diff --git a/labrob_control/package.xml b/labrob_control/package.xml index 181ed5a..fd52fae 100644 --- a/labrob_control/package.xml +++ b/labrob_control/package.xml @@ -18,6 +18,7 @@ rospy sensor_msgs std_msgs + controller_manager geometry_msgs joy diff --git a/labrob_description/urdf/labrob.urdf.xacro b/labrob_description/urdf/labrob.urdf.xacro index 2269436..0f6e31e 100644 --- a/labrob_description/urdf/labrob.urdf.xacro +++ b/labrob_description/urdf/labrob.urdf.xacro @@ -9,11 +9,14 @@ + + + @@ -63,14 +66,14 @@ - + - + @@ -85,19 +88,70 @@ - + + + + + + + + + + + + + + + + + + + + Gazebo/Blue + false + + ${hokuyo_size/2} 0 0 0 0 0 + false + 40 + + + + 720 + 1 + -1.570796 + 1.570796 + + + + 0.10 + 10.0 + 0.001 + + + + /scan + hokuyo_link + + + + + + + + + - true + 1 100.0 front_left_wheel_joint front_right_wheel_joint @@ -105,16 +159,44 @@ back_right_wheel_joint ${base_y_size} ${2*wheel_radius} - 35 + 100 1 map cmd_vel odom base_footprint - - + - + diff --git a/labrob_gazebo/CMakeLists.txt b/labrob_gazebo/CMakeLists.txt index d247941..1464eb5 100644 --- a/labrob_gazebo/CMakeLists.txt +++ b/labrob_gazebo/CMakeLists.txt @@ -10,6 +10,7 @@ find_package(catkin REQUIRED COMPONENTS turtlebot_bringup ) + catkin_package( # INCLUDE_DIRS include # LIBRARIES labrob_gazebo diff --git a/labrob_gazebo/launch/gazebo.rviz b/labrob_gazebo/launch/gazebo.rviz index f59650f..b37f044 100644 --- a/labrob_gazebo/launch/gazebo.rviz +++ b/labrob_gazebo/launch/gazebo.rviz @@ -4,11 +4,10 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /Global Options1 - - /Status1 - - /PointCloud21 - Splitter Ratio: 0.5 - Tree Height: 481 + - /TF1/Frames1 + - /TF1/Tree1 + Splitter Ratio: 0.66443 + Tree Height: 689 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -27,7 +26,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: Camera + SyncSource: "" Visualization Manager: Class: "" Displays: @@ -49,7 +48,7 @@ Visualization Manager: Plane Cell Count: 10 Reference Frame: Value: true - - Alpha: 1 + - Alpha: 0.5 Class: rviz/RobotModel Collision Enabled: false Enabled: true @@ -79,27 +78,6 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - camera_depth_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_depth_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera_rgb_frame: - Alpha: 1 - Show Axes: false - Show Trail: false - camera_rgb_optical_frame: - Alpha: 1 - Show Axes: false - Show Trail: false front_left_wheel: Alpha: 1 Show Axes: false @@ -110,10 +88,11 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true - kinect_link: + hokuyo_link: Alpha: 1 Show Axes: false Show Trail: false + Value: true Name: RobotModel Robot Description: robot_description TF Prefix: "" @@ -121,63 +100,70 @@ Visualization Manager: Value: true Visual Enabled: true - Class: rviz/TF - Enabled: false + Enabled: true Frame Timeout: 15 Frames: - All Enabled: true + All Enabled: false + back_left_wheel: + Value: true + back_right_wheel: + Value: true + base_footprint: + Value: true + base_link: + Value: true + front_left_wheel: + Value: true + front_right_wheel: + Value: true + hokuyo_link: + Value: true + map: + Value: true Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: - {} + map: + base_footprint: + base_link: + back_left_wheel: + {} + back_right_wheel: + {} + front_left_wheel: + {} + front_right_wheel: + {} + hokuyo_link: + {} Update Interval: 0 - Value: false - - Class: rviz/Camera + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Cost Map + Topic: /move_base/global_costmap/costmap + Value: true + - Alpha: 0.7 + Class: rviz/Map + Color Scheme: map + Draw Behind: false Enabled: true - Image Rendering: background and overlay - Image Topic: /camera/rgb/image_raw - Name: Camera - Overlay Alpha: 0.5 - Queue Size: 2 - Transport Hint: raw + Name: Map + Topic: /map Value: true - Visibility: - Grid: true - PointCloud2: true - RobotModel: true - TF: true - Value: true - Zoom Factor: 1 - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 1.01442 - Min Value: 0.0159981 - Value: true - Axis: Z - Channel Name: rgb - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: FlatColor - Decay Time: 0 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 1.42903e-38 - Min Color: 0; 0; 0 - Min Intensity: 2.85806e-39 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.005 - Style: Boxes - Topic: /camera/depth/points - Use Fixed Frame: true - Use rainbow: true + Name: Path + Topic: /move_base/NavfnROS/plan Value: true Enabled: true Global Options: @@ -202,33 +188,30 @@ Visualization Manager: Value: true Views: Current: - Class: rviz/Orbit - Distance: 13.9186 + Angle: 0 + Class: rviz/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.06 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Focal Point: - X: 1.87274 - Y: 1.12721 - Z: 0.0811939 Name: Current View Near Clip Distance: 0.01 - Pitch: 0.625398 + Scale: 38.3044 Target Frame: - Value: Orbit (rviz) - Yaw: 1.68539 + Value: TopDownOrtho (rviz) + X: -0.131126 + Y: 0.266334 Saved: ~ Window Geometry: Camera: collapsed: false Displays: collapsed: false - Height: 1000 + Height: 995 Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000013c0000035efc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000270000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000029e000000e80000001600ffffff000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000035e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004cb0000003efc0100000002fb0000000800540069006d00650100000000000004cb000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002740000035e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd00000004000000000000013c00000340fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004100000340000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d00650072006100000002a2000000df0000001600000016000000010000010f0000035efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000035e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005000000003efc0100000002fb0000000800540069006d0065010000000000000500000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003be0000034000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -236,7 +219,7 @@ Window Geometry: Tool Properties: collapsed: false Views: - collapsed: false - Width: 1227 - X: 53 - Y: 24 + collapsed: true + Width: 1280 + X: 0 + Y: 0 diff --git a/labrob_gazebo/launch/labrob_gazebo.launch b/labrob_gazebo/launch/labrob_gazebo.launch index 3fc24c9..77ddd31 100644 --- a/labrob_gazebo/launch/labrob_gazebo.launch +++ b/labrob_gazebo/launch/labrob_gazebo.launch @@ -1,5 +1,7 @@ + + @@ -8,7 +10,7 @@ - + @@ -21,7 +23,7 @@ + args="$(arg spawn_args) -urdf -param robot_description -model labrob" /> @@ -36,7 +38,8 @@ - + + diff --git a/labrob_gazebo/scripts/localizer.py b/labrob_gazebo/scripts/localizer.py new file mode 100755 index 0000000..bac4087 --- /dev/null +++ b/labrob_gazebo/scripts/localizer.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python +""" Fake localization node. + +ROS navigation code typically expects 'map' to be the base coordinate +frame. A functioning navigation system would figure out where the +robot is in the map and then communicate that location by publishing a +transform from 'map' to 'odom'. + +This node fakes that process so that the tf tree is complete.. + +More info on ROS frame standards can be found here: +REP 105: http://www.ros.org/reps/rep-0105.html#coordinate-frames + +Author: Francisco Suarez Ruiz +Version: 04/07/2014 +Description: This script provides fake localization. +""" +import rospy +import tf +import numpy as np +from nav_msgs.msg import Odometry + + +class Localizer(): + """ + Currently it just broadcasts an identity transform from 'map' to + 'odom' and uses the gazebo pose to transform 'base_footprint' to 'odom' + """ + def __init__(self): + rospy.init_node('localizer') + br = tf.TransformBroadcaster() + self.odom_msg = Odometry() + rospy.Subscriber('odom', Odometry, self.odom_cb) + # Broadcast the transform at 60 HZ + rate = rospy.Rate(60.0) + rospy.loginfo('Localizer node successfully started') + while not rospy.is_shutdown(): + br.sendTransform((0, 0, 0), (0, 0, 0, 1), rospy.Time.now(), 'odom', 'map') + pos = self.odom_msg.pose.pose.position + rot = self.odom_msg.pose.pose.orientation + br.sendTransform((pos.x, pos.y, pos.z), (rot.x, rot.y, rot.z, rot.w), rospy.Time.now(), 'base_footprint', 'odom') + rate.sleep() + + def odom_cb(self, msg): + self.odom_msg = msg + + +if __name__ == '__main__': + try: + loc = Localizer() + except rospy.ROSInterruptException: + pass diff --git a/labrob_worlds/CMakeLists.txt b/labrob_worlds/CMakeLists.txt new file mode 100644 index 0000000..f0bbb59 --- /dev/null +++ b/labrob_worlds/CMakeLists.txt @@ -0,0 +1,23 @@ +cmake_minimum_required(VERSION 2.8.3) +project(labrob_worlds) + +find_package(catkin REQUIRED COMPONENTS + gazebo_ros + roscpp + rospy +) + + +catkin_package( +CATKIN_DEPENDS + roscpp + gazebo_ros +) + +find_package(gazebo REQUIRED) + +link_directories(${GAZEBO_LIBRARY_DIRS}) +include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS}) + +add_library(coins_manager_plugin src/coins_manager_plugin.cpp) +target_link_libraries(coins_manager_plugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES}) diff --git a/labrob_worlds/launch/crazy_maze.launch b/labrob_worlds/launch/crazy_maze.launch new file mode 100644 index 0000000..eae99cd --- /dev/null +++ b/labrob_worlds/launch/crazy_maze.launch @@ -0,0 +1,27 @@ + + + + + + + + + + + + + + + + + diff --git a/labrob_worlds/models/crazy_coins/meshes/coin.dae b/labrob_worlds/models/crazy_coins/meshes/coin.dae new file mode 100644 index 0000000..11cc297 --- /dev/null +++ b/labrob_worlds/models/crazy_coins/meshes/coin.dae @@ -0,0 +1,63 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + Wed Apr 9 14:29:38 2014 + Wed Apr 9 14:29:38 2014 + + + + + + + + + 0.600382 0.0140136 -0.59215 0.38201 0.0139876 -0.755592 0.336835 0.0140362 -0.64401 0.490887 0.0139917 -0.653876 -0.349816 0.0148818 -0.679381 0.245368 0.0185737 -0.604204 -0.31379 0.0189999 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414 2328 1122 2329 359 2329 457 2329 1124 2330 353 2330 330 2330 1125 2331 1126 2331 347 2331 347 2332 346 2332 1125 2332 1125 2333 346 2333 1126 2333 346 2334 347 2334 1126 2334 1127 2335 413 2335 412 2335 1128 2336 1127 2336 412 2336 412 2337 348 2337 1128 2337 1128 2338 348 2338 1129 2338 348 2339 345 2339 1129 2339 1129 2340 345 2340 1130 2340 345 2341 413 2341 1130 2341 1130 2342 413 2342 1127 2342 1129 2343 1127 2343 1128 2343 1129 2344 1130 2344 1127 2344 344 2345 1094 2345 1131 2345 1131 2346 1094 2346 1132 2346 1094 2347 333 2347 1132 2347 1132 2348 333 2348 331 2348 331 2349 1133 2349 1132 2349 331 2350 344 2350 1133 2350 1133 2351 344 2351 1131 2351 1131 2352 1132 2352 1133 2352 403 2353 415 2353 414 2353 415 2354 403 2354 430 2354 429 2355 403 2355 414 2355 382 2356 378 2356 445 2356 445 2357 378 2357 1135 2357 445 2358 1135 2358 379 2358 379 2359 1135 2359 378 2359 327 2360 444 2360 373 2360 327 2361 326 2361 444 2361 383 2362 444 2362 326 2362 384 2363 1124 2363 385 2363 330 2364 387 2364 385 2364 1124 2365 330 2365 385 2365 432 2366 411 2366 412 2366 435 2367 434 2367 375 2367 433 2368 375 2368 434 2368 399 2369 64 2369 442 2369 375 2370 442 2370 64 2370 377 2371 376 2371 438 2371 438 2372 376 2372 1136 2372 438 2373 1136 2373 380 2373 380 2374 1136 2374 376 2374 313 2375 407 2375 409 2375 410 2376 313 2376 409 2376 368 2377 369 2377 393 2377 392 2378 331 2378 391 2378 391 2379 333 2379 394 2379 391 2380 331 2380 333 2380 365 2381 105 2381 406 2381 395 2382 406 2382 105 2382 395 2383 397 2383 405 2383 405 2384 397 2384 1137 2384 404 2385 1138 2385 366 2385 366 2386 1138 2386 364 2386 1138 2387 404 2387 1137 2387 1137 2388 404 2388 405 2388 397 2389 364 2389 1137 2389 1137 2390 364 2390 1138 2390 354 2391 1140 2391 1139 2391 1081 2392 361 2392 1080 2392 1153 2393 1147 2393 6 2393 1150 2394 12 2394 1083 2394 1145 2395 1083 2395 1082 2395 1151 2396 1145 2396 1146 2396 1084 2397 1146 2397 250 2397 1148 2398 1147 2398 1149 2398 1149 2399 1150 2399 1228 2399 1149 2400 1228 2400 1201 2400 1083 2401 12 2401 1082 2401 1151 2402 1083 2402 1145 2402 1151 2403 1146 2403 1084 2403 1149 2404 1147 2404 1150 2404 1157 2405 1158 2405 1154 2405 1155 2406 1157 2406 1154 2406 1155 2407 1162 2407 1157 2407 1156 2408 447 2408 1160 2408 1160 2409 1157 2409 1162 2409 447 2410 1159 2410 1160 2410 1160 2411 1159 2411 1158 2411 1163 2412 448 2412 447 2412 1162 2413 447 2413 1156 2413 1161 2414 1158 2414 1159 2414 448 2415 1168 2415 1164 2415 1163 2416 447 2416 1162 2416 1169 2417 449 2417 1164 2417 1161 2418 1178 2418 1179 2418 1166 2419 1165 2419 1167 2419 448 2420 1163 2420 1168 2420 357 2421 1168 2421 1163 2421 449 2422 1169 2422 1174 2422 1166 2423 1167 2423 1170 2423 1168 2424 1169 2424 1164 2424 357 2425 1169 2425 1168 2425 1171 2426 449 2426 1174 2426 449 2427 1171 2427 1172 2427 1172 2428 1173 2428 449 2428 1182 2429 1170 2429 1167 2429 1182 2430 1173 2430 1181 2430 1175 2431 1171 2431 1174 2431 1171 2432 1175 2432 1172 2432 1090 2433 1172 2433 1175 2433 1090 2434 1176 2434 1173 2434 1177 2435 1175 2435 1174 2435 1173 2436 1172 2436 1090 2436 1090 2437 1175 2437 1177 2437 1177 2438 1181 2438 1090 2438 355 2439 1178 2439 1180 2439 356 2440 355 2440 1180 2440 1178 2441 355 2441 1179 2441 355 2442 320 2442 1179 2442 1181 2443 1176 2443 1090 2443 1170 2444 1180 2444 1166 2444 356 2445 1180 2445 1183 2445 1183 2446 1180 2446 1170 2446 1181 2447 1183 2447 1182 2447 1183 2448 1181 2448 356 2448 1185 2449 1161 2449 1184 2449 1184 2450 420 2450 1185 2450 1123 2451 346 2451 458 2451 1187 2452 446 2452 1188 2452 446 2453 1186 2453 1189 2453 458 2454 459 2454 1123 2454 1188 2455 458 2455 1187 2455 359 2456 461 2456 7 2456 461 2457 359 2457 460 2457 1190 2458 458 2458 460 2458 458 2459 1190 2459 459 2459 459 2460 1190 2460 1122 2460 7 2461 461 2461 1191 2461 343 2462 342 2462 1195 2462 1089 2463 342 2463 1194 2463 342 2464 1089 2464 1195 2464 1198 2465 1089 2465 1197 2465 1198 2466 1197 2466 454 2466 454 2467 1199 2467 1200 2467 1200 2468 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+ + + + + + + + + + + + + + + + + + + diff --git a/labrob_worlds/models/crazy_coins/model.config b/labrob_worlds/models/crazy_coins/model.config new file mode 100644 index 0000000..02d5495 --- /dev/null +++ b/labrob_worlds/models/crazy_coins/model.config @@ -0,0 +1,16 @@ + + + + Crazy Coins + 1.0 + model.sdf + + + Francisco Suarez + fsuarez6@gmail.com + + + + Coins for the Crazy Maze + + diff --git a/labrob_worlds/models/crazy_coins/model.sdf b/labrob_worlds/models/crazy_coins/model.sdf new file mode 100644 index 0000000..d2654bf --- /dev/null +++ b/labrob_worlds/models/crazy_coins/model.sdf @@ -0,0 +1,274 @@ + + + + + 0 + + + 7.5 5 0.6 0 0 0 + 0 + + 0 0 0 0 0 0 + + + model://crazy_coins/meshes/coin.dae + 0.4 0.4 0.4 + + + + + + + + + + 0 + 10 8.5 0.6 0 0 0 + + 0 0 0 0 0 0 + + + model://crazy_coins/meshes/coin.dae + 0.4 0.4 0.4 + + + + + + + + + + + 0 + -8.5 8.5 0.6 0 0 0 + + 0 0 0 0 0 0 + + + model://crazy_coins/meshes/coin.dae + 0.4 0.4 0.4 + + + + + + + + + + 0 + 8.5 -8.5 0.6 0 0 0 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+ + + + + + + 0 + 5.5 -2.5 0.6 0 0 0 + + 0 0 0 0 0 0 + + + model://crazy_coins/meshes/coin.dae + 0.4 0.4 0.4 + + + + + + + + + + labrob + 1.570796327 + + + + diff --git a/labrob_worlds/models/crazy_maze/model.config b/labrob_worlds/models/crazy_maze/model.config new file mode 100644 index 0000000..e934d4c --- /dev/null +++ b/labrob_worlds/models/crazy_maze/model.config @@ -0,0 +1,16 @@ + + + + Crazy Maze + 1.0 + model.sdf + + + Francisco Suarez + fsuarez6@gmail.com + + + + Crazy Maze + + diff --git a/labrob_worlds/models/crazy_maze/model.sdf b/labrob_worlds/models/crazy_maze/model.sdf new file mode 100644 index 0000000..c90ee4a --- /dev/null +++ b/labrob_worlds/models/crazy_maze/model.sdf @@ -0,0 +1,370 @@ + + + + 1 + + -10 -10 0 0 0 1.570796327 + + 10 0 1.25 0 0 0 + + + 20 0.2 2.5 + + + + + 10 0 1.25 0 0 0 + + + 20 0.2 2.5 + + + + + + + + + + -10 -10 0 0 0 0 + + 10 0 1.25 0 0 0 + + + 20 0.2 2.5 + + + + + 10 0 1.25 0 0 0 + + + 20 0.2 2.5 + + + + + + + + + + 10 -10 0 0 0 1.570796327 + + 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0 0 0 + + + 3 0.2 2.5 + + + + + + + + + + -1 4 0 0 0 0 + + 1 0 1.25 0 0 0 + + + 2 0.2 2.5 + + + + + 1 0 1.25 0 0 0 + + + 2 0.2 2.5 + + + + + + + + + + 2 7 0 0 0 0 + + 4 0 1.25 0 0 0 + + + 8 0.2 2.5 + + + + + 4 0 1.25 0 0 0 + + + 8 0.2 2.5 + + + + + + + + + + 5 2 0 0 0 1.570796327 + + 2.5 0 1.25 0 0 0 + + + 5 0.2 2.5 + + + + + 2.5 0 1.25 0 0 0 + + + 5 0.2 2.5 + + + + + + + + + + diff --git a/labrob_worlds/package.xml b/labrob_worlds/package.xml new file mode 100644 index 0000000..f83b0e5 --- /dev/null +++ b/labrob_worlds/package.xml @@ -0,0 +1,31 @@ + + + labrob_worlds + 0.1.0 + The labrob_worlds package + + Francisco Suarez-Ruiz + BSD + + http://www.romin.upm.es/wiki/ + https://github.com/fsuarez6/labrob + Francisco Suarez-Ruiz + + catkin + + gazebo_ros + roscpp + rospy + geometry_msgs + + gazebo_ros + roscpp + rospy + geometry_msgs + + + + + + + diff --git a/labrob_worlds/src/coins_manager_plugin.cpp b/labrob_worlds/src/coins_manager_plugin.cpp new file mode 100644 index 0000000..ac5c49d --- /dev/null +++ b/labrob_worlds/src/coins_manager_plugin.cpp @@ -0,0 +1,177 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2014 + * 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 Open Source Robotics Foundation + * 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. + *********************************************************************/ + +/** + * \author Francisco Suarez Ruiz + * \desc Plugin for animation of all the coins within the maze + */ +#include + + +#include +#include + +#include +#include +#include +#include +#include + +using std::endl; + +namespace gazebo +{ +class CoinsManager : public ModelPlugin +{ +private: + physics::WorldPtr world_; + physics::ModelPtr model_; + physics::ModelPtr robot_model_; + physics::Link_V links_; + physics::Joint_V joints_; + + double spin_velocity_; + double coin_radius_; + int total_coins_; + std::string robot_name_; + event::ConnectionPtr update_connection_; + common::Time last_time_; + + /* Constructor */ + public: CoinsManager() : ModelPlugin() { + } + + /* Destructor */ + public: virtual ~CoinsManager() + { + event::Events::DisconnectWorldUpdateBegin(update_connection_); + } + + /* Load the plugin */ + public: void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) + { + // Store the pointer to the model and world + model_ = _parent; + world_ = model_->GetWorld(); + // Get joints and links + joints_ = model_->GetJoints(); + links_ = model_->GetLinks(); + // Set the coin radius + coin_radius_ = 1.0; + + // Set the coins spin velocity + spin_velocity_ = 1.570796327; + if (!_sdf->HasElement("spin_velocity")) + gzwarn << "coins_manager_plugin missing parameter, using [" << spin_velocity_ << "] rad."<< endl; + else + spin_velocity_ = _sdf->GetElement("spin_velocity")->Get(); + + for (int i = 0; i < links_.size(); ++i) + { + // Randomize the spin direction + double spin_dir = (rand() % 2 > 0) ? 1.0:-1.0; + links_[i]->SetAngularVel(math::Vector3(0, 0, spin_velocity_*spin_dir)); + } + total_coins_ = links_.size(); + gzdbg << "Found [" << total_coins_ << "] coins!" << endl; + + // Make sure the ROS node for Gazebo has already been initialized + if (!ros::isInitialized()) + { + gzerr << "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)" << endl; + return; + } + // Reset Time + last_time_ = world_->GetSimTime(); + // Listen to the update event. This event is broadcast every simulation iteration. + update_connection_ = event::Events::ConnectWorldUpdateBegin( + boost::bind(&CoinsManager::UpdateChild, this)); + + // Wait for the robot to be spawn + robot_name_ = "labrob"; + if (!_sdf->HasElement("robot_name")) + gzwarn << "coins_manager_plugin missing parameter, using [" << robot_name_ << "] rad."<< endl; + else + robot_name_ = _sdf->GetElement("robot_name")->Get(); + + BlueMsg("coins_manager_plugin successfully loaded!"); + } + + /* Update the plugin */ + // TODO: Need to publish interest information to ROS: Total coins, collected coins, reached the goal? + private: void UpdateChild() + { + math::Pose robot_pose; + math::Vector3 position_diff; + double distance; + common::Time current_time = world_->GetSimTime(); + + if (current_time > last_time_) + { + // Put the 'intelligence' in here! + if (!robot_model_) + robot_model_ = world_->GetModel(robot_name_); + else + { + // Check for the position of the robot with respect to the coins + robot_pose = robot_model_->GetWorldPose(); + for (int i = 0; i < links_.size(); ++i) + { + // TODO: Should use GetBoundingBox() and check the intersection + math::Pose coin_pose = links_[i]->GetWorldPose(); + position_diff = coin_pose.pos - robot_pose.pos; + distance = sqrt(pow(position_diff.x, 2) + pow(position_diff.y, 2)); + // If the robot is close enough delete the coin + if (distance < coin_radius_) + { + model_->RemoveChild(links_[i]); + links_.erase(links_.begin() + i); + } + } + } + last_time_ = current_time; + } + } + + /* Custom log messages */ + private: void BlueMsg(std::string msg) { + gzmsg << "\033[94m" << msg << "\033[0m" << endl; } + private: void GreenMsg(std::string msg) { + gzmsg << "\033[92m" << msg << "\033[0m" << endl; } + +}; +GZ_REGISTER_MODEL_PLUGIN(CoinsManager) +} diff --git a/labrob_worlds/worlds/crazy_maze.world b/labrob_worlds/worlds/crazy_maze.world new file mode 100644 index 0000000..fbb8c55 --- /dev/null +++ b/labrob_worlds/worlds/crazy_maze.world @@ -0,0 +1,75 @@ + + + + + 0 0 -9.81 + + + quick + 50 + 1.4 + + + 0.0 + 0.2 + 100.0 + 0.0 + + + 1000 + 0.001 + + + 0.3 0.3 0.3 1.0 + + + + + 0 0 35 0 1.570796327 0 + orbit + + + + + true + 0 0 100 0 0 0 + 0.9 0.9 0.9 1 + 0.1 0.1 0.1 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.2 0.0 -1.0 + + + + false + 0 0 10 0 0 0 + 0.5 0.5 0.5 1 + 0.0 0.0 0.0 1 + + 80 + 0.9 + 0.01 + 0.001 + + + + + model://ground_plane + 0 0 0 0 0 0 + + + + model://crazy_maze + 0 0 0 0 0 0 + + + + model://crazy_coins + 0 0 0 0 0 0 + + +