diff --git a/README.md b/README.md index 463076f..74190a0 100644 --- a/README.md +++ b/README.md @@ -141,22 +141,9 @@ ros2 launch new_bcr_robot gz.launch.py world_file:=small_warehouse.world ``` -### World File Configurations - -The `worlds` directory has two subdirectories: `gazebo` and `gz`. Both of these host world file for each simulator respectively. Here are the expected outputs from each world configuration: - -1. Gazebo Classic (small_warehouse): - - Launch file Change in the Launch Description: - ```python - DeclareLaunchArgument( - 'world', default_value=[FindPackageShare('new_bcr_robot'), '/worlds/small_warehouse.world'], - ) - ``` - ![](res/gazebo.jpg) - -2. Gz Sim (Ignition Gazebo) (small_warehouse World): - ![](res/gz.png) +### Simulation and Visualization +1. Gz Sim (Ignition Gazebo) (small_warehouse World): + ![](res/gz.jpg) 2. Rviz (Depth camera) (small_warehouse World): - ![](res/rviz.png) + ![](res/rviz.jpg) diff --git a/launch/gazebo.launch.py b/launch/gazebo.launch.py index a362f8a..4ac9649 100644 --- a/launch/gazebo.launch.py +++ b/launch/gazebo.launch.py @@ -6,7 +6,7 @@ from ament_index_python.packages import get_package_share_directory from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.substitutions import LaunchConfiguration +from launch.substitutions import LaunchConfiguration, Command from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node @@ -20,10 +20,15 @@ def get_xacro_to_doc(xacro_file_path, mappings): def generate_launch_description(): # Retrieve launch configuration arguments use_sim_time = LaunchConfiguration('use_sim_time', default='true') + position_x = LaunchConfiguration("position_x") + position_y = LaunchConfiguration("position_y") + orientation_yaw = LaunchConfiguration("orientation_yaw") + camera_enabled = LaunchConfiguration("camera_enabled", default=True) + two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True) # Path to the Xacro file xacro_path = join(get_package_share_directory('new_bcr_robot'), 'urdf', 'new_bcr_robot.xacro') - doc = get_xacro_to_doc(xacro_path, {"wheel_odom_topic": "odom", "sim_gazebo": "true", "two_d_lidar_enabled": "true", "camera_enabled": "true"}) + #doc = get_xacro_to_doc(xacro_path, {"wheel_odom_topic": "odom", "sim_gazebo": "true", "two_d_lidar_enabled": "true", "camera_enabled": "true"}) # Launch the robot_state_publisher node robot_state_publisher = Node( @@ -31,16 +36,28 @@ def generate_launch_description(): executable='robot_state_publisher', name='robot_state_publisher', output='screen', - parameters=[{'use_sim_time': use_sim_time}, {'robot_description': doc.toxml()}], - remappings=[('joint_states', '/new_bcr_robot/joint_states')] + parameters=[{"use_sim_time": use_sim_time}, + {'robot_description': Command( \ + ['xacro ', join(xacro_path), + ' camera_enabled:=', camera_enabled, + ' two_d_lidar_enabled:=', two_d_lidar_enabled, + ' sim_gazebo:=', "true" + ])}] ) # Launch the spawn_entity node to spawn the robot in Gazebo spawn_entity = Node( package='gazebo_ros', executable='spawn_entity.py', - arguments=['-topic', 'robot_description', '-entity', 'new_bcr_robot'], - output='screen' + output='screen', + arguments=[ + '-topic', "/robot_description", + '-entity', "new_bcr_robot", + '-z', "0.28", + '-x', position_x, + '-y', position_y, + '-Y', orientation_yaw + ] ) # Include the Gazebo launch file @@ -51,11 +68,16 @@ def generate_launch_description(): return LaunchDescription([ # Declare launch arguments - DeclareLaunchArgument('world', default_value=[FindPackageShare('new_bcr_robot'), '/worlds/gazebo/small_warehouse.world']), + DeclareLaunchArgument('world', default_value=[FindPackageShare('new_bcr_robot'), '/worlds/small_warehouse.sdf']), DeclareLaunchArgument('gui', default_value='true'), DeclareLaunchArgument('verbose', default_value='false'), DeclareLaunchArgument('use_sim_time', default_value='true'), - DeclareLaunchArgument('robot_description', default_value=doc.toxml()), + DeclareLaunchArgument("camera_enabled", default_value = camera_enabled), + DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled), + DeclareLaunchArgument("position_x", default_value="0.0"), + DeclareLaunchArgument("position_y", default_value="0.0"), + DeclareLaunchArgument("orientation_yaw", default_value="0.0"), + # DeclareLaunchArgument('robot_description', default_value=doc.toxml()), gazebo, robot_state_publisher, spawn_entity diff --git a/launch/gz.launch.py b/launch/gz.launch.py index 999d806..2a40f52 100644 --- a/launch/gz.launch.py +++ b/launch/gz.launch.py @@ -5,7 +5,7 @@ from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription -from launch.substitutions import LaunchConfiguration +from launch.substitutions import LaunchConfiguration, Command from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node @@ -21,30 +21,34 @@ def generate_launch_description(): use_sim_time = LaunchConfiguration("use_sim_time", default=True) new_bcr_robot_path = get_package_share_directory("new_bcr_robot") - world_file = LaunchConfiguration("world_file", default = "-r " + join(new_bcr_robot_path, "worlds", "gz", "small_warehouse.sdf")) + world_file = LaunchConfiguration("world_file", default = "-r " + join(new_bcr_robot_path, "worlds", "small_warehouse.sdf")) - position_x = LaunchConfiguration("x") - position_y = LaunchConfiguration("y") - orientation_yaw = LaunchConfiguration("yaw") + position_x = LaunchConfiguration("position_x") + position_y = LaunchConfiguration("position_y") + orientation_yaw = LaunchConfiguration("orientation_yaw") + camera_enabled = LaunchConfiguration("camera_enabled", default=True) + two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True) - robot_description_content = get_xacro_to_doc( - join(new_bcr_robot_path, "urdf", "new_bcr_robot.xacro"), - {"wheel_odom_topic": "odom", - "sim_gz": "true", - "two_d_lidar_enabled": "true", - "conveyor_enabled": "false", - "camera_enabled": "true" - } - ).toxml() + # robot_description_content = get_xacro_to_doc( + # join(new_bcr_robot_path, "urdf", "new_bcr_robot.xacro"), + # {"sim_gz": "true", + # "two_d_lidar_enabled": "true", + # "conveyor_enabled": "false", + # "camera_enabled": "true" + # } + # ).toxml() robot_state_publisher = Node( package="robot_state_publisher", executable="robot_state_publisher", name="robot_state_publisher", - parameters=[ - {"use_sim_time": use_sim_time}, - {"robot_description": robot_description_content} - ] + parameters=[{"use_sim_time": use_sim_time}, + {'robot_description': Command( \ + ['xacro ', join(new_bcr_robot_path, 'urdf/new_bcr_robot.xacro'), + ' camera_enabled:=', camera_enabled, + ' two_d_lidar_enabled:=', two_d_lidar_enabled, + ' sim_gz:=', "true" + ])}] ) gz_sim_share = get_package_share_directory("ros_gz_sim") @@ -80,7 +84,8 @@ def generate_launch_description(): "/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan", "/depth_camera@sensor_msgs/msg/Image[ignition.msgs.Image", "/camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo", - "/depth_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked" + "/depth_camera/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked", + "/imu@sensor_msgs/msg/Imu[ignition.msgs.IMU", ], ) @@ -100,9 +105,11 @@ def generate_launch_description(): return LaunchDescription([ DeclareLaunchArgument("use_sim_time", default_value=use_sim_time), DeclareLaunchArgument("world_file", default_value=world_file), - DeclareLaunchArgument("x", default_value="0.0"), - DeclareLaunchArgument("y", default_value="0.0"), - DeclareLaunchArgument("yaw", default_value="0.0"), + DeclareLaunchArgument("camera_enabled", default_value = camera_enabled), + DeclareLaunchArgument("two_d_lidar_enabled", default_value = two_d_lidar_enabled), + DeclareLaunchArgument("position_x", default_value="0.0"), + DeclareLaunchArgument("position_y", default_value="0.0"), + DeclareLaunchArgument("orientation_yaw", default_value="0.0"), robot_state_publisher, gz_sim, gz_spawn_entity, gz_ros2_bridge, transform_publisher diff --git a/meshes/bcr_bot_mesh.dae b/meshes/bcr_bot_mesh.dae index 967a9ee..d89fd23 100644 --- a/meshes/bcr_bot_mesh.dae +++ b/meshes/bcr_bot_mesh.dae @@ -3,38 +3,19 @@ Blender User - Blender 3.5.1 commit date:2023-04-24, commit time:18:11, hash:e1ccd9d4a1d3 + Blender 3.6.0 commit date:2023-06-27, commit time:08:08, hash:c7fc78b81ecb - 2023-06-25T10:19:25 - 2023-06-25T10:19:25 + 2023-06-28T11:18:51 + 2023-06-28T11:18:51 Z_UP - - - - - 16.98139 - 1.777778 - 0.1 - 100 - - - - - - 0 - 0 - 10 - - - - 39.59775 + 9.688765 1.777778 0.1 100 @@ -51,10 +32,10 @@ - + - 200 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-226.0649 335.7348 62.90817 -226.0649 334.5474 64.16767 -191.2425 335.7348 62.90817 -156.4202 334.5474 64.16767 -191.2425 334.5474 64.16767 -191.2425 333.0784 65.08314 -156.4202 333.0784 65.08314 86.4259 330.4487 52.21733 86.42218 330.2786 52.21519 86.42424 330.3353 52.21829 86.42424 330.2218 52.21829 86.4259 330.1084 52.21733 86.50656 329.4696 52.26392 90.50962 331.2005 59.92964 90.92207 332.8706 59.73731 94.27779 332.8706 67.83874 95.09112 334.3696 67.54271 97.75069 334.3696 75.97779 98.928 335.5987 75.66233 100.8653 335.5987 84.40092 102.3344 336.4768 84.14188 103.5197 336.4768 93.14508 105.1795 336.9458 92.99987 105.582 336.9458 102.2173 107.3127 336.9749 102.2173 106.9037 336.9749 111.5857 108.5783 336.5622 111.7322 107.3352 336.5622 121.1746 108.8325 335.7348 121.4386 106.7425 335.7348 130.8662 107.9591 334.5474 131.1922 105.0223 334.5474 140.5066 105.8825 333.0784 140.8197 102.1145 333.0784 149.9165 102.5777 331.4245 150.1324 98.01057 331.4245 158.9057 102.0396 329.6951 151.438 97.41613 329.6951 160.0661 92.69622 331.4245 167.2476 92.06611 329.6951 168.2636 86.67504 331.4245 175.0946 86.02938 329.6951 175.9693 79.99288 331.4245 182.3869 79.35086 329.6951 183.126 72.69878 331.4245 189.0705 72.08027 329.6951 189.6803 64.85363 331.4245 195.0902 64.27175 329.6951 195.5835 56.51177 331.4245 200.4045 55.98341 329.6951 200.7916 47.73847 331.4245 204.9716 47.27698 329.6951 205.2658 38.60051 331.4245 208.7567 38.21727 329.6951 208.9728 29.16744 331.4245 211.7309 28.87173 329.6951 211.8851 19.51104 331.4245 213.8717 19.30992 329.6951 213.9809 9.704798 331.4245 215.1627 9.603043 329.6951 215.2447 -0.1766433 331.4245 215.5942 -0.1766433 329.6951 215.667 -9.95633 329.6951 215.2447 -10.05808 331.4245 215.1627 -19.66321 329.6951 213.9809 -19.86432 331.4245 213.8717 -29.22501 329.6951 211.8851 -29.52073 331.4245 211.7309 -38.57056 329.6951 208.9728 -38.9538 331.4245 208.7567 -47.63027 329.6951 205.2658 -48.09176 331.4245 204.9716 -56.3367 329.6951 200.7916 -56.86505 331.4245 200.4045 -64.62503 329.6951 195.5835 -65.20692 331.4245 195.0902 -72.43356 329.6951 189.6803 -73.05207 331.4245 189.0705 -79.70414 329.6951 183.126 -80.34616 331.4245 182.3869 -86.38266 329.6951 175.9693 -87.02833 331.4245 175.0946 -92.4194 329.6951 168.2636 -93.0495 331.4245 167.2476 -97.76941 329.6951 160.0661 -98.36386 331.4245 158.9057 -102.3929 329.6951 151.438 -102.9309 331.4245 150.1324 -106.2553 329.6951 142.4435 -106.716 331.4245 140.9945 -109.3281 329.6951 133.1494 -109.6902 331.4245 131.5614 -111.5882 329.6951 123.6251 -111.831 331.4245 121.905 -113.0189 329.6951 113.9415 -113.122 331.4245 112.0988 -113.6095 329.6951 104.1705 -113.5535 331.4245 102.2173 -113.3556 329.6951 94.38498 -113.122 331.4245 92.33589 -112.2592 329.6951 84.65779 -111.831 331.4245 82.52966 -110.3283 329.6951 75.06131 -109.6902 331.4245 72.87326 -109.1966 333.0784 73.00552 -108.3124 334.5474 73.24246 -107.0958 335.7348 73.56845 -104.192 335.7348 64.35884 -105.6271 336.5622 73.96196 -102.7633 336.5622 64.87886 -104.0034 336.9749 74.39704 -101.1836 336.9749 65.45381 -102.3316 336.9458 74.84499 -99.55725 336.9458 66.04576 -100.7222 336.4768 75.27624 -97.99153 336.4768 66.61563 -99.28129 335.5987 75.66233 -96.58975 335.5987 67.12584 -98.10398 334.3696 75.97779 -95.44441 334.3696 67.54271 -97.26795 332.8706 76.2018 -94.63108 332.8706 67.83874 -96.82836 331.2005 76.31959 -94.20343 331.2005 67.99439 -94.60576 329.4696 69.16493 -91.12624 329.4696 60.53411 90.77295 329.4696 60.53411 93.85015 331.2005 67.99439 96.91466 332.8706 76.2018 99.66497 334.3696 84.61257 102.0336 335.5987 93.2751 103.9158 336.4768 102.2173 105.1795 336.9458 111.4348 105.6797 336.9749 120.8827 105.2739 336.5622 130.4727 103.8387 335.7348 140.0758 101.2848 334.5474 149.5296 97.56801 333.0784 158.6502 94.25247 329.4696 69.16493 96.47507 331.2005 76.31959 98.8126 332.8706 84.76287 100.8194 334.3696 93.38133 102.424 335.5987 102.2173 103.5197 336.4768 111.2896 103.9753 336.9458 120.5821 103.6501 336.9749 130.0376 102.41 336.5622 139.5558 100.1433 335.7348 148.9973 96.77519 334.5474 158.1925 92.27761 333.0784 166.9545 96.91503 329.4696 78.08172 98.36442 331.2005 84.84189 99.95717 332.8706 93.45677 101.2052 334.3696 102.2173 102.0336 335.5987 111.1596 102.3344 336.4768 120.2928 101.9784 336.9458 129.5897 100.8303 336.9749 138.9809 98.76534 336.5622 148.3547 95.68444 335.7348 157.5628 91.5277 334.5474 166.4294 86.28358 333.0784 174.7661 98.73756 329.4696 87.20732 99.50381 331.2005 93.49643 100.3397 332.8706 102.2173 100.8194 334.3696 111.0533 100.8653 335.5987 120.0338 100.3689 336.4768 129.1584 99.20396 336.9458 138.3889 97.24179 336.9749 147.6443 94.36769 336.5622 156.8025 90.49598 335.7348 165.707 85.58229 334.5474 174.1776 79.63153 333.0784 182.0255 99.70431 329.4696 96.46279 99.88458 331.2005 102.2173 99.95717 332.8706 110.9779 99.66497 334.3696 119.8221 98.928 335.5987 128.7723 97.63824 336.4768 137.819 95.67323 336.9458 146.9129 92.91187 336.9749 155.962 89.25051 336.5622 164.8349 84.61746 335.7348 173.368 78.9842 334.5474 181.3782 72.36853 333.0784 188.6806 99.80692 329.4696 105.768 99.50381 331.2005 110.9383 98.8126 332.8706 119.6718 97.75069 334.3696 128.4569 96.23646 335.5987 137.3088 94.16313 336.4768 146.2087 91.41302 336.9458 155.0966 87.87348 336.9749 163.8707 83.45273 336.5622 172.3907 78.0936 335.7348 180.4876 71.77833 334.5474 187.9807 64.56053 333.0784 194.6716 99.04449 329.4696 115.0426 98.36442 331.2005 119.5928 96.91466 332.8706 128.2329 95.09112 334.3696 136.892 92.81115 335.5987 145.5783 89.97004 336.4768 154.2635 86.45575 336.9458 162.878 82.16498 336.9749 171.3102 77.01849 336.5622 179.4125 70.96704 335.7348 187.0173 64.03543 334.5474 193.9217 56.25626 333.0784 199.962 97.42362 329.4696 124.2061 96.47507 331.2005 128.1151 94.27779 332.8706 136.5959 91.70651 334.3696 145.0632 88.67816 335.5987 153.5177 85.09088 336.4768 161.9223 80.83917 336.9458 170.1977 75.82981 336.9749 178.2238 69.98809 336.5622 185.854 63.31301 335.7348 192.8899 55.79853 334.5474 199.1692 47.52251 333.0784 204.5085 94.95835 329.4696 133.1795 93.85015 331.2005 136.4403 90.92207 332.8706 144.6974 87.6226 334.3696 152.9082 83.86891 335.5987 161.0667 79.56278 336.4768 169.1266 74.606 336.9458 177 68.90597 336.9749 184.5675 62.44092 336.5622 191.6445 55.16877 335.7348 198.0784 47.13561 334.5474 203.6788 38.42573 333.0784 208.2765 91.66999 329.4696 141.8849 90.50962 331.2005 144.505 86.87303 332.8706 152.4755 82.87049 334.3696 160.3676 78.42004 335.5987 168.1678 73.42781 336.4768 175.8218 67.79197 336.9458 183.243 61.47671 336.9749 190.2675 54.40855 336.5622 196.7617 46.60332 335.7348 202.5373 38.11263 334.5474 207.4162 29.03518 333.0784 211.2373 87.58699 329.4696 150.2472 86.47891 331.2005 152.2479 82.1615 332.8706 159.8711 77.48635 334.3696 167.3843 72.373 335.5987 174.767 66.71949 336.4768 181.9678 60.48401 336.9458 188.8497 53.56803 336.9749 195.3058 45.96076 336.5622 201.1593 37.68185 335.7348 206.2327 28.79824 334.5474 210.3531 19.4223 333.0784 213.3684 82.74468 329.4696 158.1939 81.78871 331.2005 159.6101 76.82332 332.8706 166.828 71.51114 334.3696 173.9051 65.75918 335.5987 180.8263 59.52832 336.4768 187.4848 52.70267 336.9458 193.807 45.25032 336.9749 199.6358 37.16183 336.5622 204.804 28.47225 335.7348 209.1365 19.26333 334.5474 212.4669 9.660261 333.0784 214.6537 77.18496 329.4696 165.6563 76.4747 331.2005 166.5354 70.89912 332.8706 173.2931 64.97428 334.3696 179.8938 58.67269 335.5987 186.2629 51.86957 336.4768 192.364 44.51888 336.9458 198.0672 36.58688 336.9749 203.2243 28.07873 336.5622 207.6678 19.04462 335.7348 211.2265 9.580472 334.5474 213.7417 -0.1766433 333.0784 215.0831 70.95592 329.4696 172.5699 70.57733 331.2005 172.9713 64.41648 332.8706 179.232 57.97359 334.3696 185.2645 51.12369 335.5987 191.0721 43.81472 336.4768 196.5571 35.99494 336.9458 201.5979 27.64365 336.9749 206.0441 18.7806 336.5622 209.7292 9.470699 335.7348 212.4869 -0.1766433 334.5474 214.1677 -10.01355 333.0784 214.6537 64.11146 329.4696 178.8748 64.12245 331.2005 178.8846 57.47714 332.8706 184.5555 50.51427 334.3696 190.0166 43.18428 335.5987 195.2051 35.42506 336.4768 200.0322 27.1957 336.9458 204.3723 18.48869 336.9749 208.0737 9.338184 336.5622 210.9723 -0.1766433 335.7348 212.9082 -9.933758 334.5474 213.7417 -19.77559 333.0784 213.3684 57.21611 331.2005 184.1827 56.7108 329.4696 184.5164 49.85396 331.2005 188.8729 48.81796 329.4696 189.446 42.11105 331.2005 192.9036 40.50123 329.4696 193.621 34.04631 331.2005 196.2441 31.83257 329.4696 197.0052 25.72111 331.2005 198.869 22.88697 329.4696 199.5692 17.19881 331.2005 200.7584 13.74182 329.4696 201.291 8.544267 331.2005 201.8978 4.476264 329.4696 202.1557 -0.1766433 331.2005 202.2785 -4.829551 329.4696 202.1557 -8.897553 331.2005 201.8978 -14.09511 329.4696 201.291 -17.55209 331.2005 200.7584 -23.24025 329.4696 199.5692 -26.07439 331.2005 198.869 -32.18585 329.4696 197.0052 -34.39959 331.2005 196.2441 -40.85451 329.4696 193.621 -42.46434 331.2005 192.9036 -49.17124 329.4696 189.446 -50.20725 331.2005 188.8729 -57.06408 329.4696 184.5164 -57.5694 331.2005 184.1827 -64.46475 329.4696 178.8748 -64.47573 331.2005 178.8846 -70.93061 331.2005 172.9713 -64.76977 332.8706 179.232 -71.25241 332.8706 173.2931 -65.32757 334.3696 179.8938 -71.86443 334.3696 173.9051 -66.11247 335.5987 180.8263 -72.72628 335.5987 174.767 -73.7811 336.4768 175.8218 -79.91606 336.4768 169.1266 -81.19245 336.9458 170.1977 -86.80904 336.9458 162.878 -88.22677 336.9749 163.8707 -93.26515 336.9749 155.962 -94.72098 336.5622 156.8025 -99.11862 336.5622 148.3547 -100.4966 335.7348 148.9973 -104.192 335.7348 140.0758 -105.3756 334.5474 140.5066 -108.3124 334.5474 131.1922 -109.1966 333.0784 131.4291 -111.3278 333.0784 121.8163 -71.30921 329.4696 172.5699 -76.82798 331.2005 166.5354 -77.17661 332.8706 166.828 -82.51479 332.8706 159.8711 -83.22378 334.3696 160.3676 -87.97589 334.3696 152.9082 -89.03144 335.5987 153.5177 -93.16444 335.5987 145.5783 -94.51642 336.4768 146.2087 -97.99153 336.4768 137.819 -99.55725 336.9458 138.3889 -102.3316 336.9458 129.5897 -104.0034 336.9749 130.0376 -106.033 336.9749 120.8827 -107.6885 336.5622 121.1746 -108.9316 336.5622 111.7322 -110.4463 335.7348 111.8647 -110.8675 335.7348 102.2173 -112.127 334.5474 102.2173 -111.701 334.5474 92.46022 -112.613 333.0784 92.38043 -111.3278 333.0784 82.6184 -77.53825 329.4696 165.6563 -82.14199 331.2005 159.6101 -87.22632 332.8706 152.4755 -92.05979 334.3696 145.0632 -96.58975 335.5987 137.3088 -100.7222 336.4768 129.1584 -104.3286 336.9458 120.5821 -107.257 336.9749 111.5857 -109.347 336.5622 102.2173 -110.4463 335.7348 92.56999 -110.4262 334.5474 82.77737 -83.09796 329.4696 158.1939 -86.8322 331.2005 152.2479 -91.27536 332.8706 144.6974 -95.44441 334.3696 136.892 -99.28129 335.5987 128.7723 -102.6877 336.4768 120.2928 -105.5328 336.9458 111.4348 -107.666 336.9749 102.2173 -108.9316 336.5622 92.70251 -109.1858 335.7348 82.99608 -87.94027 329.4696 150.2472 -90.8629 331.2005 144.505 -94.63108 332.8706 136.5959 -98.10398 334.3696 128.4569 -101.2186 335.5987 120.0338 -103.873 336.4768 111.2896 -105.9353 336.9458 102.2173 -107.257 336.9749 92.84902 -107.6885 336.5622 83.2601 -92.02327 329.4696 141.8849 -94.20343 331.2005 136.4403 -97.26795 332.8706 128.2329 -100.0183 334.3696 119.8221 -102.3869 335.5987 111.1596 -104.2691 336.4768 102.2173 -105.5328 336.9458 92.99987 -106.033 336.9749 83.55201 -95.31163 329.4696 133.1795 -96.82836 331.2005 128.1151 -99.16589 332.8706 119.6718 -101.1727 334.3696 111.0533 -102.7773 335.5987 102.2173 -103.873 336.4768 93.14508 -104.3286 336.9458 83.85255 -97.77691 329.4696 124.2061 -98.71771 331.2005 119.5928 -100.3105 332.8706 110.9779 -101.5585 334.3696 102.2173 -102.3869 335.5987 93.2751 -102.6877 336.4768 84.14188 -99.39778 329.4696 115.0426 -99.8571 331.2005 110.9383 -100.693 332.8706 102.2173 -101.1727 334.3696 93.38133 -101.2186 335.5987 84.40092 -100.1602 329.4696 105.768 -100.2379 331.2005 102.2173 -100.3105 332.8706 93.45677 -100.0183 334.3696 84.61257 -100.0576 329.4696 96.46279 -99.8571 331.2005 93.49643 -99.16589 332.8706 84.76287 -99.09085 329.4696 87.20732 -98.71771 331.2005 84.84189 -97.26831 329.4696 78.08172 -90.8629 331.2005 59.92964 -91.27536 332.8706 59.73731 -92.05979 334.3696 59.37152 -93.16444 335.5987 58.85641 -94.51642 336.4768 58.22598 105.902 329.6951 142.4435 106.3627 331.4245 140.9945 108.8434 333.0784 131.4291 110.0729 334.5474 121.6573 110.093 335.7348 111.8647 108.9938 336.5622 102.2173 106.9037 336.9749 92.84902 103.9753 336.9458 83.85255 100.3689 336.4768 75.27624 96.23646 335.5987 67.12584 91.70651 334.3696 59.37152 87.2933 332.8392 52.72064 86.86132 332.1119 52.46936 108.9748 329.6951 133.1494 109.337 331.4245 131.5614 110.9745 333.0784 121.8163 111.3477 334.5474 111.9745 110.5142 335.7348 102.2173 108.5783 336.5622 92.70251 105.6797 336.9749 83.55201 101.9784 336.9458 74.84499 97.63824 336.4768 66.61563 92.81115 335.5987 58.85641 89.04511 334.5628 53.75241 87.81652 333.4845 53.02668 111.2349 329.6951 123.6251 111.4777 331.4245 121.905 112.2597 333.0784 112.0542 111.7737 334.5474 102.2173 110.093 335.7348 92.56999 107.3352 336.5622 83.2601 103.6501 336.9749 74.39704 99.20396 336.9458 66.04576 94.16313 336.4768 58.22598 92.0343 336.1003 55.56024 90.43939 335.4118 54.5883 112.6656 329.6951 113.9415 112.7687 331.4245 112.0988 112.6892 333.0784 102.2173 111.3477 334.5474 92.46022 108.8325 335.7348 82.99608 105.2739 336.5622 73.96196 100.8303 336.9749 65.45381 97.38634 337.0171 58.94578 93.7796 336.6087 56.64333 113.2562 329.6951 104.1705 113.2002 331.4245 102.2173 112.2597 333.0784 92.38043 110.0729 334.5474 82.77737 106.7425 335.7348 73.56845 102.41 336.5622 64.87886 99.21322 336.911 60.14549 97.41084 337.0171 58.96172 113.0024 329.6951 94.38498 112.7687 331.4245 92.33589 110.9745 333.0784 82.6184 107.9591 334.5474 73.24246 103.9534 335.3762 63.36098 103.8387 335.7348 64.35884 102.5119 336.0886 62.36725 100.9252 336.5994 61.28973 111.9059 329.6951 84.65779 111.4777 331.4245 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 - - 0.5888091 -0.1527934 0.7936989 5.038529 0.7823769 0.3543092 -0.5122024 15.45974 -0.2029536 0.9225612 0.3281625 3.068223 0 0 0 1 - + + 1 0 0 -0.8698301 0 1 0 -0.9932653 0 0 1 1.444477 0 0 0 1 + + + + 1 0 0 1.465857 0 1 0 0.8303968 0 0 1 0.1315087 0 0 0 1 + + + + 1 0 0 0.4435016 0 1 0 -1.002864 0 0 1 0.3979528 0 0 0 1 + - + - - 6.03983e-9 6.03983e-9 -0.08000001 -0.4500023 -0.08000001 4.55995e-16 -6.03983e-9 0.01053938 0 0.08000001 6.03983e-9 0.1024676 0 0 0 1 - - - - - - - - - - - - - 1 0 0 1.78742 0 1 0 -1.583593 0 0 1 1.362077 0 0 0 1 - - - - 1 0 0 0.4601209 0 1 0 1.173513 0 0 1 -0.03984237 0 0 0 1 - - - - 1 0 0 -1.16223 0 1 0 0.02770431 0 0 1 0.3072938 0 0 0 1 - - 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 - - -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 - - diff --git a/res/gazebo.jpg b/res/gazebo.jpg deleted file mode 100644 index 07f0258..0000000 Binary files a/res/gazebo.jpg and /dev/null differ diff --git a/res/gz.jpg b/res/gz.jpg new file mode 100644 index 0000000..c6ff8ef Binary files /dev/null and b/res/gz.jpg differ diff --git a/res/gz.png b/res/gz.png deleted file mode 100644 index 096a06f..0000000 Binary files a/res/gz.png and /dev/null differ diff --git a/res/rviz.jpg b/res/rviz.jpg new file mode 100644 index 0000000..7c49bd4 Binary files /dev/null and b/res/rviz.jpg differ diff --git a/res/rviz.png b/res/rviz.png deleted file mode 100644 index 4e15fe6..0000000 Binary files a/res/rviz.png and /dev/null differ diff --git a/urdf/gazebo.xacro b/urdf/gazebo.xacro index 469cff3..901538f 100644 --- a/urdf/gazebo.xacro +++ b/urdf/gazebo.xacro @@ -26,7 +26,7 @@ $(arg wheel_odom_topic) odom $(arg publish_wheel_odom_tf) - false + true true 5.0 @@ -34,32 +34,18 @@ - diff --git a/urdf/gz.xacro b/urdf/gz.xacro index c6d80f8..39603d6 100644 --- a/urdf/gz.xacro +++ b/urdf/gz.xacro @@ -8,6 +8,10 @@ ogre2 + + + @@ -83,4 +87,16 @@ + + + + + 1 + 1 + imu_frame + true + imu + + + \ No newline at end of file diff --git a/urdf/new_bcr_robot.xacro b/urdf/new_bcr_robot.xacro index 74178c2..5355927 100644 --- a/urdf/new_bcr_robot.xacro +++ b/urdf/new_bcr_robot.xacro @@ -72,7 +72,7 @@ - + @@ -141,6 +141,16 @@ + + + + + + + + + + diff --git a/worlds/gazebo/small_warehouse.world b/worlds/gazebo/small_warehouse.world deleted file mode 100644 index 2e1bfc6..0000000 --- a/worlds/gazebo/small_warehouse.world +++ /dev/null @@ -1,348 +0,0 @@ - - - - - - - model://aws_robomaker_warehouse_RoofB_01 - - 0.0 0.0 0 0 0 0 - - - - - model://aws_robomaker_warehouse_ShelfF_01 - - -5.795143 -0.956635 0 0 0 0 - - - - - model://aws_robomaker_warehouse_WallB_01 - - 0.0 0.0 0 0 0 0 - - - - - model://aws_robomaker_warehouse_ShelfE_01 - - 4.73156 0.57943 0 0 0 0 - - - - - model://aws_robomaker_warehouse_ShelfE_01 - - 4.73156 -4.827049 0 0 0 0 - - - - - model://aws_robomaker_warehouse_ShelfE_01 - - 4.73156 -8.6651 0 0 0 0 - - - - - model://aws_robomaker_warehouse_ShelfD_01 - - 4.73156 -1.242668 0 0 0 0 - - - - - model://aws_robomaker_warehouse_ShelfD_01 - - 4.73156 -3.038551 0 0 0 0 - - - - - model://aws_robomaker_warehouse_ShelfD_01 - - 4.73156 -6.750542 0 0 0 0 - - - - - model://aws_robomaker_warehouse_GroundB_01 - - 0.0 0.0 -0.090092 0 0 0 - - - - - model://aws_robomaker_warehouse_Lamp_01 - - 0 0 -4 0 0 0 - - - - - - - model://aws_robomaker_warehouse_Bucket_01 - - 0.433449 9.631706 0 0 0 -1.563161 - - - - - - - - - model://aws_robomaker_warehouse_Bucket_01 - - 0.433449 8.59 0 0 0 -1.563161 - - - - - model://aws_robomaker_warehouse_ClutteringA_01 - - 5.708138 8.616844 -0.017477 0 0 0 - - - - - model://aws_robomaker_warehouse_ClutteringA_01 - - 3.408638 8.616844 -0.017477 0 0 0 - - - - - model://aws_robomaker_warehouse_ClutteringA_01 - - -1.491287 5.222435 -0.017477 0 0 -1.583185 - - - - - - model://aws_robomaker_warehouse_ClutteringC_01 - - 3.324959 3.822449 -0.012064 0 0 1.563871 - - - - - model://aws_robomaker_warehouse_ClutteringC_01 - - 5.54171 3.816475 -0.015663 0 0 -1.583191 - - - - - model://aws_robomaker_warehouse_ClutteringC_01 - - 5.384239 6.137154 0 0 0 3.150000 - - - - - model://aws_robomaker_warehouse_ClutteringC_01 - - 3.236 6.137154 0 0 0 3.150000 - - - - - model://aws_robomaker_warehouse_ClutteringC_01 - - -1.573677 2.301994 -0.015663 0 0 -3.133191 - - - - - model://aws_robomaker_warehouse_ClutteringC_01 - - -1.2196 9.407 -0.015663 0 0 1.563871 - - - - - model://aws_robomaker_warehouse_ClutteringD_01 - - -1.634682 -7.811813 -0.319559 0 0 0 - - - - - model://aws_robomaker_warehouse_TrashCanC_01 - - -1.592441 7.715420 0 0 0 0 - - - - - - - 0 0 9 0 0 0 - 0.5 0.5 0.5 1 - 0.2 0.2 0.2 1 - - 80 - 0.3 - 0.01 - 0.001 - - 1 - 0.1 0.1 -1 - - - - true - 0 0 10 0 0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - - true - - - - - 0 0 1 - - - - - - - 0 0 1 - 100 100 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - - - diff --git a/worlds/gz/empty.sdf b/worlds/gz/empty.sdf deleted file mode 100644 index 801e14c..0000000 --- a/worlds/gz/empty.sdf +++ /dev/null @@ -1,44 +0,0 @@ - - - - - true - 0 0 10 0 0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - - true - - - - - 0 0 1 - - - - - - - 0 0 1 - 100 100 - - - - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - 0.8 0.8 0.8 1 - - - - - - \ No newline at end of file diff --git a/worlds/gz/small_warehouse.sdf b/worlds/small_warehouse.sdf similarity index 65% rename from worlds/gz/small_warehouse.sdf rename to worlds/small_warehouse.sdf index 3e25596..e563162 100644 --- a/worlds/gz/small_warehouse.sdf +++ b/worlds/small_warehouse.sdf @@ -87,115 +87,6 @@ 0.433449 9.631706 0 0 0 -1.563161 - - - - model://aws_robomaker_warehouse_Bucket_01 @@ -295,8 +186,8 @@ 0.5 0.5 0.5 1 0.2 0.2 0.2 1 - 80 - 0.3 + 800 + 0.2 0.01 0.001