diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..e0275ce --- /dev/null +++ b/.gitignore @@ -0,0 +1,22 @@ +# Python +__pycache__/ +*.pyc + +# ROS +build/ +devel/ +logs/ +install/ +build_isolated/ +devel_isolated/ +*.bag +CATKIN_IGNORE + +# Misc +.vscode/ +*.swp +log/ +test/ + +# Unity +# Get latest from https://github.com/github/gitignore/blob/main/Unity.gitignore diff --git a/README.md b/README.md index 9847358..ac738b9 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@ ## About -A 6 wheeled differential drive robot with camera, 2D lidar and conveyor belt. The repository offers files for both simulators [gazebo classic](https://classic.gazebosim.org/) and [gazebo](https://gazebosim.org/home). +Explore our indoor 6-wheeled differential drive robot with a depth camera and 2D lidar. Our repository supports [gazebo classic](https://classic.gazebosim.org/) and [gazebo](https://gazebosim.org/home), facilitating exploration and simulation. Maneuverable in indoor environments, this robot is equipped with a depth camera for precise navigation and object perception. The 2D lidar enhances perception with accurate distance measurements for mapping and obstacle avoidance. Join us on this exciting robotics journey, accessing comprehensive documentation, code samples, and simulation files to harness the full potential of our indoor robot with its advanced depth camera capabilities. ## Dependencies @@ -25,23 +25,24 @@ A 6 wheeled differential drive robot with camera, 2D lidar and conveyor belt. Th Note: If required there is an example `Dockerfile` that shows the installation for Humble-Fortress combination * Build the package: - - colcon build --symlink-install - + ```bash + colcon build --symlink-install + ``` ## Run Instructions * Launch the robot in gazebo: - - ros2 launch new_bcr_robot gazebo.launch.py - + ```bash + ros2 launch new_bcr_robot gazebo.launch.py + ``` * Launch the robot in RViz: - - ros2 launch new_bcr_robot rviz.launch.py - + ```bash + ros2 launch new_bcr_robot rviz.launch.py + ``` * Launch the robot in Ignition Gazebo Fortress - - ros2 launch new_bcr_robot gz.launch.py - + ```bash + ros2 launch new_bcr_robot gz.launch.py + ``` + ## Configuration ### Xacro Configurations @@ -68,36 +69,20 @@ robot_description_content = get_xacro_to_doc( ### World File Configurations -The `worlds` directory has two subdirectories: `gazebo` and `gz`. Both of these host world files for each simulator respectively. Here are the expected outputs from each world configuration: +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 (Empty World): +1. Gazebo Classic (small_warehouse): Launch file Change in the Launch Description: ```python DeclareLaunchArgument( - 'world', default_value=[FindPackageShare('gazebo_ros'), '/worlds/empty.world'], + 'world', default_value=[FindPackageShare('new_bcr_robot'), '/worlds/small_warehouse.world'], ) ``` - ![](res/empty_gazebo.png) + ![](res/gazebo.jpg) -2. Gazebo Classic (Mars): - Launch file Change in the Launch Description: - ```python - DeclareLaunchArgument( - 'world', default_value=[FindPackageShare('new_bcr_robot'), '/worlds/gazebo/mars.world'], - ) - ``` - ![](res/mars_gazebo.png) - -3. Gazebo Classic (Corridor): - Launch file Change in the Launch Description: - ```python - DeclareLaunchArgument( - 'world', default_value=[FindPackageShare('new_bcr_robot'), '/worlds/gazebo/corridor.world'], - ) - ``` - ![](res/corridor_gazebo.png) +2. Gz Sim (Ignition Gazebo) (small_warehouse World): + ![](res/gz.png) -4. Gz Sim (Ignition Gazebo) (Empty World):\ - No Changes to launch file\ - ![](res/empty_gz.png) \ No newline at end of file +2. Rviz (Depth camera) (small_warehouse World): + ![](res/rviz.png) diff --git a/hooks/new_bcr_robot.sh.in b/hooks/new_bcr_robot.sh.in index 1c2390d..4b9e00e 100644 --- a/hooks/new_bcr_robot.sh.in +++ b/hooks/new_bcr_robot.sh.in @@ -5,4 +5,5 @@ if test -f "$FILE"; then fi # Adding our models to the GAZEBO_MODEL_PATH -ament_prepend_unique_value GAZEBO_MODEL_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/models" \ No newline at end of file +ament_prepend_unique_value GAZEBO_MODEL_PATH "$COLCON_CURRENT_PREFIX/share/@PROJECT_NAME@/models" + diff --git a/launch/gazebo.launch.py b/launch/gazebo.launch.py index cc7e54f..a362f8a 100644 --- a/launch/gazebo.launch.py +++ b/launch/gazebo.launch.py @@ -23,7 +23,7 @@ def generate_launch_description(): # 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"}) + 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( @@ -31,7 +31,8 @@ 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()}] + parameters=[{'use_sim_time': use_sim_time}, {'robot_description': doc.toxml()}], + remappings=[('joint_states', '/new_bcr_robot/joint_states')] ) # Launch the spawn_entity node to spawn the robot in Gazebo @@ -50,7 +51,7 @@ def generate_launch_description(): return LaunchDescription([ # Declare launch arguments - DeclareLaunchArgument('world', default_value=[FindPackageShare('new_bcr_robot'), '/worlds/gazebo/mars.world']), + DeclareLaunchArgument('world', default_value=[FindPackageShare('new_bcr_robot'), '/worlds/gazebo/small_warehouse.world']), DeclareLaunchArgument('gui', default_value='true'), DeclareLaunchArgument('verbose', default_value='false'), DeclareLaunchArgument('use_sim_time', default_value='true'), diff --git a/launch/gz.launch.py b/launch/gz.launch.py index 986ba42..058f62c 100644 --- a/launch/gz.launch.py +++ b/launch/gz.launch.py @@ -21,7 +21,7 @@ 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", "empty.sdf")) + world_file = LaunchConfiguration("world_file", default = "-r " + join(new_bcr_robot_path, "worlds", "gz", "small_warehouse.sdf")) position_x = LaunchConfiguration("x") position_y = LaunchConfiguration("y") @@ -32,7 +32,7 @@ def generate_launch_description(): {"wheel_odom_topic": "odom", "sim_gz": "true", "two_d_lidar_enabled": "true", - "conveyor_enabled": "true", + "conveyor_enabled": "false", "camera_enabled": "true" } ).toxml() diff --git a/meshes/bcr_bot_mesh.dae b/meshes/bcr_bot_mesh.dae new file mode 100644 index 0000000..967a9ee --- /dev/null +++ b/meshes/bcr_bot_mesh.dae @@ -0,0 +1,617 @@ + + + + + Blender User + Blender 3.5.1 commit date:2023-04-24, commit time:18:11, hash:e1ccd9d4a1d3 + + 2023-06-25T10:19:25 + 2023-06-25T10:19:25 + + Z_UP + + + + + + + 16.98139 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 200 200 200 + 1 + 0 + 0.001599967 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 200 + 25 + 45 + 0.15 + 0 + 1 + 2 + 0.04999995 + 40 + 1 + 512 + 3 + 1 + 0 + 0 + 0.25 + 0.25 + 0.25 + + + + + + + 40 40 40 + 1 + 0 + 0.001599967 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 40 + 25 + 45 + 0.15 + 0 + 1 + 2 + 0.04999995 + 40 + 1 + 512 + 3 + 1 + 0.114538 + 0 + 0.25 + 0.25 + 0.25 + + + + + + + 10 10 10 + 1 + 0 + 0.001599967 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 10 + 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728 573 522 385 1823 726 571 520 385 1824 726 571 520 378 1825 717 562 511 384 1826 725 570 519 378 1827 717 562 511 385 1828 726 571 520 379 1829 718 563 512 384 1830 725 570 519 378 1831 717 562 511 382 1832 721 566 515 382 1833 721 566 515 378 1834 717 562 511 377 1835 716 561 510 385 1836 726 571 520 388 1837 729 574 523 379 1838 718 563 512 388 1839 729 574 523 389 1840 730 575 524 379 1841 718 563 512 389 1842 730 575 524 360 1843 699 544 493 379 1844 718 563 512 379 1845 718 563 512 360 1846 699 544 493 367 1847 706 551 500 365 1848 704 549 498 391 1849 732 577 526 390 1850 731 576 525 390 1851 731 576 525 364 1852 703 548 497 365 1853 704 549 498 389 1854 730 575 524 365 1855 704 549 498 360 1856 699 544 493 389 1857 730 575 524 391 1858 732 577 526 365 1859 704 549 498 389 1860 730 575 524 388 1861 729 574 523 392 1862 733 578 527 392 1863 733 578 527 391 1864 732 577 526 389 1865 730 575 524 393 1866 734 579 528 391 1867 732 577 526 392 1868 733 578 527 391 1869 732 577 526 393 1870 734 579 528 390 1871 731 576 525 394 1872 735 580 529 388 1873 729 574 523 387 1874 728 573 522 388 1875 729 574 523 394 1876 735 580 529 392 1877 733 578 527 393 1878 750 595 544 394 1879 748 593 542 403 1880 749 594 543 396 1881 738 583 532 380 1882 737 582 531 376 1883 765 610 559 396 1884 738 583 532 395 1885 736 581 530 380 1886 737 582 531 397 1887 740 585 534 359 1888 698 543 492 358 1889 697 542 491 359 1890 698 543 492 397 1891 740 585 534 383 1892 739 584 533 397 1893 740 585 534 398 1894 742 587 536 386 1895 741 586 535 397 1896 740 585 534 386 1897 741 586 535 383 1898 739 584 533 387 1899 744 589 538 398 1900 742 587 536 399 1901 743 588 537 398 1902 742 587 536 387 1903 744 589 538 386 1904 741 586 535 400 1905 745 590 539 401 1906 746 591 540 398 1907 742 587 536 400 1908 745 590 539 398 1909 742 587 536 397 1910 740 585 534 401 1911 746 591 540 402 1912 747 592 541 399 1913 743 588 537 401 1914 746 591 540 399 1915 743 588 537 398 1916 742 587 536 399 1917 743 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532 373 2013 768 613 562 370 2014 762 607 556 409 2015 763 608 557 373 2016 768 613 562 409 2017 763 608 557 411 2018 767 612 561 380 2019 737 582 531 395 2020 736 581 530 357 2021 696 541 490 373 2022 768 613 562 411 2023 767 612 561 374 2024 766 611 560 364 2025 753 598 547 405 2026 754 599 548 361 2027 756 601 550 393 2028 750 595 544 392 2029 776 620 569 394 2030 748 593 542

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0 + 0 + + + + + + + + model://aws_robomaker_warehouse_WallB_01/meshes/aws_robomaker_warehouse_WallB_01_visual.DAE + + + 2 + + +1 + + diff --git a/models/corridor/model.sdf b/models/corridor/model.sdf deleted file mode 100644 index 3d458b6..0000000 --- a/models/corridor/model.sdf +++ /dev/null @@ -1,827 +0,0 @@ - - - - - 0 5 0 0 -0 0 - 0 - 0 - 0 - - 0 0 0.25 0 -0 0 - - - 160.15 0.15 0.5 - - - - - 1 1 1 1 - - - - 0 - - 0 - 1 - - - 0 - 10 - 0 0 0.25 0 -0 0 - - - 160.15 0.15 0.5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - - - 0 -5 0 0 -0 0 - 0 - 0 - 0 - - 0 0 0.75 0 -0 0 - - - 160.15 0.15 1.5 - - - - - 1 1 1 1 - - - - 0 - - 0 - 1 - - - 0 - 10 - 0 0 0.75 0 -0 0 - - - 160.15 0.15 1.5 - - - - - - 1 - 1 - 0 0 0 - 0 - 0 - - - 1 - 0 - 0 - 1 - - 0 - - - - - 0 - 1e+06 - - - 0 - 1 - 1 - - 0 - 0.2 - 1e+13 - 1 - 0.01 - 0 - - - 1 - -0.01 - 0 - 0.2 - 1e+13 - 1 - - - - - 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+0,0 @@ -material mars/Image - { - technique - { - pass - { - ambient 1 1 1 1.000000 - diffuse 1 1 1 1.000000 - specular 0.03 0.03 0.03 1.000000 - - texture_unit - { - texture mars.jpg - } - } - } - } diff --git a/models/mars/materials/textures/mars.jpg b/models/mars/materials/textures/mars.jpg deleted file mode 100644 index 4e58e8a..0000000 Binary files a/models/mars/materials/textures/mars.jpg and /dev/null differ diff --git a/models/mars/model.sdf b/models/mars/model.sdf deleted file mode 100644 index 556fced..0000000 --- a/models/mars/model.sdf +++ /dev/null @@ -1,40 +0,0 @@ - - - - true - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - - - false - - - 0 0 1 - 100 100 - - - - - - - - - diff --git a/res/corridor_gazebo.png b/res/corridor_gazebo.png deleted file mode 100644 index 1e64822..0000000 Binary files a/res/corridor_gazebo.png and /dev/null differ diff --git a/res/empty_gazebo.png b/res/empty_gazebo.png deleted file mode 100644 index 5e5d1f3..0000000 Binary files a/res/empty_gazebo.png and /dev/null differ diff --git a/res/empty_gz.png b/res/empty_gz.png deleted file mode 100644 index 8ce7aad..0000000 Binary files a/res/empty_gz.png and /dev/null differ diff --git a/res/gazebo.jpg b/res/gazebo.jpg new file mode 100644 index 0000000..07f0258 Binary files /dev/null and b/res/gazebo.jpg differ diff --git a/res/gz.png b/res/gz.png new file mode 100644 index 0000000..096a06f Binary files /dev/null and b/res/gz.png differ diff --git a/res/mars_gazebo.png b/res/mars_gazebo.png deleted file mode 100644 index 77b2f86..0000000 Binary files a/res/mars_gazebo.png and /dev/null differ diff --git a/res/rviz.png b/res/rviz.png new file mode 100644 index 0000000..4e15fe6 Binary files /dev/null and b/res/rviz.png differ diff --git a/urdf/gazebo.xacro b/urdf/gazebo.xacro index c52506a..01037c1 100644 --- a/urdf/gazebo.xacro +++ b/urdf/gazebo.xacro @@ -9,6 +9,11 @@ + + $(arg robot_namespace) + cmd_vel:=cmd_vel + odom:=odom + false 50.0 middle_left_wheel_joint @@ -61,11 +66,16 @@ + + + + $(arg robot_namespace) + odom:=p3d_ground_truth + true 30.0 base_link - ground_truth_pose 0.00 $(arg ground_truth_frame) @@ -98,30 +108,32 @@ gaussian 0.0 - 0.001 + 0.0 - - scan + + + ~/out:=/$(arg robot_namespace)/scan + + sensor_msgs/LaserScan two_d_lidar - $(arg robot_namespace) - - + - - true - 30.0 + + 0 0 0 0 0 0 + true + 30 - ${radians(camera_horizontal_fov)} + 1.089 R8G8B8 640 @@ -132,24 +144,13 @@ 8.0 - - kinect_camera - true - 10 - rgb/image_raw - depth/image_raw - depth/points - rgb/camera_info - depth/camera_info - kinect_camera_optical - 0.1 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.4 - $(arg robot_namespace) + + + $(arg robot_namespace) + + kinect_camera_optical + 0.1 + 100 diff --git a/urdf/gz.xacro b/urdf/gz.xacro index d0b7039..c6d80f8 100644 --- a/urdf/gz.xacro +++ b/urdf/gz.xacro @@ -1,10 +1,15 @@ + + ogre2 + + + middle_left_wheel_joint middle_right_wheel_joint @@ -19,6 +24,8 @@ + + @@ -51,6 +58,8 @@ + + diff --git a/urdf/new_bcr_robot.xacro b/urdf/new_bcr_robot.xacro index ab5ceed..74178c2 100644 --- a/urdf/new_bcr_robot.xacro +++ b/urdf/new_bcr_robot.xacro @@ -6,7 +6,7 @@ - + @@ -35,7 +35,7 @@ - + @@ -65,16 +65,16 @@ - + - + - + @@ -88,7 +88,7 @@ - + @@ -119,7 +119,7 @@ - + @@ -132,11 +132,11 @@ - + - Gazebo/Orange + Gazebo/White @@ -172,7 +172,7 @@ - + @@ -180,13 +180,37 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/worlds/gazebo/corridor.world b/worlds/gazebo/corridor.world deleted file mode 100644 index 1e8a310..0000000 --- a/worlds/gazebo/corridor.world +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - model://sun - 0 0 0 0 0 0 - - - - - model://ground_plane - 0 0 0 0 0 0 - - - - model://corridor - 80 0 0 0 0 0 - - - - - - 50 - - - 0 0 0 1.0 - 0 - - - - diff --git a/worlds/gazebo/mars.world b/worlds/gazebo/mars.world deleted file mode 100644 index 9ae0d20..0000000 --- a/worlds/gazebo/mars.world +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - model://sun - 0 0 0 0 0 0 - - - - - model://mars - 0 0 0 0 0 0 - - - - - - 50 - - - 0 0 0 1.0 - 0 - - - - diff --git a/worlds/gazebo/small_warehouse.world b/worlds/gazebo/small_warehouse.world new file mode 100644 index 0000000..2e1bfc6 --- /dev/null +++ b/worlds/gazebo/small_warehouse.world @@ -0,0 +1,348 @@ + + + + + + + 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/small_warehouse.sdf b/worlds/gz/small_warehouse.sdf new file mode 100644 index 0000000..3e25596 --- /dev/null +++ b/worlds/gz/small_warehouse.sdf @@ -0,0 +1,348 @@ + + + + + + + + model://aws_robomaker_warehouse_RoofB_01 + + 0.0 0.0 0 0 0 0 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