 3.5)
+project(rmul24_gazebo_simulator)
+
+find_package(ament_cmake REQUIRED)
+
+install(DIRECTORY
+    config
+    launch
+    rviz
+    resource
+
+    DESTINATION share/${PROJECT_NAME}/
+)
+
+#environment
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/gazebo.dsv.in")
+
+ament_package()
diff --git a/README.md b/README.md
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+# rmul24_gazebo_simulator
+
+[![State-of-the-art Shitcode](https://img.shields.io/static/v1?label=State-of-the-art&message=Shitcode&color=7B5804)](https://github.com/trekhleb/state-of-the-art-shitcode)
+
+> Still in **develop**, shit code
+
+## 简介
+
+rmul24_gazebo_simulator 是基于 Gazebo (Ignition 字母版本) 的仿真环境，为 RoboMaster University League 中的机器人算法开发提供仿真环境，方便测试 AI 算法，加快开发效率。
+
+目前 rmul24_gazebo_simulator 还不完善，仅提供以下功能：
+
+在 rmua19 标准机器人（rmua19_standard_robot）上增加相关传感器，构建不同机器人模型:
+
+- rmua19_standard_robot_a：搭载云台相机 industrial_camera和搭载激光雷达 rplidar_a2，其中相机放置有在 yaw 轴。
+
+- rmua19_standard_robot_b：搭载云台相机 industrial_camera 和搭载激光雷达 rplidar_a2，其中相机放置有在 pitch 轴。
+
+- rmul24_sentry_robot：搭载云台相机 industrial_camera 和搭载激光雷达 rplidar_a2 和 Livox mid360，其中相机放置有在 pitch 轴
+
+构建 RoboMaster University League 2024 简易场地 (models/RMUL_2024):
+
+## 一. 基本使用
+
+### 1.1 环境配置
+
+- ROS2 版本要求: `Humble`
+
+- Gazebo 仿真器版本要求: `Fortress`
+
+```sh
+cd ros_ws/src
+
+git clone https://github.com/LihanChen2004/rmoss_interfaces.git
+git clone https://github.com/LihanChen2004/rmoss_core.git
+git clone https://github.com/LihanChen2004/rmoss_gazebo.git
+git clone https://github.com/LihanChen2004/rmoss_gz_resources.git --depth=1
+git clone https://github.com/gezp/sdformat_tools.git
+git clone https://github.com/LihanChen2004/rmul24_gazebo_simulator.git
+
+pip install xmacro
+```
+
+### 1.2 启动仿真环境
+
+1. 启动仿真环境
+
+    ```sh
+    ros2 launch rmul24_gazebo_simulator develop.launch.py
+    ```
+
+    **注意：需要点击 Gazebo 左下角橙红色的 `启动` 按钮**
+
+2. 控制机器人移动
+
+    ```sh
+    ros2 run rmoss_gz_base test_chassis_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base -p v:=0.3 -p w:=0.3
+    #根据提示进行输入，支持平移与自旋
+    ```
+
+3. 控制机器人云台
+
+    ```sh
+    ros2 run rmoss_gz_base test_gimbal_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base
+    #根据提示进行输入，支持绝对角度控制
+    ```
+
+4. 机器人射击
+
+    ```sh
+    ros2 run rmoss_gz_base test_shoot_cmd.py --ros-args -r __ns:=/red_standard_robot1/robot_base
+    #根据提示进行输入
+    ```
+
+5. 运行裁判系统
+
+    ```sh
+    ros2 run rmua19_gazebo_simulator simple_competition_1v1_referee.py
+    ```
+
+    弹丸伤害为10，每个机器人HP为500，直到HP为0时，裁判系统输出胜利者，程序退出。（可重新运行开始）
+
+    通过解析并处理攻击信息 `/referee_system/attack_info` （包括射击者信息以及击中目标信息）实现裁判功能
+
+## TODO
+
+考试月启动... 2024.6.28~7.12
+
+- [ ] mid360 改名为 livox_mid360
+
+- [ ] TF Tree 都加上命名空间
+
+- [ ] 删除 ignition plugin 中的 `ignition_frame_id`
+
+- [ ] launch 中分离世界生成和机器人生成
+
+## 维护者及开源许可证
+
+Maintainer: Lihan Chen, <[email protected]>
+
+rmul24_gazebo_simulator is provided under Apache License 2.0.
diff --git a/config/base_params.yaml b/config/base_params.yaml
@@ -0,0 +1,30 @@
+/**:
+  ros__parameters:
+    world_name: "default"
+    chassis_controller:
+      follow_yaw: true
+      follow_yaw_pid:
+        p: 5.0
+        i: 0.0
+        d: 1.0
+        imin: -1.0
+        imax: 1.0
+        cmdmin: -1000.0
+        cmdmax: 1000.0
+    gimbal_controller:
+      pitch_pid:
+        p: 11.0
+        i: 0.0
+        d: 1.0
+        imin: -1.0
+        imax: 1.0
+        cmdmin: -1000.0
+        cmdmax: 1000.0
+      yaw_pid:
+        p: 11.0
+        i: 0.0
+        d: 0.0
+        imin: -1.0
+        imax: 1.0
+        cmdmin: -1000.0
+        cmdmax: 1000.0
diff --git a/config/referee_system_1v1.yaml b/config/referee_system_1v1.yaml
@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    max_hp: 500
+    initial_projectiles: 200
diff --git a/config/ros_gz_bridge.yaml b/config/ros_gz_bridge.yaml
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+- ros_topic_name: "/clock"
+  gz_topic_name: "/clock"
+  ros_type_name: "rosgraph_msgs/msg/Clock"
+  gz_type_name: "ignition.msgs.Clock"
+  direction: "GZ_TO_ROS"
+
+# PosePublisher
+# - ros_topic_name: "/tf"
+#   gz_topic_name: "/model/<robot_name>/pose"
+#   ros_type_name: "tf2_msgs/msg/TFMessage"
+#   gz_type_name: "ignition.msgs.Pose_V"
+#   direction: "GZ_TO_ROS"
+
+# - ros_topic_name: "/tf_static"
+#   gz_topic_name: "/model/<robot_name>/pose_static"
+#   ros_type_name: "tf2_msgs/msg/TFMessage"
+#   gz_type_name: "ignition.msgs.Pose_V"
+#   direction: "GZ_TO_ROS"
+
+# - ros_topic_name: "/<robot_name>/odom"
+#   gz_topic_name: "/<robot_name>/odometry"
+#   ros_type_name: "nav_msgs/msg/Odometry"
+#   gz_type_name: "ignition.msgs.Odometry"
+#   direction: "GZ_TO_ROS"
+
+# Global odometry
+- ros_topic_name: "/odom"
+  gz_topic_name: "/odom"
+  ros_type_name: "nav_msgs/msg/Odometry"
+  gz_type_name: "ignition.msgs.Odometry"
+  direction: "GZ_TO_ROS"
+
+# OdometryPublisher publish tf from `odom` to `chassis`, used for navigation2
+- ros_topic_name: "/tf"
+  gz_topic_name: "/odom/tf"
+  ros_type_name: "tf2_msgs/msg/TFMessage"
+  gz_type_name: "ignition.msgs.Pose_V"
+  direction: "GZ_TO_ROS"
+
+# JointStatePublisher publish
+- ros_topic_name: "/<robot_name>/joint_state"
+  gz_topic_name: "/world/default/model/<robot_name>/joint_state"
+  ros_type_name: "sensor_msgs/msg/JointState"
+  gz_type_name: "ignition.msgs.Model"
+  direction: "GZ_TO_ROS"
+
+- ros_topic_name: "/<robot_name>/front_camera/image"
+  gz_topic_name: "/world/default/model/<robot_name>/link/front_industrial_camera/sensor/front_industrial_camera/image"
+  ros_type_name: "sensor_msgs/msg/Image"
+  gz_type_name: "ignition.msgs.Image"
+  direction: "GZ_TO_ROS"
+
+- ros_topic_name: "/<robot_name>/rplidar_a2/scan"
+  gz_topic_name: "/world/default/model/<robot_name>/link/front_rplidar_a2/sensor/front_rplidar_a2/scan"
+  ros_type_name: "sensor_msgs/msg/LaserScan"
+  gz_type_name: "ignition.msgs.LaserScan"
+  direction: "GZ_TO_ROS"
+
+- ros_topic_name: "/<robot_name>/livox/lidar"
+  gz_topic_name: "/world/default/model/<robot_name>/link/right_mid360/sensor/right_mid360_lidar/scan/points"
+  ros_type_name: "sensor_msgs/msg/PointCloud2"
+  gz_type_name: "ignition.msgs.PointCloudPacked"
+  direction: "GZ_TO_ROS"
+
+- ros_topic_name: "/<robot_name>/livox/imu"
+  gz_topic_name: "/world/default/model/<robot_name>/link/right_mid360/sensor/right_mid360_imu/imu"
+  ros_type_name: "sensor_msgs/msg/Imu"
+  gz_type_name: "ignition.msgs.IMU"
+  direction: "GZ_TO_ROS"
diff --git a/env-hooks/gazebo.dsv.in b/env-hooks/gazebo.dsv.in
@@ -0,0 +1,7 @@
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/resource/models
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/resource/worlds
+set-if-unset;MESA_GL_VERSION_OVERRIDE;3.3
+prepend-non-duplicate;SDF_PATH;share/@PROJECT_NAME@/resource/models
+prepend-non-duplicate;SDF_PATH;share/@PROJECT_NAME@/resource/worlds
+prepend-non-duplicate;IGN_FILE_PATH;share/@PROJECT_NAME@/resource/models
+prepend-non-duplicate;IGN_FILE_PATH;share/@PROJECT_NAME@/resource/worlds