From e70d22e1e9d1cd8d8d9aa74b4b4b4a510d98a6ff Mon Sep 17 00:00:00 2001 From: Devanshu Sharma Date: Sat, 17 Jun 2023 12:50:45 +0530 Subject: [PATCH] Modified chassis desgin, Updated URDF, all the sensors working, namespace done --- .gitignore | 22 + README.md | 59 +- hooks/new_bcr_robot.sh.in | 3 +- launch/gazebo.launch.py | 7 +- launch/gz.launch.py | 4 +- meshes/bcr_bot_mesh.dae | 617 + meshes/bcr_chassis.dae | 350 - meshes/logo.png | Bin 0 -> 56990 bytes meshes/logo_bg.png.002.png | Bin 251871 -> 0 bytes .../.DS_Store | Bin 0 -> 6148 bytes .../materials/.DS_Store | Bin 0 -> 6148 bytes .../aws_robomaker_warehouse_Bucket_01.png | Bin 0 -> 228606 bytes ...obomaker_warehouse_Bucket_01_collision.DAE | 201 + ...s_robomaker_warehouse_Bucket_01_visual.DAE | 786 + .../model.config | 11 + .../model.sdf | 63 + .../.DS_Store | Bin 0 -> 6148 bytes .../materials/.DS_Store | Bin 0 -> 6148 bytes .../materials/textures/.DS_Store | Bin 0 -> 6148 bytes ...aws_robomaker_warehouse_ClutteringA_01.png | Bin 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46 + .../.DS_Store | Bin 0 -> 6148 bytes .../materials/.DS_Store | Bin 0 -> 6148 bytes .../aws_robomaker_warehouse_ShelfE_01.png | Bin 0 -> 3402 bytes .../aws_robomaker_warehouse_ShelfE_02.png | Bin 0 -> 211520 bytes .../aws_robomaker_warehouse_ShelfE_03.png | Bin 0 -> 175157 bytes .../aws_robomaker_warehouse_ShelfE_04.png | Bin 0 -> 344444 bytes ...obomaker_warehouse_ShelfE_01_collision.DAE | 327 + ...s_robomaker_warehouse_ShelfE_01_visual.DAE | 3689 ++++ .../model.config | 11 + .../model.sdf | 46 + .../aws_robomaker_warehouse_ShelfF_01.png | Bin 0 -> 16858 bytes .../aws_robomaker_warehouse_ShelfF_02.png | Bin 0 -> 211520 bytes .../aws_robomaker_warehouse_ShelfF_03.png | Bin 0 -> 228606 bytes ...obomaker_warehouse_ShelfF_01_collision.DAE | 575 + ...s_robomaker_warehouse_ShelfF_01_visual.DAE | 15734 ++++++++++++++++ .../model.config | 11 + .../model.sdf | 46 + .../aws_robomaker_warehouse_TrashCanC_01.png | Bin 0 -> 166994 bytes ...maker_warehouse_TrashCanC_01_collision.DAE | 724 + 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delete mode 100644 res/mars_gazebo.png create mode 100644 res/rviz.png delete mode 100644 worlds/gazebo/corridor.world delete mode 100644 worlds/gazebo/mars.world create mode 100644 worlds/gazebo/small_warehouse.world create mode 100644 worlds/gz/small_warehouse.sdf 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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