diff --git a/README.md b/README.md index 749d87f..d420551 100644 --- a/README.md +++ b/README.md @@ -58,6 +58,7 @@ Hardware components are written for the Waveshare Motor Driver HAT and MPU6050 s - [`lidarbot_bringup`](./lidarbot_bringup/) : Contains hardware component for the MPU6050 module, launch files to bring up the camera, lidar and the real lidarbot. - [`lidarbot_description`](./lidarbot_description/) : Contains the URDF description files for lidarbot, sensors and `ros2 control`. - [`lidarbot_gazebo`](./lidarbot_gazebo/) : Contains configuration, launch and world files needed to simulate lidarbot in Gazebo Classic. +- [`lidarbot_gz`](./lidarbot_gz/) : Contains urdf, launch and world files needed to simulate lidarbot in Gazebo Fortress. - [`lidarbot_navigation`](./lidarbot_navigation/) : Contains launch, configuration and map files used for lidarbot navigation. - [`lidarbot_slam`](./lidarbot_slam/) : Contains configuration files for the slam toolbox and RViz, launch file to generate maps using SLAM. - [`lidarbot_teleop`](./lidarbot_teleop/) : Contains configuration and launch files used to enable joystick control of the lidarbot in simulation and physically. @@ -72,21 +73,21 @@ The following components were used in this project: |2| SanDisk 32 GB SD Card (minimum)| |3| [Two wheel drive robot chassis kit](https://www.amazon.com/perseids-Chassis-Encoder-Wheels-Battery/dp/B07DNYQ3PX/ref=sr_1_9?crid=3T8FVRRMPFCIX&keywords=two+wheeled+drive+robot+chassis&qid=1674141374&sprefix=two+wheeled+drive+robot+chas%2Caps%2C397&sr=8-9)| |4| [Waveshare Motor Driver HAT](https://www.waveshare.com/wiki/Motor_Driver_HAT)| -|5| 2 x [Motors with encoders](https://www.aliexpress.com/item/1005006363532248.html?spm=a2g0o.detail.pcDetailTopMoreOtherSeller.6.5fdeSplESplEAo&gps-id=pcDetailTopMoreOtherSeller&scm=1007.40050.354490.0&scm_id=1007.40050.354490.0&scm-url=1007.40050.354490.0&pvid=1fbd5a28-56b9-49ff-ad51-948875853e0c&_t=gps-id:pcDetailTopMoreOtherSeller,scm-url:1007.40050.354490.0,pvid:1fbd5a28-56b9-49ff-ad51-948875853e0c,tpp_buckets:668%232846%238109%231935&utparam-url=scene%3ApcDetailTopMoreOtherSeller%7Cquery_from%3A)| -|6| 2 x [PH 2.0 Motor pin connectors](https://s.click.aliexpress.com/e/_Dl669tn) -|7| MPU6050 board| -|8| [RPlidar A1](https://s.click.aliexpress.com/e/_DdPdRS7)| -|9| Raspberry Pi camera v1.3| -|10| [3D printed stands for RPlidar A1 and RPi 4](https://www.thingiverse.com/thing:3970110)| -|11| Mount for Raspberry Pi camera| -|12| Powerbank for RPi 4 (minimum output: 5V 3A)| -|13| Gamepad| -|14| [Mini Travel Router](https://s.click.aliexpress.com/e/_DcgfT61)| -|15| 3 Slot 18650 battery holder| -|16| 3 x 18650 batteries to power Motor Driver HAT| -|17| Female to Female Dupont jumper cables| -|18| Spare wires| -|19| Logitech C270 webcam| +|5| 2 x [Motors with encoders and wire harness](https://s.click.aliexpress.com/e/_DBL19Mr| + +|6| MPU6050 board| +|7| [RPlidar A1](https://s.click.aliexpress.com/e/_DdPdRS7)| +|8| Raspberry Pi camera v1.3| +|9| [3D printed stands for RPlidar A1 and RPi 4](https://www.thingiverse.com/thing:3970110)| +|10| Mount for Raspberry Pi camera| +|11| Powerbank for RPi 4 (minimum output: 5V 3A)| +|12| Gamepad| +|13| [Mini Travel Router](https://s.click.aliexpress.com/e/_DcgfT61)| +|14| 3 Slot 18650 battery holder| +|15| 3 x 18650 batteries to power Motor Driver HAT| +|16| Female to Female Dupont jumper cables| +|17| Spare wires| +|18| Logitech C270 webcam| Some other tools or parts used in the project are as follows: @@ -118,7 +119,7 @@ The MPU6050 board pins were connected to the Raspberry Pi 4 GPIO pins as follows In a previous hardware version of lidarbot, photo interrupters were used with encoder disks with 20 slots (included in the robot chassis kit). However, this setup proved restrictive in yielding satisfactory results in navigation due to the low number of encoder ticks, 20. Therefore, the robot chassis kit motors were replaced with the ones below with built-in encoders --- which have encoder ticks of approximately 1084, calculated using this [guide](https://automaticaddison.com/calculate-pulses-per-revolution-for-a-dc-motor-with-encoder/) from Automatic Addison. -These are new motors used for lidarbot: +These are the new motors used for lidarbot:

@@ -291,7 +292,10 @@ colcon build --symlink-install The `--symlink-install` argument uses symlinks instead of copies which saves you from having to rebuild every time you [tweak certain files](https://articulatedrobotics.xyz/ready-for-ros-5-packages/). -#### Gazebo +#### Gazebo Classic + +TODO: Add update on using Gazebo Fortress + Gazebo classic, version 11, is the robot simulator used in the project and can be installed [here](https://classic.gazebosim.org/tutorials?tut=install_ubuntu&cat=install). #### Display lidarbot model in RViz diff --git a/lidarbot_bringup/launch/lidarbot_bringup_launch.py b/lidarbot_bringup/launch/lidarbot_bringup_launch.py index 698244b..4a5021d 100644 --- a/lidarbot_bringup/launch/lidarbot_bringup_launch.py +++ b/lidarbot_bringup/launch/lidarbot_bringup_launch.py @@ -100,7 +100,6 @@ def generate_launch_description(): # Spawn joint_state_broadcaser start_joint_broadcaster_cmd = Node( - # condition=IfCondition(use_ros2_control), package="controller_manager", executable="spawner", arguments=["joint_broadcaster", "--controller-manager", "/controller_manager"], @@ -114,12 +113,11 @@ def generate_launch_description(): ) ) - # Spawn imu_sensor_broadcaser + # Spawn imu_sensor_broadcaster start_imu_broadcaster_cmd = Node( - # condition=IfCondition(use_ros2_control), package="controller_manager", executable="spawner", - arguments=["imu_broadcaster"], + arguments=["imu_broadcaster", "--controller-manager", "/controller_manager"], ) # Delayed imu_broadcaster_spawner action @@ -190,4 +188,3 @@ def generate_launch_description(): return ld # TODO: Launch file summary - diff --git a/lidarbot_description/launch/robot_state_publisher_launch.py b/lidarbot_description/launch/robot_state_publisher_launch.py index b9d722e..038071e 100755 --- a/lidarbot_description/launch/robot_state_publisher_launch.py +++ b/lidarbot_description/launch/robot_state_publisher_launch.py @@ -12,31 +12,56 @@ def generate_launch_description(): # Launch config variables - use_sim_time = LaunchConfiguration('use_sim_time') - use_ros2_control = LaunchConfiguration('use_ros2_control') + use_sim_time = LaunchConfiguration("use_sim_time") + use_ros2_control = LaunchConfiguration("use_ros2_control") + urdf_path = LaunchConfiguration("urdf_path") # Process files - pkg_path = FindPackageShare(package='lidarbot_description').find('lidarbot_description') - urdf_model_path = os.path.join(pkg_path, 'urdf/lidarbot.urdf.xacro') - robot_description_config = Command(['xacro ', urdf_model_path, ' use_ros2_control:=', use_ros2_control, ' sim_mode:=', use_sim_time]) + pkg_path = FindPackageShare(package="lidarbot_description").find( + "lidarbot_description" + ) + urdf_model_path = os.path.join(pkg_path, "urdf/lidarbot.urdf.xacro") # Declare the launch arguments declare_use_sim_time_cmd = DeclareLaunchArgument( - name='use_sim_time', - default_value='False', - description='Use simulation (Gazebo) time if true') + name="use_sim_time", + default_value="False", + description="Use simulation (Gazebo) time if true", + ) declare_use_ros2_control_cmd = DeclareLaunchArgument( - name='use_ros2_control', - default_value='False', - description='Use ros2_control if true') + name="use_ros2_control", + default_value="False", + description="Use ros2_control if true", + ) + + declare_urdf_path = DeclareLaunchArgument( + name="urdf_path", + default_value=urdf_model_path, + description="Path to the main urdf model", + ) + + robot_description_config = Command( + [ + "xacro ", + urdf_path, + " use_ros2_control:=", + use_ros2_control, + " sim_mode:=", + use_sim_time, + ] + ) # Start robot state publisher node - params = {'robot_description': robot_description_config, 'use_sim_time': use_sim_time} + params = { + "robot_description": robot_description_config, + "use_sim_time": use_sim_time, + } start_robot_state_publisher_cmd = Node( - package='robot_state_publisher', - executable='robot_state_publisher', - parameters=[params]) + package="robot_state_publisher", + executable="robot_state_publisher", + parameters=[params], + ) # Create the launch description and populate ld = LaunchDescription() @@ -44,6 +69,7 @@ def generate_launch_description(): # Declare the launch options ld.add_action(declare_use_sim_time_cmd) ld.add_action(declare_use_ros2_control_cmd) + ld.add_action(declare_urdf_path) # Add any actions ld.add_action(start_robot_state_publisher_cmd) diff --git a/lidarbot_description/urdf/ros2_control.xacro b/lidarbot_description/urdf/ros2_control.xacro index 19fc296..795cd19 100644 --- a/lidarbot_description/urdf/ros2_control.xacro +++ b/lidarbot_description/urdf/ros2_control.xacro @@ -76,6 +76,11 @@ + + + + + $(find lidarbot_bringup)/config/controllers.yaml diff --git a/lidarbot_gazebo/launch/gazebo_launch.py b/lidarbot_gazebo/launch/gazebo_launch.py index 8252f64..aa832ff 100644 --- a/lidarbot_gazebo/launch/gazebo_launch.py +++ b/lidarbot_gazebo/launch/gazebo_launch.py @@ -1,5 +1,5 @@ # Launches the lidarbot in Gazebo to be controlled using a joystick. There are a number of launch arguments that can be toggled. -# Such as using the gazebo_ros plugin or the ros2_control plugin, using Gazebo's sim time or not. +# Such as using the gazebo_ros package or the ros2_control package, using Gazebo's sim time or not. # # File adapted from https://automaticaddison.com diff --git a/lidarbot_gz/CMakeLists.txt b/lidarbot_gz/CMakeLists.txt new file mode 100644 index 0000000..8758936 --- /dev/null +++ b/lidarbot_gz/CMakeLists.txt @@ -0,0 +1,13 @@ +cmake_minimum_required(VERSION 3.8) +project(lidarbot_gz) + +find_package(ament_cmake REQUIRED) +find_package(urdf REQUIRED) + +install( + DIRECTORY config launch models urdf worlds + DESTINATION share/${PROJECT_NAME} +) + +ament_package() + diff --git a/lidarbot_gz/config/lidarbot_bridge.yaml b/lidarbot_gz/config/lidarbot_bridge.yaml new file mode 100644 index 0000000..b552e71 --- /dev/null +++ b/lidarbot_gz/config/lidarbot_bridge.yaml @@ -0,0 +1,57 @@ +# gz topic published by the simulator core +- ros_topic_name: "clock" + gz_topic_name: "clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +# gz topic published by JointState plugin +# - ros_topic_name: "joint_states" +# gz_topic_name: "joint_states" +# ros_type_name: "sensor_msgs/msg/JointState" +# gz_type_name: "gz.msgs.Model" +# direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin +# - ros_topic_name: "odom" +# gz_topic_name: "odom" +# ros_type_name: "nav_msgs/msg/Odometry" +# gz_type_name: "gz.msgs.Odometry" +# direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin +# - ros_topic_name: "tf" +# gz_topic_name: "tf" +# ros_type_name: "tf2_msgs/msg/TFMessage" +# gz_type_name: "gz.msgs.Pose_V" +# direction: GZ_TO_ROS + +# gz topic subscribed to by DiffDrive plugin +# - ros_topic_name: "cmd_vel" +# gz_topic_name: "cmd_vel" +# ros_type_name: "geometry_msgs/msg/Twist" +# gz_type_name: "gz.msgs.Twist" +# direction: ROS_TO_GZ + +# gz topic published by IMU plugin +# - ros_topic_name: "imu" +# gz_topic_name: "imu" +- ros_topic_name: "imu_broadcaster/imu" + gz_topic_name: "imu_broadcaster/imu" + ros_type_name: "sensor_msgs/msg/Imu" + gz_type_name: "gz.msgs.IMU" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin +- ros_topic_name: "scan" + gz_topic_name: "scan" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "gz.msgs.LaserScan" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin (Camera) +- ros_topic_name: "camera/camera_info" + gz_topic_name: "camera/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS diff --git a/lidarbot_gz/launch/gz_launch.py b/lidarbot_gz/launch/gz_launch.py new file mode 100644 index 0000000..31327a5 --- /dev/null +++ b/lidarbot_gz/launch/gz_launch.py @@ -0,0 +1,226 @@ +# Launches the lidarbot in Gazebo Fortress to be controlled using a joystick. +# +# File adapted from https://automaticaddison.com + +import os + +from launch import LaunchDescription +from launch.actions import ( + DeclareLaunchArgument, + ExecuteProcess, + IncludeLaunchDescription, + AppendEnvironmentVariable, +) +from launch.conditions import IfCondition +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + + # Set the path to different files and folders + pkg_path = FindPackageShare(package="lidarbot_gz").find("lidarbot_gz") + pkg_description = FindPackageShare(package="lidarbot_description").find( + "lidarbot_description" + ) + pkg_teleop = FindPackageShare(package="lidarbot_teleop").find("lidarbot_teleop") + pkg_ros_gz_sim = FindPackageShare(package="ros_gz_sim").find("ros_gz_sim") + pkg_navigation = FindPackageShare(package="lidarbot_navigation").find( + "lidarbot_navigation" + ) + + bridge_params = os.path.join(pkg_path, "config/lidarbot_bridge.yaml") + ekf_params_file = os.path.join(pkg_navigation, "config/ekf.yaml") + urdf_model_path = os.path.join(pkg_path, "urdf/lidarbot_gz.urdf.xacro") + twist_mux_params_file = os.path.join(pkg_teleop, "config/twist_mux.yaml") + world_filename = "obstacles.world" + world_path = os.path.join(pkg_path, "worlds", world_filename) + set_env_vars_resources = AppendEnvironmentVariable( + "GZ_SIM_RESOURCE_PATH", os.path.join(pkg_path, "models") + ) + + # Launch configuration variables specific to simulation + use_sim_time = LaunchConfiguration("use_sim_time") + use_ros2_control = LaunchConfiguration("use_ros2_control") + urdf_path = LaunchConfiguration("urdf_path") + world = LaunchConfiguration("world") + use_robot_localization = LaunchConfiguration("use_robot_localization") + + # Declare the launch arguments + declare_use_sim_time_cmd = DeclareLaunchArgument( + name="use_sim_time", + default_value="True", + description="Use simulation (Gazebo) clock if true", + ) + + declare_use_ros2_control_cmd = DeclareLaunchArgument( + name="use_ros2_control", + default_value="True", + description="Use ros2_control if true", + ) + + declare_world_cmd = DeclareLaunchArgument( + name="world", + default_value=world_path, + description="Full path to the world model to load", + ) + + declare_urdf_path = DeclareLaunchArgument( + name="urdf_path", + default_value=urdf_model_path, + description="Path to the main urdf model", + ) + + declare_use_robot_localization_cmd = DeclareLaunchArgument( + name="use_robot_localization", + default_value="True", + description="Use robot_localization package if true", + ) + + # Start robot state publisher + start_robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [os.path.join(pkg_description, "launch", "robot_state_publisher_launch.py")] + ), + launch_arguments={ + "use_sim_time": use_sim_time, + "use_ros2_control": use_ros2_control, + "urdf_path": urdf_path, + }.items(), + ) + + # Launch Gazebo + start_gazebo_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [os.path.join(pkg_ros_gz_sim, "launch", "gz_sim.launch.py")] + ), + launch_arguments={ + "gz_args": ["-r -v4 ", world], + "on_exit_shutdown": "true", + }.items(), + ) + + # Spawn robot in Gazebo + start_spawner_cmd = Node( + package="ros_gz_sim", + executable="create", + arguments=["-topic", "robot_description", "-name", "lidarbot"], + output="screen", + ) + + # Start Gazebo ROS bridge + start_gazebo_ros_bridge_cmd = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + arguments=[ + "--ros-args", + "-p", + f"config_file:={bridge_params}", + ], + output="screen", + ) + + # Start Gazebo ROS Image bridge + start_gazebo_ros_image_bridge_cmd = Node( + package="ros_gz_image", + executable="image_bridge", + arguments=["/camera/image_raw"], + output="screen", + ) + + load_joint_state_broadcaster = ExecuteProcess( + cmd=[ + "ros2", + "control", + "load_controller", + "--set-state", + "active", + "joint_broadcaster", + ], + # 'joint_state_broadcaster'], + output="screen", + ) + + load_diff_drive_controller = ExecuteProcess( + cmd=[ + "ros2", + "control", + "load_controller", + "--set-state", + "active", + "diff_controller", + ], + # 'diff_drive_base_controller'], + output="screen", + ) + + # Spawn diff_controller + start_diff_controller_cmd = Node( + condition=IfCondition(use_ros2_control), + package="controller_manager", + executable="spawner", + arguments=["diff_controller", "--controller-manager", "/controller_manager"], + ) + + # Spawn joint_state_broadcaser + start_joint_broadcaster_cmd = Node( + condition=IfCondition(use_ros2_control), + package="controller_manager", + executable="spawner", + arguments=["joint_broadcaster", "--controller-manager", "/controller_manager"], + ) + + # Start robot localization using an Extended Kalman Filter + start_robot_localization_cmd = Node( + condition=IfCondition(use_robot_localization), + package="robot_localization", + executable="ekf_node", + parameters=[ekf_params_file], + ) + + # Start joystick node for use with ros2_control + start_joystick_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + [os.path.join(pkg_teleop, "launch", "joystick_launch.py")] + ) + ) + + # Start twist mux + start_twist_mux_cmd = Node( + package="twist_mux", + executable="twist_mux", + parameters=[twist_mux_params_file, {"use_sim_time": True}], + remappings=[("/cmd_vel_out", "/diff_controller/cmd_vel_unstamped")], + ) + + # Create the launch description and populate + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_use_sim_time_cmd) + ld.add_action(declare_use_ros2_control_cmd) + ld.add_action(declare_urdf_path) + ld.add_action(declare_world_cmd) + ld.add_action(declare_use_robot_localization_cmd) + ld.add_action(set_env_vars_resources) + + # Add any actions + ld.add_action(start_robot_state_publisher_cmd) + ld.add_action(start_gazebo_cmd) + ld.add_action(start_spawner_cmd) + ld.add_action(start_gazebo_ros_bridge_cmd) + ld.add_action(start_gazebo_ros_image_bridge_cmd) + # ld.add_action(start_diff_controller_cmd) + # ld.add_action(start_joint_broadcaster_cmd) + ld.add_action(start_robot_localization_cmd) + ld.add_action(load_diff_drive_controller) + ld.add_action(load_joint_state_broadcaster) + # ld.add_action(start_joystick_cmd) + # ld.add_action(start_twist_mux_cmd) + + # Bring up rviz2 and mapping/localization stuff too (?) + + return ld diff --git a/lidarbot_gz/models/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png b/lidarbot_gz/models/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png new file mode 100644 index 0000000..59608da Binary files /dev/null and b/lidarbot_gz/models/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png differ diff --git a/lidarbot_gz/models/construction_barrel/materials/textures/Construction_Barrel_Spec.png b/lidarbot_gz/models/construction_barrel/materials/textures/Construction_Barrel_Spec.png new file mode 100644 index 0000000..fb8252e Binary files /dev/null and b/lidarbot_gz/models/construction_barrel/materials/textures/Construction_Barrel_Spec.png differ diff --git a/lidarbot_gz/models/construction_barrel/meshes/construction_barrel.dae b/lidarbot_gz/models/construction_barrel/meshes/construction_barrel.dae new file mode 100644 index 0000000..4b5cf47 --- /dev/null +++ b/lidarbot_gz/models/construction_barrel/meshes/construction_barrel.dae @@ -0,0 +1,184 @@ + + + + + Cole + OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2012_static + + 2013-02-02T13:29:30 + 2013-02-02T13:29:30 + + Z_UP + + + + + + + Construction_Barrel_Diffuse_tga + + + + + Construction_Barrel_Diffuse_tga-surface + + + + + Construction_Barrel_Spec_tga + + + + + Construction_Barrel_Spec_tga-surface + + + + + + 0.2 0.2 0.2 1 + + + 1.0 1.0 1.0 1 + + + + + + 0.9 0.9 0.9 1 + 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model://construction_barrel/meshes/construction_barrel.dae + + + + + + + model://construction_barrel/meshes/construction_barrel.dae + + + + + + diff --git a/lidarbot_gz/models/construction_cone/materials/textures/Construction_Cone_Diffuse.png b/lidarbot_gz/models/construction_cone/materials/textures/Construction_Cone_Diffuse.png new file mode 100644 index 0000000..181004a Binary files /dev/null and b/lidarbot_gz/models/construction_cone/materials/textures/Construction_Cone_Diffuse.png differ diff --git a/lidarbot_gz/models/construction_cone/meshes/construction_cone.dae b/lidarbot_gz/models/construction_cone/meshes/construction_cone.dae new file mode 100644 index 0000000..dd66929 --- /dev/null +++ b/lidarbot_gz/models/construction_cone/meshes/construction_cone.dae @@ -0,0 +1,163 @@ + + + + + Cole + OpenCOLLADA for 3ds Max; Version: 1.3.1; Revision: 847M; Platform: x64; Configuration: Release_Max2012_static + + 2013-01-29T21:43:10 + 2013-01-29T21:43:10 + + Z_UP + + + + + + + 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497 143

+ + + + + + + + + 0 0 0 + + + + + + + ../materials/textures/Construction_Cone_Diffuse.png + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/lidarbot_gz/models/construction_cone/model-1_3.sdf b/lidarbot_gz/models/construction_cone/model-1_3.sdf new file mode 100644 index 0000000..63f095a --- /dev/null +++ b/lidarbot_gz/models/construction_cone/model-1_3.sdf @@ -0,0 +1,24 @@ + + + + true + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + diff --git a/lidarbot_gz/models/construction_cone/model-1_4.sdf b/lidarbot_gz/models/construction_cone/model-1_4.sdf new file mode 100644 index 0000000..0f5b99e --- /dev/null +++ b/lidarbot_gz/models/construction_cone/model-1_4.sdf @@ -0,0 +1,23 @@ + + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + diff --git a/lidarbot_gz/models/construction_cone/model.config b/lidarbot_gz/models/construction_cone/model.config new file mode 100644 index 0000000..76bea74 --- /dev/null +++ b/lidarbot_gz/models/construction_cone/model.config @@ -0,0 +1,24 @@ + + + + Construction Cone + 1.0 + model-1_3.sdf + model-1_4.sdf + model.sdf + + + Cole Biesemeyer + cole.bsmr@gmail.com + + + + Nate Koenig + nate@osrfoundation.com + + + + An orange construction cone + + + diff --git a/lidarbot_gz/models/construction_cone/model.sdf b/lidarbot_gz/models/construction_cone/model.sdf new file mode 100644 index 0000000..36558ca --- /dev/null +++ b/lidarbot_gz/models/construction_cone/model.sdf @@ -0,0 +1,23 @@ + + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + + 10 10 10 + model://construction_cone/meshes/construction_cone.dae + + + + + + diff --git a/lidarbot_gz/package.xml b/lidarbot_gz/package.xml new file mode 100644 index 0000000..14b5013 --- /dev/null +++ b/lidarbot_gz/package.xml @@ -0,0 +1,27 @@ + + + + lidarbot_gz + 0.0.0 + Lidarbot Gazebo Fortress package + Chinedu Amadi + BSD 3-Clause + + ament_cmake + + ament_lint_auto + ament_lint_common + + lidarbot_description + lidarbot_bringup + + + ign_ros2_control + ros_gz_bridge + ros_gz_image + ros_gz_sim + + + ament_cmake + + diff --git a/lidarbot_gz/urdf/lidarbot_gz.urdf.xacro b/lidarbot_gz/urdf/lidarbot_gz.urdf.xacro new file mode 100644 index 0000000..9804b0c --- /dev/null +++ b/lidarbot_gz/urdf/lidarbot_gz.urdf.xacro @@ -0,0 +1,37 @@ + + + + + + + + + + gz_ros2_control/GazeboSimSystem + + + + -1 + 1 + + + + + + + -1 + 1 + + + + + + + + + + $(find lidarbot_bringup)/config/controllers.yaml + + + + diff --git a/lidarbot_gz/urdf/lidarbot_gz_core.xacro b/lidarbot_gz/urdf/lidarbot_gz_core.xacro new file mode 100755 index 0000000..566e15f --- /dev/null +++ b/lidarbot_gz/urdf/lidarbot_gz_core.xacro @@ -0,0 +1,251 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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