diff --git a/simulation-2015/README.md b/simulation-2015/README.md new file mode 100644 index 0000000..410c791 --- /dev/null +++ b/simulation-2015/README.md @@ -0,0 +1,25 @@ +# agv_simulation + +Simulator for new bot. + +Sensors added and the topics they publish to: +* Camera : /eklavya/image_raw +* Lidar : /eklavya/laser/scan +* IMU : /eklavya/imu +* GPS : /eklavya/gps/fix + + +Files where respective sensor topics are defined: +* Camera : eklavya5_description/robot/chasisss.urdf.xacro +* Lidar: eklavya5_description/robot/chasisss.urdf.xacro +* IMU : eklavya5_description/sensors/imusensor_gazebo.urdf.xacro +* GPS : eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro + + +Note: Plugin for GPS is a custom plugin, hence the package "eklavya5_gazebo_plugins" has to be built for the GPS to work. + + +The simulator is launch by: + +roslaunch eklavya5_gazebo eklavya_igvc_final.launch + diff --git a/simulation-2015/eklavya5_description/CMakeLists.txt b/simulation-2015/eklavya5_description/CMakeLists.txt new file mode 100644 index 0000000..e69de29 diff --git a/simulation-2015/eklavya5_description/launch/description.launch b/simulation-2015/eklavya5_description/launch/description.launch new file mode 100644 index 0000000..c81adf6 --- /dev/null +++ b/simulation-2015/eklavya5_description/launch/description.launch @@ -0,0 +1,9 @@ + + + + + + + + diff --git a/simulation-2015/eklavya5_description/launch/display.launch b/simulation-2015/eklavya5_description/launch/display.launch new file mode 100644 index 0000000..f75d2d7 --- /dev/null +++ b/simulation-2015/eklavya5_description/launch/display.launch @@ -0,0 +1,27 @@ + + + + + + + + + + diff --git a/simulation-2015/eklavya5_description/launch/gazebo.launch b/simulation-2015/eklavya5_description/launch/gazebo.launch new file mode 100644 index 0000000..28e9ae6 --- /dev/null +++ b/simulation-2015/eklavya5_description/launch/gazebo.launch @@ -0,0 +1,24 @@ + + + + + + + + + diff --git a/simulation-2015/eklavya5_description/launch/view_model.launch b/simulation-2015/eklavya5_description/launch/view_model.launch new file mode 100644 index 0000000..9dd9e35 --- /dev/null +++ b/simulation-2015/eklavya5_description/launch/view_model.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_description/meshes/Chassis.STL b/simulation-2015/eklavya5_description/meshes/Chassis.STL new file mode 100644 index 0000000..5a4bfef Binary files /dev/null and b/simulation-2015/eklavya5_description/meshes/Chassis.STL differ diff --git a/simulation-2015/eklavya5_description/meshes/Front Wheel.STL b/simulation-2015/eklavya5_description/meshes/Front Wheel.STL new file mode 100644 index 0000000..6142e7c Binary files /dev/null and b/simulation-2015/eklavya5_description/meshes/Front Wheel.STL differ diff --git a/simulation-2015/eklavya5_description/meshes/GPSAntennaScaledDown.dae b/simulation-2015/eklavya5_description/meshes/GPSAntennaScaledDown.dae new file mode 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+ std_msgs + me + BSD + diff --git a/simulation-2015/eklavya5_description/robots/chasisss.urdf.xacro b/simulation-2015/eklavya5_description/robots/chasisss.urdf.xacro new file mode 100644 index 0000000..9525797 --- /dev/null +++ b/simulation-2015/eklavya5_description/robots/chasisss.urdf.xacro @@ -0,0 +1,463 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 24.0 + + 1.23 + + 640 + 480 + R8G8B8 + + + 0.02 + 300 + + + gaussian + + 0.0 + 0.007 + + + + true + 0.0 + eklavya + image_raw + camera_info + camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + true + 40 + + + + 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+ camera_info + camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + + + + + Gazebo/Blue + + + + + + + + Gazebo/White + + + + diff --git a/simulation-2015/eklavya5_description/robots/chasisss_sample.urdf b/simulation-2015/eklavya5_description/robots/chasisss_sample.urdf new file mode 100644 index 0000000..f27c04f --- /dev/null +++ b/simulation-2015/eklavya5_description/robots/chasisss_sample.urdf @@ -0,0 +1,352 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Yellow + false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Grey + false + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + 1 + + + 1 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Grey + false + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + 1 + + + 1 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Grey + false + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + 1 + + + 1 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Grey + false + + + + + + + + + + + transmission_interface/SimpleTransmission + + EffortJointInterface + 1 + + + 1 + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/DarkGrey + + + + true + 100.0 + joint_back_left_wheel + joint_back_right_wheel + joint_front_left_wheel + joint_front_right_wheel + 0.5709 + 0.3555 + 35 + + + + + 100.0 + ground_truth/odom + 0.001 + world + true + base_footprint + 0 0 0 + 0 0 0 + + + + diff --git a/simulation-2015/eklavya5_description/sensors/gps.urdf.xacro b/simulation-2015/eklavya5_description/sensors/gps.urdf.xacro new file mode 100755 index 0000000..4414d52 --- /dev/null +++ b/simulation-2015/eklavya5_description/sensors/gps.urdf.xacro @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro b/simulation-2015/eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro new file mode 100755 index 0000000..db06529 --- /dev/null +++ b/simulation-2015/eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro @@ -0,0 +1,24 @@ + + + + + + true + 5.0 + ${name}_link + + ${name}_link + eklavya/${name}/fix + 22.3210431 + 87.3112864 + 0.0 + ${name}/fix_velocity + 5.0 5.0 5.0 + 0.1 0.1 0.1 + 0 0 0 + 0.05 0.05 0.05 + + + + + diff --git a/simulation-2015/eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro~ b/simulation-2015/eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro~ new file mode 100755 index 0000000..47e9460 --- /dev/null +++ b/simulation-2015/eklavya5_description/sensors/hector_gps_gazebo.urdf.xacro~ @@ -0,0 +1,24 @@ + + + + + + true + 5.0 + ${name}_link + + ${name}_link + ${name}/fix + 22.3210431 + 87.3112864 + 0.0 + ${name}/fix_velocity + 5.0 5.0 5.0 + 0.1 0.1 0.1 + 0 0 0 + 0.05 0.05 0.05 + + + + + diff --git a/simulation-2015/eklavya5_description/sensors/imu.urdf.xacro b/simulation-2015/eklavya5_description/sensors/imu.urdf.xacro new file mode 100644 index 0000000..a3bc775 --- /dev/null +++ b/simulation-2015/eklavya5_description/sensors/imu.urdf.xacro @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_description/sensors/imusensor_gazebo.urdf.xacro b/simulation-2015/eklavya5_description/sensors/imusensor_gazebo.urdf.xacro new file mode 100644 index 0000000..25469ea --- /dev/null +++ b/simulation-2015/eklavya5_description/sensors/imusensor_gazebo.urdf.xacro @@ -0,0 +1,23 @@ + + + + + + + true + 100.0 + ${name}_link + eklavya/${name} + ${name}_service + 0 0 0 + 0 + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.1 0.1 0.1 + 0.05 0.05 0.015 + 0.1 + 0.05 + + + + diff --git a/simulation-2015/eklavya5_description/sensors/imusensor_gazebo.urdf.xacro~ b/simulation-2015/eklavya5_description/sensors/imusensor_gazebo.urdf.xacro~ new file mode 100644 index 0000000..654336b --- /dev/null +++ b/simulation-2015/eklavya5_description/sensors/imusensor_gazebo.urdf.xacro~ @@ -0,0 +1,23 @@ + + + + + + + true + 100.0 + ${name}_link + ${name} + ${name}_service + 0 0 0 + 0 + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.1 0.1 0.1 + 0.05 0.05 0.015 + 0.1 + 0.05 + + + + diff --git a/simulation-2015/eklavya5_description/urdf.rviz b/simulation-2015/eklavya5_description/urdf.rviz new file mode 100644 index 0000000..d6def88 --- /dev/null +++ b/simulation-2015/eklavya5_description/urdf.rviz @@ -0,0 +1,164 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 435 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_inertia: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link_user_rail_part: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.285398 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.700398 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 715 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000013c00000241fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000241000000d000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000241fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000241000000a900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002590000024100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1200 + X: 50 + Y: 43 diff --git a/simulation-2015/eklavya5_gazebo/CHANGELOG.rst b/simulation-2015/eklavya5_gazebo/CHANGELOG.rst new file mode 100644 index 0000000..a989ec7 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/CHANGELOG.rst @@ -0,0 +1,7 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package husky_gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.0.1 (2014-12-09) +------------------ +* Initial release. diff --git a/simulation-2015/eklavya5_gazebo/CMakeLists.txt b/simulation-2015/eklavya5_gazebo/CMakeLists.txt new file mode 100644 index 0000000..601a47d --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 2.8.3) +project(eklavya5_gazebo) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +catkin_package( +) + +execute_process (COMMAND ${PROJECT_SOURCE_DIR}/setbashrc.bash) + +install( + DIRECTORY launch worlds Media + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) + diff --git a/simulation-2015/eklavya5_gazebo/README.md b/simulation-2015/eklavya5_gazebo/README.md new file mode 100644 index 0000000..cb664f4 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/README.md @@ -0,0 +1,2 @@ + diff --git a/simulation-2015/eklavya5_gazebo/launch/base.urdf.gazebo.launch b/simulation-2015/eklavya5_gazebo/launch/base.urdf.gazebo.launch new file mode 100644 index 0000000..38be9ca --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/launch/base.urdf.gazebo.launch @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/launch/eklavya_empty_world.launch b/simulation-2015/eklavya5_gazebo/launch/eklavya_empty_world.launch new file mode 100644 index 0000000..9a84eb7 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/launch/eklavya_empty_world.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/launch/eklavya_igvc_final.launch b/simulation-2015/eklavya5_gazebo/launch/eklavya_igvc_final.launch new file mode 100644 index 0000000..86e76e2 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/launch/eklavya_igvc_final.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/launch/eklavya_igvc_final_height.launch b/simulation-2015/eklavya5_gazebo/launch/eklavya_igvc_final_height.launch new file mode 100644 index 0000000..43342dc --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/launch/eklavya_igvc_final_height.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/launch/eklavya_playpen.launch b/simulation-2015/eklavya5_gazebo/launch/eklavya_playpen.launch new file mode 100644 index 0000000..1e56f81 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/launch/eklavya_playpen.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/launch/robot.launch b/simulation-2015/eklavya5_gazebo/launch/robot.launch new file mode 100644 index 0000000..f1a6265 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/launch/robot.launch @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/launch/robot.launch~ b/simulation-2015/eklavya5_gazebo/launch/robot.launch~ new file mode 100644 index 0000000..a6b12a3 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/launch/robot.launch~ @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/media/materials/textures/grass_lane.png b/simulation-2015/eklavya5_gazebo/media/materials/textures/grass_lane.png new file mode 100644 index 0000000..7d23292 Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/media/materials/textures/grass_lane.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png b/simulation-2015/eklavya5_gazebo/models/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png new file mode 100644 index 0000000..59608da Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/construction_barrel/materials/textures/Construction_Barrel_Diffuse.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/construction_barrel/materials/textures/Construction_Barrel_Spec.png b/simulation-2015/eklavya5_gazebo/models/construction_barrel/materials/textures/Construction_Barrel_Spec.png new file mode 100644 index 0000000..fb8252e Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/construction_barrel/materials/textures/Construction_Barrel_Spec.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/construction_barrel/meshes/construction_barrel.dae b/simulation-2015/eklavya5_gazebo/models/construction_barrel/meshes/construction_barrel.dae new file mode 100644 index 0000000..4b5cf47 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/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 + + + 1 + + + 0 0 0 1 + + + 1 1 1 1 + + + 1 + + + + + + + + + + + + + + + 0 + 0 + 0 + 1.5 + 0 + 3 + 1 + 0 + + + 1 + 1 + 0 + 0.1 + 0 + + + + + + + + + + + + + + + 20.07607 5.02713e-8 0 19.39199 5.19607 0 17.38639 10.03804 0 14.19593 14.19593 0 10.03804 17.38639 0 5.196071 19.39199 0 1.27153e-6 20.07607 0 -5.196067 19.392 0 -10.03803 17.38639 0 -14.19592 14.19593 0 -17.38639 10.03804 0 -19.39199 5.196076 0 -20.07607 7.86818e-6 0 -19.392 -5.196062 0 -17.38639 -10.03803 0 -14.19594 -14.19592 0 -10.03804 -17.38638 0 -5.196078 -19.39199 0 -9.57779e-6 -20.07607 0 5.196059 -19.392 0 10.03803 -17.38639 0 14.19592 -14.19594 0 17.38638 -10.03805 0 19.39199 -5.196084 0 20.07608 1.69289e-7 0.8006894 19.392 5.196071 0.800689 17.38639 10.03804 0.8006892 14.19593 14.19593 0.8006894 10.03804 17.38639 0.8006891 5.196071 19.392 0.8006891 1.27153e-6 20.07608 0.8006889 -5.196069 19.392 0.8006891 -10.03803 17.38639 0.8006891 -14.19593 14.19593 0.8006894 -17.38639 10.03804 0.8006892 -19.392 5.196076 0.800689 -20.07608 7.9872e-6 0.8006894 -19.39201 -5.196063 0.8006894 -17.3864 -10.03803 0.8006891 -14.19594 -14.19592 0.8006889 -10.03804 -17.38639 0.8006894 -5.19608 -19.392 0.8006894 -9.57779e-6 -20.07608 0.8006894 5.19606 -19.39201 0.8006894 10.03803 -17.3864 0.8006894 14.19592 -14.19594 0.8006889 17.38639 -10.03805 0.8006891 19.392 -5.196085 0.8006894 14.12383 2.8724e-7 3.8748 13.64257 3.655515 3.8748 12.23159 7.061913 3.8748 9.987053 9.987054 3.8748 7.061912 12.23159 3.8748 3.655516 13.64257 3.8748 -7.7172e-9 14.12383 3.8748 -3.655513 13.64257 3.8748 -7.061911 12.23159 3.8748 -9.987051 9.987057 3.8748 -12.23159 7.061916 3.8748 -13.64257 3.655519 3.8748 -14.12382 5.17286e-6 3.8748 -13.64257 -3.65551 3.8748 -12.2316 -7.061909 3.8748 -9.987062 -9.987048 3.8748 -7.06192 -12.23159 3.8748 -3.655521 -13.64257 3.8748 -5.41658e-6 -14.12383 3.8748 3.655509 -13.64257 3.8748 7.061905 -12.2316 3.8748 9.987049 -9.987062 3.8748 12.23159 -7.061924 3.8748 13.64257 -3.655527 3.8748 12.58947 5.08582e-7 3.8748 12.16049 3.258394 3.8748 10.9028 6.294734 3.8748 8.902099 8.902099 3.8748 6.294734 10.9028 3.8748 3.258395 12.16049 3.8748 -1.4669e-7 12.58947 3.8748 -3.258392 12.16049 3.8748 -6.294733 10.9028 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@@ + + + + DRC Practice: Block wall + 0.1.0 + model-1_4.sdf + model.sdf + + Christina Gomez + @swri.org + + + This model approximates a the DRC Trials cinder block side walls for door debris. + + diff --git a/simulation-2015/eklavya5_gazebo/models/drc_practice_block_wall/model.sdf b/simulation-2015/eklavya5_gazebo/models/drc_practice_block_wall/model.sdf new file mode 100644 index 0000000..6c2a29a --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/drc_practice_block_wall/model.sdf @@ -0,0 +1,44 @@ + + + + 0 0 0.30924 0 0 0 + true + + + + + model://drc_practice_block_wall/meshes/block_wall.dae + + + + + 0.0 + 100000 + + + + 100 + 50 + + + + + 0.0 + + 0.2 + 0.0 + 0.0 + + + + + + + + model://drc_practice_block_wall/meshes/block_wall.dae + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/models/grass/materials/scripts/grass.material b/simulation-2015/eklavya5_gazebo/models/grass/materials/scripts/grass.material new file mode 100644 index 0000000..95aa5bc --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass/materials/scripts/grass.material @@ -0,0 +1,20 @@ +material igvc/grass +{ + receive_shadows on + technique + { + pass + { + ambient 0.8 1.0 0.8 1.0 + diffuse 0.8 1.0 0.8 1.0 + specular 0.1 0.1 0.1 1.0 12.5 + + texture_unit + { + texture grass_lines.jpg + filtering anistropic + max_anisotropy 16 + } + } + } +} diff --git a/simulation-2015/eklavya5_gazebo/models/grass/materials/textures/grass_lines.jpg b/simulation-2015/eklavya5_gazebo/models/grass/materials/textures/grass_lines.jpg new file mode 100644 index 0000000..de0c7d1 Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass/materials/textures/grass_lines.jpg differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass/model.config b/simulation-2015/eklavya5_gazebo/models/grass/model.config new file mode 100644 index 0000000..4de8a8f --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass/model.config @@ -0,0 +1,17 @@ + + + + grass + 1.0 + model.sdf + + + Nate Koenig + nate@osrfoundation.com + + + + A grass textured plane. + + + diff --git a/simulation-2015/eklavya5_gazebo/models/grass/model.sdf b/simulation-2015/eklavya5_gazebo/models/grass/model.sdf new file mode 100644 index 0000000..faa7698 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass/model.sdf @@ -0,0 +1,42 @@ + + + + true + + + 4 + + + 0 0 1 + 42.85 42.85 + + + + + + 1 + 0.7 + + + + + + false + + + 0 0 1 + 42.85 42.85 + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/materials/scripts/lines.material b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/materials/scripts/lines.material new file mode 100644 index 0000000..c2fcd98 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/materials/scripts/lines.material @@ -0,0 +1,23 @@ +material grass/lines +{ + technique + { + pass + { + lighting off + + ambient 0.3 0.3 0.3 1 + diffuse 0.2 0.2 0.2 1 + specular 0 0 0 0 + emissive 0 0 0 1 + + scene_blend 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5 0 15 0 1 10 6 2 16 1 3 11 6 2 16 0 1 10 6 2 16 1 3 11 7 4 17 2 5 12 7 4 17 1 3 11 7 4 17 2 5 12 8 6 18 3 7 13 8 6 18 2 5 12 8 6 18 3 7 13 9 8 19 4 9 14 9 8 19 3 7 13 10 10 20 5 0 15 11 11 21 6 2 16 11 11 21 5 0 15 11 11 21 6 2 16 12 12 22 7 4 17 12 12 22 6 2 16 12 12 22 7 4 17 13 13 23 8 6 18 13 13 23 7 4 17 13 13 23 8 6 18 14 14 24 9 8 19 14 14 24 8 6 18 15 15 25 10 10 20 16 16 26 11 11 21 16 16 26 10 10 20 16 16 26 11 11 21 17 17 27 12 12 22 17 17 27 11 11 21 17 17 27 12 12 22 18 18 28 13 13 23 18 18 28 12 12 22 18 18 28 13 13 23 19 19 29 14 14 24 19 19 29 13 13 23 20 20 30 15 15 25 21 21 31 16 16 26 21 21 31 15 15 25 21 21 31 16 16 26 22 22 32 17 17 27 22 22 32 16 16 26 22 22 32 17 17 27 23 23 33 18 18 28 23 23 33 17 17 27 23 23 33 18 18 28 24 24 34 19 19 29 24 24 34 18 18 28

+ + + + + + 1 + 1 + 1574.803 + 4 + 1 + 1574.803 + 4 + + + + + + + + + + 0 0 0 + + + + + + + ./images/0_Grass0081_L.jpg + + + ./images/1_igvc_lines.png + + + + + + + + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + + + + + + 1 + 1 + 1 + 1 + + + + + + + + + \ No newline at end of file diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/0_Grass0081_L.jpg b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/0_Grass0081_L.jpg new file mode 100644 index 0000000..241cfb9 Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/0_Grass0081_L.jpg differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/1_igvc_lines.png b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/1_igvc_lines.png new file mode 100644 index 0000000..87a7603 Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/1_igvc_lines.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/grass_lane.png b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/grass_lane.png new file mode 100644 index 0000000..b61c2fb Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/meshes/images/grass_lane.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model.config b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model.config new file mode 100644 index 0000000..da9e451 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model.config @@ -0,0 +1,16 @@ + + + + grass_igvc_lines + 1.0 + model.sdf + + + Jit Ray Chowdhury + jit.ray.c@gmail.com + + + + IGVC ground plane. + + diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model.sdf b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model.sdf new file mode 100644 index 0000000..d853027 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model.sdf @@ -0,0 +1,73 @@ + + + + true + + 0 0 0 0 0 1.57 + 1 + + + + 1 1 1 + model://grass_igvc_lines/meshes/grass.DAE + + + + + + 100 + 50 + + + + + + false + + + 1 1 1 + model://grass_igvc_lines/meshes/grass.DAE + + + + + + + 0 0 0.075 0 0 0 + 1 + + + false + + + 38 38 0.0001 + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model_height.sdf b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model_height.sdf new file mode 100644 index 0000000..e0d90b8 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines/model_height.sdf @@ -0,0 +1,51 @@ + + + + true + + + + + model://vrc_heightmap_1/materials/textures/heightmap.png + 500 500 118 + 0 0 -15 + + + + + + + + + file://media/materials/textures/dirt_diffusespecular.png + file://media/materials/textures/flat_normal.png + 5 + + + file://media/materials/textures/grass_diffusespecular.png + file://media/materials/textures/flat_normal.png + 5 + + + file://media/materials/textures/fungus_diffusespecular.png + file://media/materials/textures/flat_normal.png + 20 + + + 15 + 5 + + + 30 + 10 + + model://vrc_heightmap_1/materials/textures/heightmap.png + 500 500 118 + 0 0 -15 + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/CMakeLists.txt b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/CMakeLists.txt new file mode 100644 index 0000000..2853551 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/CMakeLists.txt @@ -0,0 +1,9 @@ +set(MODEL_NAME vrc_heightmap_2) +set (files + model.config + model.sdf +) + +add_subdirectory(materials) + +install(FILES ${files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/gazebo_models/environments/${MODEL_NAME}/) diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/CMakeLists.txt b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/CMakeLists.txt new file mode 100644 index 0000000..240c301 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/CMakeLists.txt @@ -0,0 +1 @@ +add_subdirectory(textures) diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/scripts/lines.material b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/scripts/lines.material new file mode 100644 index 0000000..c2fcd98 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/scripts/lines.material @@ -0,0 +1,23 @@ +material grass/lines +{ + technique + { + pass + { + lighting off + + ambient 0.3 0.3 0.3 1 + diffuse 0.2 0.2 0.2 1 + specular 0 0 0 0 + emissive 0 0 0 1 + + scene_blend alpha_blend + depth_write off + + texture_unit + { + texture igvc_lines_4000x4000cm.png + } + } + } +} diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/0_Grass0081_L.jpg b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/0_Grass0081_L.jpg new file mode 100644 index 0000000..241cfb9 Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/0_Grass0081_L.jpg differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/1_igvc_lines.png b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/1_igvc_lines.png new file mode 100644 index 0000000..87a7603 Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/1_igvc_lines.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/CMakeLists.txt b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/CMakeLists.txt new file mode 100644 index 0000000..7649cf3 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/CMakeLists.txt @@ -0,0 +1,5 @@ +set (files + heightmap.png +) + +install(FILES ${files} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/gazebo_models/environments/${MODEL_NAME}/materials/textures/) diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/grass_lane.png b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/grass_lane.png new file mode 100644 index 0000000..7d23292 Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/grass_lane.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/heightmap.png b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/heightmap.png new file mode 100644 index 0000000..bc1c2f7 Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/heightmap.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/igvc_lines_4000x4000cm.png b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/igvc_lines_4000x4000cm.png new file mode 100644 index 0000000..ba3054e Binary files /dev/null and b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/materials/textures/igvc_lines_4000x4000cm.png differ diff --git a/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/meshes/grass.DAE b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/meshes/grass.DAE new file mode 100644 index 0000000..e259b88 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/grass_igvc_lines_height/meshes/grass.DAE @@ -0,0 +1,377 @@ + + + + + Drafter-2 + OpenCOLLADA for 3ds Max; ; + file:///C:/Users/Drafter-2/Documents/3dsMax/scenes/igvc_grass_close.max + + 2014-10-30T22:38:14 + 2014-10-30T22:38:14 + + Z_UP + + + + + + + Grass0081_L_jpg + + + + + Grass0081_L_jpg-surface + MIRROR + MIRROR + + + + + igvc_lines_png + + + + + igvc_lines_png-surface + + + + + + 0 0 0 1 + + + 0.588 0.588 0.588 1 + + + + + + 0.9 0.9 0.9 1 + + + 0 + + + 0 0 0 1 + + + + + + 1 + + + + + + + + 0 + 0 + 0 + 1.5 + 0 + 3 + 1 + 0 + + + 1 + 1 + 0 + 0.1 + 0 + + + + + + + + + + 1 1 1 1 + + + 1 1 1 1 + + + 1 1 1 1 + + + 10 + + + 0 0 0 1 + + + 1 1 1 1 + + + 1 + + + + + + + + 0 + 0 + 0 + 1.5 + 0 + 3 + 1 + 0 + + + 1 + 1 + 0 + 0.1 + 0 + + + + + + + + + + + + + + + + + + -787.4016 -787.4016 0.765422 -748.0315 -787.4016 1.031344 -708.6614 -787.4016 1.143574 -669.2914 -787.4017 1.581206 -629.9213 -787.4016 1.018103 -590.5513 -787.4016 0.71354 -551.1812 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8.254999 3.175 0 8.572498 3.175 0 8.889998 3.175 0 9.207498 3.175 0 9.524998 3.175 0 9.842497 3.175 0 10.16 3.175 0 10.4775 3.175 0 10.795 3.175 0 11.1125 3.175 0 11.43 3.175 0 11.7475 3.175 0 12.06499 3.175 0 12.38249 3.175 0 12.69999 3.175 0 0 3.4925 0 0.3175 3.4925 0 0.635 3.4925 0 0.9525 3.4925 0 1.27 3.4925 0 1.5875 3.4925 0 1.905 3.4925 0 2.2225 3.4925 0 2.54 3.4925 0 2.8575 3.4925 0 3.175 3.4925 0 3.4925 3.4925 0 3.81 3.4925 0 4.127501 3.4925 0 4.445001 3.4925 0 4.762501 3.4925 0 5.080001 3.4925 0 5.397501 3.4925 0 5.715001 3.4925 0 6.032501 3.4925 0 6.350001 3.4925 0 6.6675 3.4925 0 6.985 3.4925 0 7.3025 3.4925 0 7.619999 3.4925 0 7.937499 3.4925 0 8.254999 3.4925 0 8.572498 3.4925 0 8.889998 3.4925 0 9.207498 3.4925 0 9.524998 3.4925 0 9.842497 3.4925 0 10.16 3.4925 0 10.4775 3.4925 0 10.795 3.4925 0 11.1125 3.4925 0 11.43 3.4925 0 11.7475 3.4925 0 12.06499 3.4925 0 12.38249 3.4925 0 12.69999 3.4925 0 0 3.81 0 0.3175 3.81 0 0.635 3.81 0 0.9525 3.81 0 1.27 3.81 0 1.5875 3.81 0 1.905 3.81 0 2.2225 3.81 0 2.54 3.81 0 2.8575 3.81 0 3.175 3.81 0 3.4925 3.81 0 3.81 3.81 0 4.127501 3.81 0 4.445001 3.81 0 4.762501 3.81 0 5.080001 3.81 0 5.397501 3.81 0 5.715001 3.81 0 6.032501 3.81 0 6.350001 3.81 0 6.6675 3.81 0 6.985 3.81 0 7.3025 3.81 0 7.619999 3.81 0 7.937499 3.81 0 8.254999 3.81 0 8.572498 3.81 0 8.889998 3.81 0 9.207498 3.81 0 9.524998 3.81 0 9.842497 3.81 0 10.16 3.81 0 10.4775 3.81 0 10.795 3.81 0 11.1125 3.81 0 11.43 3.81 0 11.7475 3.81 0 12.06499 3.81 0 12.38249 3.81 0 12.69999 3.81 0 0 4.127501 0 0.3175 4.127501 0 0.635 4.127501 0 0.9525 4.127501 0 1.27 4.127501 0 1.5875 4.127501 0 1.905 4.127501 0 2.2225 4.127501 0 2.54 4.127501 0 2.8575 4.127501 0 3.175 4.127501 0 3.4925 4.127501 0 3.81 4.127501 0 4.127501 4.127501 0 4.445001 4.127501 0 4.762501 4.127501 0 5.080001 4.127501 0 5.397501 4.127501 0 5.715001 4.127501 0 6.032501 4.127501 0 6.350001 4.127501 0 6.6675 4.127501 0 6.985 4.127501 0 7.3025 4.127501 0 7.619999 4.127501 0 7.937499 4.127501 0 8.254999 4.127501 0 8.572498 4.127501 0 8.889998 4.127501 0 9.207498 4.127501 0 9.524998 4.127501 0 9.842497 4.127501 0 10.16 4.127501 0 10.4775 4.127501 0 10.795 4.127501 0 11.1125 4.127501 0 11.43 4.127501 0 11.7475 4.127501 0 12.06499 4.127501 0 12.38249 4.127501 0 12.69999 4.127501 0 0 4.445001 0 0.3175 4.445001 0 0.635 4.445001 0 0.9525 4.445001 0 1.27 4.445001 0 1.5875 4.445001 0 1.905 4.445001 0 2.2225 4.445001 0 2.54 4.445001 0 2.8575 4.445001 0 3.175 4.445001 0 3.4925 4.445001 0 3.81 4.445001 0 4.127501 4.445001 0 4.445001 4.445001 0 4.762501 4.445001 0 5.080001 4.445001 0 5.397501 4.445001 0 5.715001 4.445001 0 6.032501 4.445001 0 6.350001 4.445001 0 6.6675 4.445001 0 6.985 4.445001 0 7.3025 4.445001 0 7.619999 4.445001 0 7.937499 4.445001 0 8.254999 4.445001 0 8.572498 4.445001 0 8.889998 4.445001 0 9.207498 4.445001 0 9.524998 4.445001 0 9.842497 4.445001 0 10.16 4.445001 0 10.4775 4.445001 0 10.795 4.445001 0 11.1125 4.445001 0 11.43 4.445001 0 11.7475 4.445001 0 12.06499 4.445001 0 12.38249 4.445001 0 12.69999 4.445001 0 0 4.762501 0 0.3175 4.762501 0 0.635 4.762501 0 0.9525 4.762501 0 1.27 4.762501 0 1.5875 4.762501 0 1.905 4.762501 0 2.2225 4.762501 0 2.54 4.762501 0 2.8575 4.762501 0 3.175 4.762501 0 3.4925 4.762501 0 3.81 4.762501 0 4.127501 4.762501 0 4.445001 4.762501 0 4.762501 4.762501 0 5.080001 4.762501 0 5.397501 4.762501 0 5.715001 4.762501 0 6.032501 4.762501 0 6.350001 4.762501 0 6.6675 4.762501 0 6.985 4.762501 0 7.3025 4.762501 0 7.619999 4.762501 0 7.937499 4.762501 0 8.254999 4.762501 0 8.572498 4.762501 0 8.889998 4.762501 0 9.207498 4.762501 0 9.524998 4.762501 0 9.842497 4.762501 0 10.16 4.762501 0 10.4775 4.762501 0 10.795 4.762501 0 11.1125 4.762501 0 11.43 4.762501 0 11.7475 4.762501 0 12.06499 4.762501 0 12.38249 4.762501 0 12.69999 4.762501 0 0 5.080001 0 0.3175 5.080001 0 0.635 5.080001 0 0.9525 5.080001 0 1.27 5.080001 0 1.5875 5.080001 0 1.905 5.080001 0 2.2225 5.080001 0 2.54 5.080001 0 2.8575 5.080001 0 3.175 5.080001 0 3.4925 5.080001 0 3.81 5.080001 0 4.127501 5.080001 0 4.445001 5.080001 0 4.762501 5.080001 0 5.080001 5.080001 0 5.397501 5.080001 0 5.715001 5.080001 0 6.032501 5.080001 0 6.350001 5.080001 0 6.6675 5.080001 0 6.985 5.080001 0 7.3025 5.080001 0 7.619999 5.080001 0 7.937499 5.080001 0 8.254999 5.080001 0 8.572498 5.080001 0 8.889998 5.080001 0 9.207498 5.080001 0 9.524998 5.080001 0 9.842497 5.080001 0 10.16 5.080001 0 10.4775 5.080001 0 10.795 5.080001 0 11.1125 5.080001 0 11.43 5.080001 0 11.7475 5.080001 0 12.06499 5.080001 0 12.38249 5.080001 0 12.69999 5.080001 0 0 5.397501 0 0.3175 5.397501 0 0.635 5.397501 0 0.9525 5.397501 0 1.27 5.397501 0 1.5875 5.397501 0 1.905 5.397501 0 2.2225 5.397501 0 2.54 5.397501 0 2.8575 5.397501 0 3.175 5.397501 0 3.4925 5.397501 0 3.81 5.397501 0 4.127501 5.397501 0 4.445001 5.397501 0 4.762501 5.397501 0 5.080001 5.397501 0 5.397501 5.397501 0 5.715001 5.397501 0 6.032501 5.397501 0 6.350001 5.397501 0 6.6675 5.397501 0 6.985 5.397501 0 7.3025 5.397501 0 7.619999 5.397501 0 7.937499 5.397501 0 8.254999 5.397501 0 8.572498 5.397501 0 8.889998 5.397501 0 9.207498 5.397501 0 9.524998 5.397501 0 9.842497 5.397501 0 10.16 5.397501 0 10.4775 5.397501 0 10.795 5.397501 0 11.1125 5.397501 0 11.43 5.397501 0 11.7475 5.397501 0 12.06499 5.397501 0 12.38249 5.397501 0 12.69999 5.397501 0 0 5.715001 0 0.3175 5.715001 0 0.635 5.715001 0 0.9525 5.715001 0 1.27 5.715001 0 1.5875 5.715001 0 1.905 5.715001 0 2.2225 5.715001 0 2.54 5.715001 0 2.8575 5.715001 0 3.175 5.715001 0 3.4925 5.715001 0 3.81 5.715001 0 4.127501 5.715001 0 4.445001 5.715001 0 4.762501 5.715001 0 5.080001 5.715001 0 5.397501 5.715001 0 5.715001 5.715001 0 6.032501 5.715001 0 6.350001 5.715001 0 6.6675 5.715001 0 6.985 5.715001 0 7.3025 5.715001 0 7.619999 5.715001 0 7.937499 5.715001 0 8.254999 5.715001 0 8.572498 5.715001 0 8.889998 5.715001 0 9.207498 5.715001 0 9.524998 5.715001 0 9.842497 5.715001 0 10.16 5.715001 0 10.4775 5.715001 0 10.795 5.715001 0 11.1125 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6.350001 0 2.54 6.350001 0 2.8575 6.350001 0 3.175 6.350001 0 3.4925 6.350001 0 3.81 6.350001 0 4.127501 6.350001 0 4.445001 6.350001 0 4.762501 6.350001 0 5.080001 6.350001 0 5.397501 6.350001 0 5.715001 6.350001 0 6.032501 6.350001 0 6.350001 6.350001 0 6.6675 6.350001 0 6.985 6.350001 0 7.3025 6.350001 0 7.619999 6.350001 0 7.937499 6.350001 0 8.254999 6.350001 0 8.572498 6.350001 0 8.889998 6.350001 0 9.207498 6.350001 0 9.524998 6.350001 0 9.842497 6.350001 0 10.16 6.350001 0 10.4775 6.350001 0 10.795 6.350001 0 11.1125 6.350001 0 11.43 6.350001 0 11.7475 6.350001 0 12.06499 6.350001 0 12.38249 6.350001 0 12.69999 6.350001 0 0 6.6675 0 0.3175 6.6675 0 0.635 6.6675 0 0.9525 6.6675 0 1.27 6.6675 0 1.5875 6.6675 0 1.905 6.6675 0 2.2225 6.6675 0 2.54 6.6675 0 2.8575 6.6675 0 3.175 6.6675 0 3.4925 6.6675 0 3.81 6.6675 0 4.127501 6.6675 0 4.445001 6.6675 0 4.762501 6.6675 0 5.080001 6.6675 0 5.397501 6.6675 0 5.715001 6.6675 0 6.032501 6.6675 0 6.350001 6.6675 0 6.6675 6.6675 0 6.985 6.6675 0 7.3025 6.6675 0 7.619999 6.6675 0 7.937499 6.6675 0 8.254999 6.6675 0 8.572498 6.6675 0 8.889998 6.6675 0 9.207498 6.6675 0 9.524998 6.6675 0 9.842497 6.6675 0 10.16 6.6675 0 10.4775 6.6675 0 10.795 6.6675 0 11.1125 6.6675 0 11.43 6.6675 0 11.7475 6.6675 0 12.06499 6.6675 0 12.38249 6.6675 0 12.69999 6.6675 0 0 6.985 0 0.3175 6.985 0 0.635 6.985 0 0.9525 6.985 0 1.27 6.985 0 1.5875 6.985 0 1.905 6.985 0 2.2225 6.985 0 2.54 6.985 0 2.8575 6.985 0 3.175 6.985 0 3.4925 6.985 0 3.81 6.985 0 4.127501 6.985 0 4.445001 6.985 0 4.762501 6.985 0 5.080001 6.985 0 5.397501 6.985 0 5.715001 6.985 0 6.032501 6.985 0 6.350001 6.985 0 6.6675 6.985 0 6.985 6.985 0 7.3025 6.985 0 7.619999 6.985 0 7.937499 6.985 0 8.254999 6.985 0 8.572498 6.985 0 8.889998 6.985 0 9.207498 6.985 0 9.524998 6.985 0 9.842497 6.985 0 10.16 6.985 0 10.4775 6.985 0 10.795 6.985 0 11.1125 6.985 0 11.43 6.985 0 11.7475 6.985 0 12.06499 6.985 0 12.38249 6.985 0 12.69999 6.985 0 0 7.3025 0 0.3175 7.3025 0 0.635 7.3025 0 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+ + + 1 + + + + + + 0 0 -3.55271e-15 + 0 0 1 1.27222e-14 + 0 1 0 -1.27222e-14 + 1 0 0 -90 + 0.59 0.59 0.59 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_2.sdf b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_2.sdf new file mode 100644 index 0000000..1e844d6 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_2.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_3.sdf b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_3.sdf new file mode 100644 index 0000000..111eabc --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_3.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_4.sdf b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_4.sdf new file mode 100644 index 0000000..c4cf71e --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model-1_4.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model.config b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model.config new file mode 100644 index 0000000..61f5f4b --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model.config @@ -0,0 +1,20 @@ + + + + NIST maze wall triple holes 120 + 1.0 + model-1_2.sdf + model-1_3.sdf + model-1_4.sdf + model.sdf + + + Stefan Kohlbrecher + kohlbrecher@sim.tu-darmstadt.de + + + + 1.2m high NIST standard test arena maze wall with 3 triple victim holes + + + diff --git a/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model.sdf b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model.sdf new file mode 100644 index 0000000..ceee155 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/models/nist_maze_wall_triple_holes_120/model.sdf @@ -0,0 +1,25 @@ + + + + true + + 0 0 0.0 0 0 0 + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + + model://nist_maze_wall_triple_holes_120/meshes/nist_maze_wall_triple_holes_120.dae + 1 1 1 + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/package.xml b/simulation-2015/eklavya5_gazebo/package.xml new file mode 100644 index 0000000..b71f33e --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/package.xml @@ -0,0 +1,61 @@ + + + eklavya5_gazebo + 0.0.1 + The eklavya5_gazebo package + + + + + Jit Ray Chowdhury + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + gazebo_ros + eklavya5_description + robot_pose_ekf + + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo/setbashrc.bash b/simulation-2015/eklavya5_gazebo/setbashrc.bash new file mode 100644 index 0000000..54cfe2c --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/setbashrc.bash @@ -0,0 +1,46 @@ +#!/usr/bin/env bash +if grep -Fq "source $(dirname "$PWD")/devel/setup.bash" ~/.bashrc +then + echo Currently sourcing catkin setup.bash. OK! +else + echo Not currently sourcing catkin setup.bash Setting.. + echo " +source $(dirname "$PWD")/devel/setup.bash" >> ~/.bashrc + if grep -Fq "source $(dirname "$PWD")/devel/setup.bash" ~/.bashrc + then + echo Setting successful. Open a new terminal once install is done. + else + echo Not able to set. Check your ~/.bashrc to see if really not set. + fi +fi + +if grep -Fq "export ROS_PACKAGE_PATH=$(dirname "$PWD")/src/eklavya2015-ros-pkg/eklavya_gazebo" ~/.bashrc +then + echo auro_resources in ROS_PACKAGE_PATH is set. OK! +else + echo auro_resources in ROS_PACKAGE_PATH is not set. Setting... + echo " +export ROS_PACKAGE_PATH=$(dirname "$PWD")/src/eklavya2015-ros-pkg/eklavya_gazebo:"'$ROS_PACKAGE_PATH' >> ~/.bashrc + if grep -Fq "export ROS_PACKAGE_PATH=$(dirname "$PWD")/src/eklavya2015-ros-pkg/eklavya_gazebo" ~/.bashrc + then + echo Setting successful. Open a new terminal once install is done. + else + echo Not able to set. Check your ~/.bashrc to see if really not set. + fi +fi + +if grep -Fq "export GAZEBO_RESOURCE_PATH=$(dirname "$PWD")/src/eklavya2015-ros-pkg/eklavya_gazebo" ~/.bashrc +then + echo auro_resources in GAZEBO_RESOURCE_PATH is set. OK! +else + echo auro_resources in GAZEBO_RESOURCE_PATH is not set. Setting... + echo " +export GAZEBO_RESOURCE_PATH=$(dirname "$PWD")/src/eklavya2015-ros-pkg/eklavya_gazebo:"'$GAZEBO_RESOURCE_PATH' >> ~/.bashrc + if grep -Fq "export GAZEBO_RESOURCE_PATH=$(dirname "$PWD")/src/eklavya2015-ros-pkg/eklavya_gazebo" ~/.bashrc + then + echo Setting successful. Open a new terminal once install is done. + else + echo Not able to set. Check your ~/.bashrc to see if really not set. + fi +fi + diff --git a/simulation-2015/eklavya5_gazebo/setup.sh b/simulation-2015/eklavya5_gazebo/setup.sh new file mode 100644 index 0000000..c3f3851 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/setup.sh @@ -0,0 +1,2 @@ +export GAZEBO_MODEL_PATH=`rospack find eklavya_gazebo`/models:$GAZEBO_MODEL_PATH +export GAZEBO_RESOURCE_PATH=`rospack find eklavya_gazebo`:$GAZEBO_RESOURCE_PATH diff --git a/simulation-2015/eklavya5_gazebo/worlds/basic_course.world b/simulation-2015/eklavya5_gazebo/worlds/basic_course.world new file mode 100644 index 0000000..aed5dfd --- /dev/null +++ b/simulation-2015/eklavya5_gazebo/worlds/basic_course.world @@ -0,0 +1,2492 @@ + + + + + 0 0 -9.81 + + + quick + 50 + 1.4 + + + 0.0 + 0.2 + 10.0 + 0.005 + + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + model://grass + + + model://sun + + + 1 + + + + + model://drc_practice_orange_jersey_barrier/meshes/jersey_barrier.dae + + + + + 0 0 0.75 0 -0 0 + + + 0.65 1.8 1.5 + 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b/simulation-2015/eklavya5_gazebo_plugins/CHANGELOG.rst @@ -0,0 +1,8 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package eklavya_gazebo_plugins +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + + +0.0.1 (2014-12-09) +------------------ +* Initial release. diff --git a/simulation-2015/eklavya5_gazebo_plugins/CMakeLists.txt b/simulation-2015/eklavya5_gazebo_plugins/CMakeLists.txt new file mode 100755 index 0000000..cb05df0 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/CMakeLists.txt @@ -0,0 +1,144 @@ +cmake_minimum_required(VERSION 2.8.3) +project(eklavya5_gazebo_plugins) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS gazebo_plugins gazebo_ros gazebo_msgs roscpp std_msgs) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) +find_package(gazebo) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +####################################### +## Declare ROS messages and services ## +####################################### + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + LIBRARIES eklavya_gazebo_plugins eklavya_tudarmstadt_gps_plugin + CATKIN_DEPENDS gazebo_plugins gazebo_ros gazebo_msgs roscpp std_msgs + DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) + +## Declare a cpp library + add_library(eklavya_gazebo_plugins + src/eklavya_plugin.cpp + ) + + add_library(eklavya_tudarmstadt_gps_plugin + src/gazebo_ros_gps.cpp + ) + +## Declare a cpp executable +# add_executable(eklavya_gazebo_plugins_node src/eklavya_gazebo_plugins_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(eklavya_gazebo_plugins_node eklavya_gazebo_plugins_generate_messages_cpp) + +## Specify libraries to link a library or executable target against + target_link_libraries(eklavya_gazebo_plugins + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} + ) + target_link_libraries(eklavya_tudarmstadt_gps_plugin + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} + ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +install(TARGETS eklavya_gazebo_plugins + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install(TARGETS eklavya_tudarmstadt_gps_plugin + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_eklavya_gazebo_plugins.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/simulation-2015/eklavya5_gazebo_plugins/CMakeLists.txt~ b/simulation-2015/eklavya5_gazebo_plugins/CMakeLists.txt~ new file mode 100755 index 0000000..2cba159 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/CMakeLists.txt~ @@ -0,0 +1,144 @@ +cmake_minimum_required(VERSION 2.8.3) +project(eklavya_gazebo_plugins) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS gazebo_plugins gazebo_ros gazebo_msgs roscpp std_msgs) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) +find_package(gazebo) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +####################################### +## Declare ROS messages and services ## +####################################### + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( + INCLUDE_DIRS include + LIBRARIES eklavya_gazebo_plugins eklavya_tudarmstadt_gps_plugin + CATKIN_DEPENDS gazebo_plugins gazebo_ros gazebo_msgs roscpp std_msgs + DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} + ${GAZEBO_INCLUDE_DIRS} +) + +## Declare a cpp library + add_library(eklavya_gazebo_plugins + src/eklavya_plugin.cpp + ) + + add_library(eklavya_tudarmstadt_gps_plugin + src/gazebo_ros_gps.cpp + ) + +## Declare a cpp executable +# add_executable(eklavya_gazebo_plugins_node src/eklavya_gazebo_plugins_node.cpp) + +## Add cmake target dependencies of the executable/library +## as an example, message headers may need to be generated before nodes +# add_dependencies(eklavya_gazebo_plugins_node eklavya_gazebo_plugins_generate_messages_cpp) + +## Specify libraries to link a library or executable target against + target_link_libraries(eklavya_gazebo_plugins + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} + ) + target_link_libraries(eklavya_tudarmstadt_gps_plugin + ${catkin_LIBRARIES} + ${GAZEBO_LIBRARIES} + ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +install(TARGETS eklavya_gazebo_plugins + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install(TARGETS eklavya_tudarmstadt_gps_plugin + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_eklavya_gazebo_plugins.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/eklavya_plugin.h b/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/eklavya_plugin.h new file mode 100755 index 0000000..b2bef6b --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/eklavya_plugin.h @@ -0,0 +1,104 @@ +#ifndef GAZEBO_ROS_CREATE_H +#define GAZEBO_ROS_CREATE_H + +#include "gazebo/physics/physics.hh" +#include "gazebo/physics/PhysicsTypes.hh" +#include "gazebo/sensors/SensorTypes.hh" +#include "gazebo/transport/TransportTypes.hh" +#include "gazebo/common/Time.hh" +#include "gazebo/common/Plugin.hh" +#include "gazebo/common/Events.hh" + +#include +#include +#include + +#include +#include + + +/* + * Desc: Gazebo 1.x plugin for Eklavya 2015 + * Adapted from the Husky plugin + * Author: Jit Ray Chowdhury + */ + +namespace gazebo +{ + class EklavyaPlugin : public ModelPlugin + { + public: + EklavyaPlugin(); + virtual ~EklavyaPlugin(); + + virtual void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf ); + + virtual void UpdateChild(); + + + private: + + void OnContact(const std::string &name, const physics::Contact &contact); + void OnCmdVel( const geometry_msgs::TwistConstPtr &msg); + + + void publishOdometry(common::Time time_now); + /// Parameters + std::string node_namespace_; + std::string bl_joint_name_; + std::string br_joint_name_; + std::string fl_joint_name_; + std::string fr_joint_name_; + std::string base_geom_name_; + + /// Separation between the wheels + float wheel_sep_; + + /// Diameter of the wheels + float wheel_diam_; + + ///Torque applied to the wheels + float torque_; + + ros::NodeHandle *rosnode_; + + ros::Publisher sensor_state_pub_; + ros::Publisher odom_pub_; + ros::Publisher joint_state_pub_; + + ros::Subscriber cmd_vel_sub_; + + physics::WorldPtr world_; + physics::ModelPtr model_; + sensors::SensorPtr parent_sensor_; + + /// Speeds of the wheels + float *wheel_speed_; + + // Simulation time of the last update + common::Time prev_update_time_; + common::Time last_cmd_vel_time_; + + float odom_pose_[3]; + float odom_vel_[3]; + float odom_dr_, odom_da_; + common::Time prev_odom_time_; + int odom_pub_counter_; + + bool set_joints_[4]; + physics::JointPtr joints_[4]; + physics::CollisionPtr base_geom_; + + tf::TransformBroadcaster transform_broadcaster_; + sensor_msgs::JointState js_; + + void spin(); + boost::thread *spinner_thread_; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; + + bool kill_sim; + }; +} +#endif diff --git a/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/gazebo_ros_gps.h b/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/gazebo_ros_gps.h new file mode 100755 index 0000000..7bf8dc7 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/gazebo_ros_gps.h @@ -0,0 +1,93 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H + +#include + +#include +#include +#include +#include +#include + +namespace gazebo +{ + +class GazeboRosGps : public ModelPlugin +{ +public: + GazeboRosGps(); + virtual ~GazeboRosGps(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::Publisher fix_publisher_; + ros::Publisher velocity_publisher_; + + sensor_msgs::NavSatFix fix_; + geometry_msgs::Vector3Stamped velocity_; + + std::string namespace_; + std::string link_name_; + std::string frame_id_; + std::string fix_topic_; + std::string velocity_topic_; + + double reference_latitude_; + double reference_longitude_; + double reference_heading_; + double reference_altitude_; + sensor_msgs::NavSatStatus::_status_type status_; + sensor_msgs::NavSatStatus::_service_type service_; + + double radius_north_; + double radius_east_; + + SensorModel3 position_error_model_; + SensorModel3 velocity_error_model_; + + UpdateTimer updateTimer; + event::ConnectionPtr updateConnection; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_GPS_H diff --git a/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/sensor_model.h b/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/sensor_model.h new file mode 100755 index 0000000..e44ede7 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/sensor_model.h @@ -0,0 +1,171 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H +#define HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H + +#include +#include + +namespace gazebo { + +template +class SensorModel_ { +public: + SensorModel_(); + virtual ~SensorModel_(); + + virtual void Load(sdf::ElementPtr _sdf, const std::string& prefix = std::string()); + + virtual T operator()(const T& value) const { return value + current_error_; } + virtual T operator()(const T& value, double dt) { return value + update(dt); } + + virtual T update(double dt); + virtual void reset(const T& value = T()); + + virtual const T& getCurrentError() const { return current_error_; } + virtual const T& getCurrentDrift() const { return current_drift_; } + + virtual void setCurrentDrift(const T& new_drift) { current_drift_ = new_drift; } + +private: + virtual bool LoadImpl(sdf::ElementPtr _element, T& _value); + +public: + T offset; + T drift; + T drift_frequency; + T gaussian_noise; + +private: + T current_drift_; + T current_error_; +}; + +template +SensorModel_::SensorModel_() + : offset() + , drift() + , drift_frequency() + , gaussian_noise() +{ + drift_frequency = 1.0/3600.0; + reset(); +} + +template +SensorModel_::~SensorModel_() +{ +} + +template +void SensorModel_::Load(sdf::ElementPtr _sdf, const std::string& prefix) +{ + std::string _offset, _drift, _drift_frequency, _gaussian_noise; + + if (prefix.empty()) { + _offset = "offset"; + _drift = "drift"; + _drift_frequency = "driftFrequency"; + _gaussian_noise = "gaussianNoise"; + } else { + _offset = prefix + "Offset"; + _drift = prefix + "Drift"; + _drift_frequency = prefix + "DriftFrequency"; + _gaussian_noise = prefix + "GaussianNoise"; + } + + if (_sdf->HasElement(_offset)) LoadImpl(_sdf->GetElement(_offset), offset); + if (_sdf->HasElement(_drift)) LoadImpl(_sdf->GetElement(_drift), drift); + if (_sdf->HasElement(_drift_frequency)) LoadImpl(_sdf->GetElement(_drift_frequency), drift_frequency); + if (_sdf->HasElement(_gaussian_noise)) LoadImpl(_sdf->GetElement(_gaussian_noise), gaussian_noise); +} + +template +bool SensorModel_::LoadImpl(sdf::ElementPtr _element, T& _value) { + if (!_element->GetValue()) return false; + return _element->GetValue()->Get(_value); +} + +namespace { + template + static inline T SensorModelGaussianKernel(T mu, T sigma) + { + // using Box-Muller transform to generate two independent standard normally disbributed normal variables + // see wikipedia + T U = (T)rand()/(T)RAND_MAX; // normalized uniform random variable + T V = (T)rand()/(T)RAND_MAX; // normalized uniform random variable + T X = sqrt(-2.0 * ::log(U)) * cos( 2.0*M_PI * V); + X = sigma * X + mu; + return X; + } + + template + static inline T SensorModelInternalUpdate(T& current_drift, T drift, T drift_frequency, T offset, T gaussian_noise, double dt) + { + current_drift = current_drift - dt * (current_drift * drift_frequency + SensorModelGaussianKernel(T(), sqrt(2*drift_frequency)*drift)); + return offset + current_drift + SensorModelGaussianKernel(T(), gaussian_noise); + } +} + +template +T SensorModel_::update(double dt) +{ + for(std::size_t i = 0; i < current_error_.size(); ++i) current_error_[i] = current_error_ = SensorModelInternalUpdate(current_drift_[i], drift[i], drift_frequency[i], offset[i], gaussian_noise[i], dt); + return current_error_; +} + +template <> +double SensorModel_::update(double dt) +{ + current_error_ = SensorModelInternalUpdate(current_drift_, drift, drift_frequency, offset, gaussian_noise, dt); + return current_error_; +} + +template <> +math::Vector3 SensorModel_::update(double dt) +{ + current_error_.x = SensorModelInternalUpdate(current_drift_.x, drift.x, drift_frequency.x, offset.x, gaussian_noise.x, dt); + current_error_.y = SensorModelInternalUpdate(current_drift_.y, drift.y, drift_frequency.y, offset.y, gaussian_noise.y, dt); + current_error_.z = SensorModelInternalUpdate(current_drift_.z, drift.z, drift_frequency.z, offset.z, gaussian_noise.z, dt); + return current_error_; +} + +template +void SensorModel_::reset(const T& value) +{ + current_drift_ = T(); + current_error_ = value; +} + +typedef SensorModel_ SensorModel; +typedef SensorModel_ SensorModel3; + +} + +#endif // HECTOR_GAZEBO_PLUGINS_SENSOR_MODEL_H diff --git a/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/update_timer.h b/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/update_timer.h new file mode 100755 index 0000000..30155bd --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/include/eklavya_plugin/update_timer.h @@ -0,0 +1,168 @@ +//================================================================================================= +// Copyright (c) 2013, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H +#define HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H + +#include +#include +#include + +#include +#include + +namespace gazebo { + +class UpdateTimer { +public: + UpdateTimer() + : connection_count_(0) + { + } + + virtual ~UpdateTimer() + { + } + + virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf, const std::string& _prefix = "update") + { + this->world_ = _world; + + if (_sdf->HasElement(_prefix + "Rate")) { + double update_rate = 0.0; + _sdf->GetElement(_prefix + "Rate")->GetValue()->Get(update_rate); + update_period_ = update_rate > 0.0 ? 1.0/update_rate : 0.0; + } + + if (_sdf->HasElement(_prefix + "Period")) { + _sdf->GetElement(_prefix + "Period")->GetValue()->Get(update_period_); + } + + if (_sdf->HasElement(_prefix + "Offset")) { + _sdf->GetElement(_prefix + "Offset")->GetValue()->Get(update_offset_); + } + } + + virtual event::ConnectionPtr Connect(const boost::function &_subscriber, bool connectToWorldUpdateBegin = true) + { + if (connectToWorldUpdateBegin && !update_connection_) { + update_connection_ = event::Events::ConnectWorldUpdateBegin( + boost::bind(&UpdateTimer::Update, this)); + } + connection_count_++; + return update_event_.Connect(_subscriber); + } + + virtual void Disconnect(event::ConnectionPtr const& _c = event::ConnectionPtr()) + { + if (_c) update_event_.Disconnect(_c); + + if (update_connection_ && (!_c || --connection_count_ == 0)) { + event::Events::DisconnectWorldUpdateBegin(update_connection_); + update_connection_.reset(); + } + } + + common::Time const& getUpdatePeriod() const { + return update_period_; + } + + void setUpdatePeriod(common::Time const& period) { + update_period_ = period; + } + + double getUpdateRate() const { + double period = update_period_.Double(); + return (period > 0.0) ? (1.0 / period) : 0.0; + } + + void setUpdateRate(double rate) { + update_period_ = (rate > 0.0) ? (1.0 / rate) : 0.0; + } + + common::Time const& getLastUpdate() const { + return last_update_; + } + + common::Time getTimeSinceLastUpdate() const { + if (last_update_ == common::Time()) return common::Time(); + return world_->GetSimTime() - last_update_; + } + + virtual bool checkUpdate() const + { + double period = update_period_.Double(); + double step = world_->GetPhysicsEngine()->GetMaxStepSize(); + if (period == 0) return true; + double fraction = fmod((world_->GetSimTime() - update_offset_).Double() + (step / 2.0), period); + return (fraction >= 0.0) && (fraction < step); + } + + virtual bool update() + { + if (!checkUpdate()) return false; + last_update_ = world_->GetSimTime(); + return true; + } + + virtual bool update(double& dt) + { + dt = getTimeSinceLastUpdate().Double(); + return update(); + } + + virtual void Reset() + { + last_update_ = common::Time(); + } + +protected: + virtual bool Update() + { + if (!checkUpdate()) { + return false; + } + update_event_(); + last_update_ = world_->GetSimTime(); + return true; + } + +private: + physics::WorldPtr world_; + common::Time update_period_; + common::Time update_offset_; + common::Time last_update_; + + event::EventT update_event_; + unsigned int connection_count_; + event::ConnectionPtr update_connection_; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_UPDATE_TIMER_H diff --git a/simulation-2015/eklavya5_gazebo_plugins/package.xml b/simulation-2015/eklavya5_gazebo_plugins/package.xml new file mode 100755 index 0000000..b4e4cd5 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/package.xml @@ -0,0 +1,67 @@ + + + eklavya5_gazebo_plugins + 0.0.1 + The eklavya_gazebo_plugins package + + + + + Jit Ray Chowdhury + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + tf + gazebo + gazebo_ros + gazebo_plugins + gazebo_msgs + roscpp + std_msgs + tf + gazebo + gazebo_ros + gazebo_plugins + gazebo_msgs + roscpp + std_msgs + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo_plugins/package.xml~ b/simulation-2015/eklavya5_gazebo_plugins/package.xml~ new file mode 100755 index 0000000..f836501 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/package.xml~ @@ -0,0 +1,67 @@ + + + eklavya_gazebo_plugins + 0.0.1 + The eklavya_gazebo_plugins package + + + + + Jit Ray Chowdhury + + + + + + BSD + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + tf + gazebo + gazebo_ros + gazebo_plugins + gazebo_msgs + roscpp + std_msgs + tf + gazebo + gazebo_ros + gazebo_plugins + gazebo_msgs + roscpp + std_msgs + + + + + + + + + + + diff --git a/simulation-2015/eklavya5_gazebo_plugins/src/eklavya_plugin.cpp b/simulation-2015/eklavya5_gazebo_plugins/src/eklavya_plugin.cpp new file mode 100755 index 0000000..de2f31b --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/src/eklavya_plugin.cpp @@ -0,0 +1,391 @@ +/* + * Copyright (c) 2012, Clearpath Robotics, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Desc: Gazebo 1.x plugin for Eklavya 2015 + * Adapted from the Husky plugin + * Author: Jit Ray Chowdhury + */ + +#include +#include +#include +#include + +#include + +#include + +using namespace gazebo; + +enum {BL= 0, BR=1, FL=2, FR=3}; + +EklavyaPlugin::EklavyaPlugin() +{ + kill_sim = false; + this->spinner_thread_ = new boost::thread( boost::bind( &EklavyaPlugin::spin, this) ); + + wheel_speed_ = new float[4]; + wheel_speed_[BL] = 0.0; + wheel_speed_[BR] = 0.0; + wheel_speed_[FL] = 0.0; + wheel_speed_[FR] = 0.0; + + set_joints_[0] = false; + set_joints_[1] = false; + set_joints_[2] = false; + set_joints_[3] = false; + + joints_[0].reset(); + joints_[1].reset(); + joints_[2].reset(); + joints_[3].reset(); +} + +EklavyaPlugin::~EklavyaPlugin() +{ + event::Events::DisconnectWorldUpdateBegin(this->updateConnection); + + rosnode_->shutdown(); + kill_sim = true; + this->spinner_thread_->join(); + delete this->spinner_thread_; + delete [] wheel_speed_; + delete rosnode_; +} + +void EklavyaPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf ) +{ + this->model_ = _parent; + this->world_ = this->model_->GetWorld(); + + this->node_namespace_ = ""; + if (_sdf->HasElement("robotNamespace")) + this->node_namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; + + + bl_joint_name_ = "backLeftJoint"; + if (_sdf->HasElement("backLeftJoint")) + bl_joint_name_ = _sdf->GetElement("backLeftJoint")->Get(); + + br_joint_name_ = "backRightJoint"; + if (_sdf->HasElement("backRightJoint")) + br_joint_name_ = _sdf->GetElement("backRightJoint")->Get(); + + fl_joint_name_ = "frontLeftJoint"; + if (_sdf->HasElement("frontLeftJoint")) + fl_joint_name_ = _sdf->GetElement("frontLeftJoint")->Get(); + + fr_joint_name_ = "frontRightJoint"; + if (_sdf->HasElement("frontRightJoint")) + fr_joint_name_ = _sdf->GetElement("frontRightJoint")->Get(); + + wheel_sep_ = 0.55; + if (_sdf->HasElement("wheelSeparation")) + wheel_sep_ = _sdf->GetElement("wheelSeparation")->Get(); + + wheel_diam_ = 0.30; + if (_sdf->HasElement("wheelDiameter")) + wheel_diam_ = _sdf->GetElement("wheelDiameter")->Get(); + + torque_ = 15.0; + if (_sdf->HasElement("torque")) + torque_ = _sdf->GetElement("torque")->Get(); + + base_geom_name_ = "base_link"; + if (_sdf->HasElement("baseGeom")) + base_geom_name_ = _sdf->GetElement("baseGeom")->Get(); + base_geom_ = model_->GetChildCollision(base_geom_name_); + + //base_geom_->SetContactsEnabled(true); + + // Get the name of the parent model + std::string modelName = _sdf->GetParent()->Get("name"); + + // Listen to the update event. This event is broadcast every + // simulation iteration. + this->updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&EklavyaPlugin::UpdateChild, this)); + gzdbg << "Plugin model name: " << modelName << "\n"; + + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc, argv, "gazebo_eklavya", ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + rosnode_ = new ros::NodeHandle( node_namespace_ ); + + cmd_vel_sub_ = rosnode_->subscribe("cmd_vel", 1, &EklavyaPlugin::OnCmdVel, this ); + + odom_pub_ = rosnode_->advertise("odom", 1); + + joint_state_pub_ = rosnode_->advertise("joint_states", 1); + + js_.name.push_back( bl_joint_name_ ); + js_.position.push_back(0); + js_.velocity.push_back(0); + js_.effort.push_back(0); + + js_.name.push_back( br_joint_name_ ); + js_.position.push_back(0); + js_.velocity.push_back(0); + js_.effort.push_back(0); + + js_.name.push_back( fl_joint_name_ ); + js_.position.push_back(0); + js_.velocity.push_back(0); + js_.effort.push_back(0); + + js_.name.push_back( fr_joint_name_ ); + js_.position.push_back(0); + js_.velocity.push_back(0); + js_.effort.push_back(0); + + prev_update_time_ = 0; + prev_odom_time_ = 0; + last_cmd_vel_time_ = 0; + odom_dr_ = 0; + odom_da_ = 0; + + joints_[BL] = model_->GetJoint(bl_joint_name_); + joints_[BR] = model_->GetJoint(br_joint_name_); + joints_[FL] = model_->GetJoint(fl_joint_name_); + joints_[FR] = model_->GetJoint(fr_joint_name_); + + if (joints_[BL]) set_joints_[BL] = true; + if (joints_[BR]) set_joints_[BR] = true; + if (joints_[FL]) set_joints_[FL] = true; + if (joints_[FR]) set_joints_[FR] = true; + + //initialize time and odometry position + prev_update_time_ = last_cmd_vel_time_ = this->world_->GetSimTime(); + odom_pose_[0] = 0.0; + odom_pose_[1] = 0.0; + odom_pose_[2] = 0.0; +} + +void EklavyaPlugin::publishOdometry(common::Time time_now) { + + common::Time step_time = time_now - prev_odom_time_; + prev_odom_time_ = time_now; + + // Compute odometric pose + odom_pose_[0] += odom_dr_ * cos( odom_pose_[2] ); + odom_pose_[1] += odom_dr_ * sin( odom_pose_[2] ); + odom_pose_[2] += odom_da_; + + // Compute odometric instantaneous velocity + odom_vel_[0] = odom_dr_ / step_time.Double(); + odom_vel_[1] = 0.0; + odom_vel_[2] = odom_da_ / step_time.Double(); + + nav_msgs::Odometry odom; + odom.header.stamp.sec = time_now.sec; + odom.header.stamp.nsec = time_now.nsec; + odom.header.frame_id = "odom"; + odom.child_frame_id = "base_footprint"; + odom.pose.pose.position.x = odom_pose_[0]; + odom.pose.pose.position.y = odom_pose_[1]; + odom.pose.pose.position.z = 0; + + tf::Quaternion qt; + qt.setRPY(0,0,odom_pose_[2]); + + odom.pose.pose.orientation.x = qt.getX(); + odom.pose.pose.orientation.y = qt.getY(); + odom.pose.pose.orientation.z = qt.getZ(); + odom.pose.pose.orientation.w = qt.getW(); + + double pose_cov[36] = { 1e-3, 0, 0, 0, 0, 0, + 0, 1e-3, 0, 0, 0, 0, + 0, 0, 1e6, 0, 0, 0, + 0, 0, 0, 1e6, 0, 0, + 0, 0, 0, 0, 1e6, 0, + 0, 0, 0, 0, 0, 1e3}; + + memcpy( &odom.pose.covariance[0], pose_cov, sizeof(double)*36 ); + memcpy( &odom.twist.covariance[0], pose_cov, sizeof(double)*36 ); + + odom.twist.twist.linear.x = odom_vel_[0]; + odom.twist.twist.linear.y = 0; + odom.twist.twist.linear.z = 0; + + odom.twist.twist.angular.x = 0; + odom.twist.twist.angular.y = 0; + odom.twist.twist.angular.z = odom_vel_[2]; + + odom_pub_.publish( odom ); +} + +void EklavyaPlugin::UpdateChild() +{ + common::Time time_now = this->world_->GetSimTime(); + common::Time step_time = time_now - prev_update_time_; + prev_update_time_ = time_now; + + double wd, ws; + double d_bl, d_br, d_fl, d_fr; + double dr, da; + + wd = wheel_diam_; + ws = wheel_sep_; + + d_bl = d_br = d_fl = d_fr = 0; + dr = da = 0; + + // Distance travelled by front wheels + if (set_joints_[BL]) + d_bl = step_time.Double() * (wd / 2) * joints_[BL]->GetVelocity(0); + if (set_joints_[BR]) + d_br = step_time.Double() * (wd / 2) * joints_[BR]->GetVelocity(0); + if (set_joints_[FL]) + d_fl = step_time.Double() * (wd / 2) * joints_[FL]->GetVelocity(0); + if (set_joints_[FR]) + d_fr = step_time.Double() * (wd / 2) * joints_[FR]->GetVelocity(0); + + // Can see NaN values here, just zero them out if needed + if (isnan(d_bl)) { + ROS_WARN_THROTTLE(0.1, "Gazebo ROS Eklavya plugin. NaN in d_bl. Step time: %.2f. WD: %.2f. Velocity: %.2f", step_time.Double(), wd, joints_[BL]->GetVelocity(0)); + d_bl = 0; + } + if (isnan(d_br)) { + ROS_WARN_THROTTLE(0.1, "Gazebo ROS Eklavya plugin. NaN in d_br. Step time: %.2f. WD: %.2f. Velocity: %.2f", step_time.Double(), wd, joints_[BR]->GetVelocity(0)); + d_br = 0; + } + if (isnan(d_fl)) { + ROS_WARN_THROTTLE(0.1, "Gazebo ROS Eklavya plugin. NaN in d_fl. Step time: %.2f. WD: %.2f. Velocity: %.2f", step_time.Double(), wd, joints_[FL]->GetVelocity(0)); + d_fl = 0; + } + if (isnan(d_fr)) { + ROS_WARN_THROTTLE(0.1, "Gazebo ROS Eklavya plugin. NaN in d_fr. Step time: %.2f. WD: %.2f. Velocity: %.2f", step_time.Double(), wd, joints_[FR]->GetVelocity(0)); + d_fr = 0; + } + + dr = (d_bl + d_br + d_fl + d_fr) / 4; + da = ((d_br+d_fr)/2 - (d_bl+d_fl)/2) / ws; + + + odom_pub_counter_++; + odom_dr_ += dr; + odom_da_ += da; + double reqd_period = 0.04; + if (odom_pub_counter_ >= reqd_period/step_time.Double()) { + publishOdometry(time_now); + odom_pub_counter_ = 0; + odom_dr_ = 0; + odom_da_ = 0; + } + + + + if (set_joints_[BL]) + { + joints_[BL]->SetVelocity( 0, wheel_speed_[BL] / (wd/2.0) ); + joints_[BL]->SetMaxForce( 0, torque_ ); + } + if (set_joints_[BR]) + { + joints_[BR]->SetVelocity( 0, wheel_speed_[BR] / (wd / 2.0) ); + joints_[BR]->SetMaxForce( 0, torque_ ); + } + if (set_joints_[FL]) + { + joints_[FL]->SetVelocity( 0, wheel_speed_[FL] / (wd / 2.0) ); + joints_[FL]->SetMaxForce( 0, torque_ ); + } + if (set_joints_[FR]) + { + joints_[FR]->SetVelocity( 0, wheel_speed_[FR] / (wd / 2.0) ); + joints_[FR]->SetMaxForce( 0, torque_ ); + } + + + + js_.header.stamp.sec = time_now.sec; + js_.header.stamp.nsec = time_now.nsec; + if (this->set_joints_[BL]) + { + js_.position[0] = joints_[BL]->GetAngle(0).Radian(); + js_.velocity[0] = joints_[BL]->GetVelocity(0); + } + + if (this->set_joints_[BR]) + { + js_.position[1] = joints_[BR]->GetAngle(0).Radian(); + js_.velocity[1] = joints_[BR]->GetVelocity(0); + } + + if (this->set_joints_[FL]) + { + js_.position[2] = joints_[FL]->GetAngle(0).Radian(); + js_.velocity[2] = joints_[FL]->GetVelocity(0); + } + + if (this->set_joints_[FR]) + { + js_.position[3] = joints_[FR]->GetAngle(0).Radian(); + js_.velocity[3] = joints_[FR]->GetVelocity(0); + } + + joint_state_pub_.publish( js_ ); + + // Timeout if we haven't received a cmd in <0.1 s + common::Time time_since_last_cmd = time_now - last_cmd_vel_time_; + if (time_since_last_cmd.Double() > 0.1) + { + wheel_speed_[BL] = 0; + wheel_speed_[BR] = 0; + wheel_speed_[FL] = 0; + wheel_speed_[FR] = 0; + } +} + + +void EklavyaPlugin::OnCmdVel( const geometry_msgs::TwistConstPtr &msg) +{ + last_cmd_vel_time_ = this->world_->GetSimTime(); + double vr, va; + vr = msg->linear.x; + va = msg->angular.z; + + wheel_speed_[BL] = vr - va * (wheel_sep_) / 2; + wheel_speed_[BR] = vr + va * (wheel_sep_) / 2; + wheel_speed_[FL] = vr - va * (wheel_sep_) / 2; + wheel_speed_[FR] = vr + va * (wheel_sep_) / 2; +} + +void EklavyaPlugin::spin() +{ + while(ros::ok() && !kill_sim) ros::spinOnce(); +} + +GZ_REGISTER_MODEL_PLUGIN(EklavyaPlugin); + diff --git a/simulation-2015/eklavya5_gazebo_plugins/src/eklavya_plugin.cpp~ b/simulation-2015/eklavya5_gazebo_plugins/src/eklavya_plugin.cpp~ new file mode 100755 index 0000000..de2f31b --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/src/eklavya_plugin.cpp~ @@ -0,0 +1,391 @@ +/* + * Copyright (c) 2012, Clearpath Robotics, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of Clearpath Robotics, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +/* + * Desc: Gazebo 1.x plugin for Eklavya 2015 + * Adapted from the Husky plugin + * Author: Jit Ray Chowdhury + */ + +#include +#include +#include +#include + +#include + +#include + +using namespace gazebo; + +enum {BL= 0, BR=1, FL=2, FR=3}; + +EklavyaPlugin::EklavyaPlugin() +{ + kill_sim = false; + this->spinner_thread_ = new boost::thread( boost::bind( &EklavyaPlugin::spin, this) ); + + wheel_speed_ = new float[4]; + wheel_speed_[BL] = 0.0; + wheel_speed_[BR] = 0.0; + wheel_speed_[FL] = 0.0; + wheel_speed_[FR] = 0.0; + + set_joints_[0] = false; + set_joints_[1] = false; + set_joints_[2] = false; + set_joints_[3] = false; + + joints_[0].reset(); + joints_[1].reset(); + joints_[2].reset(); + joints_[3].reset(); +} + +EklavyaPlugin::~EklavyaPlugin() +{ + event::Events::DisconnectWorldUpdateBegin(this->updateConnection); + + rosnode_->shutdown(); + kill_sim = true; + this->spinner_thread_->join(); + delete this->spinner_thread_; + delete [] wheel_speed_; + delete rosnode_; +} + +void EklavyaPlugin::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf ) +{ + this->model_ = _parent; + this->world_ = this->model_->GetWorld(); + + this->node_namespace_ = ""; + if (_sdf->HasElement("robotNamespace")) + this->node_namespace_ = _sdf->GetElement("robotNamespace")->Get() + "/"; + + + bl_joint_name_ = "backLeftJoint"; + if (_sdf->HasElement("backLeftJoint")) + bl_joint_name_ = _sdf->GetElement("backLeftJoint")->Get(); + + br_joint_name_ = "backRightJoint"; + if (_sdf->HasElement("backRightJoint")) + br_joint_name_ = _sdf->GetElement("backRightJoint")->Get(); + + fl_joint_name_ = "frontLeftJoint"; + if (_sdf->HasElement("frontLeftJoint")) + fl_joint_name_ = _sdf->GetElement("frontLeftJoint")->Get(); + + fr_joint_name_ = "frontRightJoint"; + if (_sdf->HasElement("frontRightJoint")) + fr_joint_name_ = _sdf->GetElement("frontRightJoint")->Get(); + + wheel_sep_ = 0.55; + if (_sdf->HasElement("wheelSeparation")) + wheel_sep_ = _sdf->GetElement("wheelSeparation")->Get(); + + wheel_diam_ = 0.30; + if (_sdf->HasElement("wheelDiameter")) + wheel_diam_ = _sdf->GetElement("wheelDiameter")->Get(); + + torque_ = 15.0; + if (_sdf->HasElement("torque")) + torque_ = _sdf->GetElement("torque")->Get(); + + base_geom_name_ = "base_link"; + if (_sdf->HasElement("baseGeom")) + base_geom_name_ = _sdf->GetElement("baseGeom")->Get(); + base_geom_ = model_->GetChildCollision(base_geom_name_); + + //base_geom_->SetContactsEnabled(true); + + // Get the name of the parent model + std::string modelName = _sdf->GetParent()->Get("name"); + + // Listen to the update event. This event is broadcast every + // simulation iteration. + this->updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&EklavyaPlugin::UpdateChild, this)); + gzdbg << "Plugin model name: " << modelName << "\n"; + + if (!ros::isInitialized()) + { + int argc = 0; + char** argv = NULL; + ros::init(argc, argv, "gazebo_eklavya", ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + rosnode_ = new ros::NodeHandle( node_namespace_ ); + + cmd_vel_sub_ = rosnode_->subscribe("cmd_vel", 1, &EklavyaPlugin::OnCmdVel, this ); + + odom_pub_ = rosnode_->advertise("odom", 1); + + joint_state_pub_ = rosnode_->advertise("joint_states", 1); + + js_.name.push_back( bl_joint_name_ ); + js_.position.push_back(0); + js_.velocity.push_back(0); + js_.effort.push_back(0); + + js_.name.push_back( br_joint_name_ ); + js_.position.push_back(0); + js_.velocity.push_back(0); + js_.effort.push_back(0); + + js_.name.push_back( fl_joint_name_ ); + js_.position.push_back(0); + js_.velocity.push_back(0); + js_.effort.push_back(0); + + js_.name.push_back( fr_joint_name_ ); + js_.position.push_back(0); + js_.velocity.push_back(0); + js_.effort.push_back(0); + + prev_update_time_ = 0; + prev_odom_time_ = 0; + last_cmd_vel_time_ = 0; + odom_dr_ = 0; + odom_da_ = 0; + + joints_[BL] = model_->GetJoint(bl_joint_name_); + joints_[BR] = model_->GetJoint(br_joint_name_); + joints_[FL] = model_->GetJoint(fl_joint_name_); + joints_[FR] = model_->GetJoint(fr_joint_name_); + + if (joints_[BL]) set_joints_[BL] = true; + if (joints_[BR]) set_joints_[BR] = true; + if (joints_[FL]) set_joints_[FL] = true; + if (joints_[FR]) set_joints_[FR] = true; + + //initialize time and odometry position + prev_update_time_ = last_cmd_vel_time_ = this->world_->GetSimTime(); + odom_pose_[0] = 0.0; + odom_pose_[1] = 0.0; + odom_pose_[2] = 0.0; +} + +void EklavyaPlugin::publishOdometry(common::Time time_now) { + + common::Time step_time = time_now - prev_odom_time_; + prev_odom_time_ = time_now; + + // Compute odometric pose + odom_pose_[0] += odom_dr_ * cos( odom_pose_[2] ); + odom_pose_[1] += odom_dr_ * sin( odom_pose_[2] ); + odom_pose_[2] += odom_da_; + + // Compute odometric instantaneous velocity + odom_vel_[0] = odom_dr_ / step_time.Double(); + odom_vel_[1] = 0.0; + odom_vel_[2] = odom_da_ / step_time.Double(); + + nav_msgs::Odometry odom; + odom.header.stamp.sec = time_now.sec; + odom.header.stamp.nsec = time_now.nsec; + odom.header.frame_id = "odom"; + odom.child_frame_id = "base_footprint"; + odom.pose.pose.position.x = odom_pose_[0]; + odom.pose.pose.position.y = odom_pose_[1]; + odom.pose.pose.position.z = 0; + + tf::Quaternion qt; + qt.setRPY(0,0,odom_pose_[2]); + + odom.pose.pose.orientation.x = qt.getX(); + odom.pose.pose.orientation.y = qt.getY(); + odom.pose.pose.orientation.z = qt.getZ(); + odom.pose.pose.orientation.w = qt.getW(); + + double pose_cov[36] = { 1e-3, 0, 0, 0, 0, 0, + 0, 1e-3, 0, 0, 0, 0, + 0, 0, 1e6, 0, 0, 0, + 0, 0, 0, 1e6, 0, 0, + 0, 0, 0, 0, 1e6, 0, + 0, 0, 0, 0, 0, 1e3}; + + memcpy( &odom.pose.covariance[0], pose_cov, sizeof(double)*36 ); + memcpy( &odom.twist.covariance[0], pose_cov, sizeof(double)*36 ); + + odom.twist.twist.linear.x = odom_vel_[0]; + odom.twist.twist.linear.y = 0; + odom.twist.twist.linear.z = 0; + + odom.twist.twist.angular.x = 0; + odom.twist.twist.angular.y = 0; + odom.twist.twist.angular.z = odom_vel_[2]; + + odom_pub_.publish( odom ); +} + +void EklavyaPlugin::UpdateChild() +{ + common::Time time_now = this->world_->GetSimTime(); + common::Time step_time = time_now - prev_update_time_; + prev_update_time_ = time_now; + + double wd, ws; + double d_bl, d_br, d_fl, d_fr; + double dr, da; + + wd = wheel_diam_; + ws = wheel_sep_; + + d_bl = d_br = d_fl = d_fr = 0; + dr = da = 0; + + // Distance travelled by front wheels + if (set_joints_[BL]) + d_bl = step_time.Double() * (wd / 2) * joints_[BL]->GetVelocity(0); + if (set_joints_[BR]) + d_br = step_time.Double() * (wd / 2) * joints_[BR]->GetVelocity(0); + if (set_joints_[FL]) + d_fl = step_time.Double() * (wd / 2) * joints_[FL]->GetVelocity(0); + if (set_joints_[FR]) + d_fr = step_time.Double() * (wd / 2) * joints_[FR]->GetVelocity(0); + + // Can see NaN values here, just zero them out if needed + if (isnan(d_bl)) { + ROS_WARN_THROTTLE(0.1, "Gazebo ROS Eklavya plugin. NaN in d_bl. Step time: %.2f. WD: %.2f. Velocity: %.2f", step_time.Double(), wd, joints_[BL]->GetVelocity(0)); + d_bl = 0; + } + if (isnan(d_br)) { + ROS_WARN_THROTTLE(0.1, "Gazebo ROS Eklavya plugin. NaN in d_br. Step time: %.2f. WD: %.2f. Velocity: %.2f", step_time.Double(), wd, joints_[BR]->GetVelocity(0)); + d_br = 0; + } + if (isnan(d_fl)) { + ROS_WARN_THROTTLE(0.1, "Gazebo ROS Eklavya plugin. NaN in d_fl. Step time: %.2f. WD: %.2f. Velocity: %.2f", step_time.Double(), wd, joints_[FL]->GetVelocity(0)); + d_fl = 0; + } + if (isnan(d_fr)) { + ROS_WARN_THROTTLE(0.1, "Gazebo ROS Eklavya plugin. NaN in d_fr. Step time: %.2f. WD: %.2f. Velocity: %.2f", step_time.Double(), wd, joints_[FR]->GetVelocity(0)); + d_fr = 0; + } + + dr = (d_bl + d_br + d_fl + d_fr) / 4; + da = ((d_br+d_fr)/2 - (d_bl+d_fl)/2) / ws; + + + odom_pub_counter_++; + odom_dr_ += dr; + odom_da_ += da; + double reqd_period = 0.04; + if (odom_pub_counter_ >= reqd_period/step_time.Double()) { + publishOdometry(time_now); + odom_pub_counter_ = 0; + odom_dr_ = 0; + odom_da_ = 0; + } + + + + if (set_joints_[BL]) + { + joints_[BL]->SetVelocity( 0, wheel_speed_[BL] / (wd/2.0) ); + joints_[BL]->SetMaxForce( 0, torque_ ); + } + if (set_joints_[BR]) + { + joints_[BR]->SetVelocity( 0, wheel_speed_[BR] / (wd / 2.0) ); + joints_[BR]->SetMaxForce( 0, torque_ ); + } + if (set_joints_[FL]) + { + joints_[FL]->SetVelocity( 0, wheel_speed_[FL] / (wd / 2.0) ); + joints_[FL]->SetMaxForce( 0, torque_ ); + } + if (set_joints_[FR]) + { + joints_[FR]->SetVelocity( 0, wheel_speed_[FR] / (wd / 2.0) ); + joints_[FR]->SetMaxForce( 0, torque_ ); + } + + + + js_.header.stamp.sec = time_now.sec; + js_.header.stamp.nsec = time_now.nsec; + if (this->set_joints_[BL]) + { + js_.position[0] = joints_[BL]->GetAngle(0).Radian(); + js_.velocity[0] = joints_[BL]->GetVelocity(0); + } + + if (this->set_joints_[BR]) + { + js_.position[1] = joints_[BR]->GetAngle(0).Radian(); + js_.velocity[1] = joints_[BR]->GetVelocity(0); + } + + if (this->set_joints_[FL]) + { + js_.position[2] = joints_[FL]->GetAngle(0).Radian(); + js_.velocity[2] = joints_[FL]->GetVelocity(0); + } + + if (this->set_joints_[FR]) + { + js_.position[3] = joints_[FR]->GetAngle(0).Radian(); + js_.velocity[3] = joints_[FR]->GetVelocity(0); + } + + joint_state_pub_.publish( js_ ); + + // Timeout if we haven't received a cmd in <0.1 s + common::Time time_since_last_cmd = time_now - last_cmd_vel_time_; + if (time_since_last_cmd.Double() > 0.1) + { + wheel_speed_[BL] = 0; + wheel_speed_[BR] = 0; + wheel_speed_[FL] = 0; + wheel_speed_[FR] = 0; + } +} + + +void EklavyaPlugin::OnCmdVel( const geometry_msgs::TwistConstPtr &msg) +{ + last_cmd_vel_time_ = this->world_->GetSimTime(); + double vr, va; + vr = msg->linear.x; + va = msg->angular.z; + + wheel_speed_[BL] = vr - va * (wheel_sep_) / 2; + wheel_speed_[BR] = vr + va * (wheel_sep_) / 2; + wheel_speed_[FL] = vr - va * (wheel_sep_) / 2; + wheel_speed_[FR] = vr + va * (wheel_sep_) / 2; +} + +void EklavyaPlugin::spin() +{ + while(ros::ok() && !kill_sim) ros::spinOnce(); +} + +GZ_REGISTER_MODEL_PLUGIN(EklavyaPlugin); + diff --git a/simulation-2015/eklavya5_gazebo_plugins/src/gazebo_ros_gps.cpp b/simulation-2015/eklavya5_gazebo_plugins/src/gazebo_ros_gps.cpp new file mode 100755 index 0000000..6dca330 --- /dev/null +++ b/simulation-2015/eklavya5_gazebo_plugins/src/gazebo_ros_gps.cpp @@ -0,0 +1,207 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include + +// WGS84 constants +static const double equatorial_radius = 6378137.0; +static const double flattening = 1.0/298.257223563; +static const double excentrity2 = 2*flattening - flattening*flattening; + +// default reference position +static const double DEFAULT_REFERENCE_LATITUDE = 49.9; +static const double DEFAULT_REFERENCE_LONGITUDE = 8.9; +static const double DEFAULT_REFERENCE_HEADING = 0.0; +static const double DEFAULT_REFERENCE_ALTITUDE = 0.0; + +namespace gazebo { + +GazeboRosGps::GazeboRosGps() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosGps::~GazeboRosGps() +{ + updateTimer.Disconnect(updateConnection); + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosGps::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValue()->GetAsString(); + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValue()->GetAsString(); + link = _model->GetLink(link_name_); + } + + if (!link) + { + ROS_FATAL("GazeboRosGps plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + // default parameters + frame_id_ = "/world"; + fix_topic_ = "fix"; + velocity_topic_ = "fix_velocity"; + + reference_latitude_ = DEFAULT_REFERENCE_LATITUDE; + reference_longitude_ = DEFAULT_REFERENCE_LONGITUDE; + reference_heading_ = DEFAULT_REFERENCE_HEADING * M_PI/180.0; + reference_altitude_ = DEFAULT_REFERENCE_ALTITUDE; + + status_ = sensor_msgs::NavSatStatus::STATUS_FIX; + service_ = sensor_msgs::NavSatStatus::SERVICE_GPS; + + fix_.header.frame_id = frame_id_; + fix_.status.status = status_; + fix_.status.service = service_; + velocity_.header.frame_id = frame_id_; + + if (_sdf->HasElement("frameId")) + frame_id_ = _sdf->GetElement("frameId")->GetValue()->GetAsString(); + + if (_sdf->HasElement("topicName")) + fix_topic_ = _sdf->GetElement("topicName")->GetValue()->GetAsString(); + + if (_sdf->HasElement("velocityTopicName")) + velocity_topic_ = _sdf->GetElement("velocityTopicName")->GetValue()->GetAsString(); + + if (_sdf->HasElement("referenceLatitude")) + _sdf->GetElement("referenceLatitude")->GetValue()->Get(reference_latitude_); + + if (_sdf->HasElement("referenceLongitude")) + _sdf->GetElement("referenceLongitude")->GetValue()->Get(reference_longitude_); + + if (_sdf->HasElement("referenceHeading")) + if (_sdf->GetElement("referenceHeading")->GetValue()->Get(reference_heading_)) + reference_heading_ *= M_PI/180.0; + + if (_sdf->HasElement("referenceAltitude")) + _sdf->GetElement("referenceAltitude")->GetValue()->Get(reference_altitude_); + + if (_sdf->HasElement("status")) + _sdf->GetElement("status")->GetValue()->Get(status_); + + if (_sdf->HasElement("service")) + _sdf->GetElement("service")->GetValue()->Get(service_); + + fix_.header.frame_id = frame_id_; + fix_.status.status = status_; + fix_.status.service = service_; + velocity_.header.frame_id = frame_id_; + + position_error_model_.Load(_sdf); + velocity_error_model_.Load(_sdf, "velocity"); + + // calculate earth radii + double temp = 1.0 / (1.0 - excentrity2 * sin(reference_latitude_ * M_PI/180.0) * sin(reference_latitude_ * M_PI/180.0)); + double prime_vertical_radius = equatorial_radius * sqrt(temp); + radius_north_ = prime_vertical_radius * (1 - excentrity2) * temp; + radius_east_ = prime_vertical_radius * cos(reference_latitude_ * M_PI/180.0); + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. " + << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)"); + return; + } + + node_handle_ = new ros::NodeHandle(namespace_); + fix_publisher_ = node_handle_->advertise(fix_topic_, 10); + velocity_publisher_ = node_handle_->advertise(velocity_topic_, 10); + + Reset(); + + // connect Update function + updateTimer.setUpdateRate(4.0); + updateTimer.Load(world, _sdf); + updateConnection = updateTimer.Connect(boost::bind(&GazeboRosGps::Update, this)); +} + +void GazeboRosGps::Reset() +{ + updateTimer.Reset(); + position_error_model_.reset(); + velocity_error_model_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosGps::Update() +{ + common::Time sim_time = world->GetSimTime(); + double dt = updateTimer.getTimeSinceLastUpdate().Double(); + + math::Pose pose = link->GetWorldPose(); + + gazebo::math::Vector3 velocity = velocity_error_model_(link->GetWorldLinearVel(), dt); + position_error_model_.setCurrentDrift(position_error_model_.getCurrentDrift() + velocity_error_model_.getCurrentError() * dt); + gazebo::math::Vector3 position = position_error_model_(pose.pos, dt); + + fix_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + velocity_.header.stamp = fix_.header.stamp; + + fix_.latitude = reference_latitude_ + ( cos(reference_heading_) * position.x + sin(reference_heading_) * position.y) / radius_north_ * 180.0/M_PI; + fix_.longitude = reference_longitude_ - (-sin(reference_heading_) * position.x + cos(reference_heading_) * position.y) / radius_east_ * 180.0/M_PI; + fix_.altitude = reference_altitude_ + position.z; + fix_.position_covariance_type = sensor_msgs::NavSatFix::COVARIANCE_TYPE_UNKNOWN; + fix_.position_covariance[0] = 0.01; + fix_.position_covariance[4] = 0.01; + fix_.position_covariance[8] = 0.01; + velocity_.vector.x = cos(reference_heading_) * velocity.x + sin(reference_heading_) * velocity.y; + velocity_.vector.y = -sin(reference_heading_) * velocity.x + cos(reference_heading_) * velocity.y; + velocity_.vector.z = velocity.z; + + fix_publisher_.publish(fix_); + velocity_publisher_.publish(velocity_); +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosGps) + +} // namespace gazebo