diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000000000000000000000000000000000000..239aa6b2b204087ecf3087413ce9a4df0e05cdf5 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "src/rm_driver/livox_ros_driver2"] + path = src/rm_driver/livox_ros_driver2 + url = https://gitee.com/SMBU-POLARBEAR/livox_ros_driver2_humble.git diff --git a/README.md b/README.md index 86175d8816451060cc47c3d0db9c24c6ea3fde51..33e0249a3867a3989987532392af7b623b6fdca4 100644 --- a/README.md +++ b/README.md @@ -2,7 +2,7 @@ 深圳北理莫斯科大学 北极熊战队 哨兵导航仿真包 ## 一. 项目介绍 -本项目使用麦克纳姆轮仿真小车，附加 Livox Mid360 雷达与 Imu，在 2023 RMUC/RMUL 地图进行导航算法仿真。 +本项目使用麦克纳姆轮仿真小车，附加 Livox Mid360 雷达与 IMU，在 2023 RMUC/RMUL 地图进行导航算法仿真。 Mid360 点云仿真：参考了 [livox_laser_simulation](https://github.com/Livox-SDK/livox_laser_simulation/blob/main/src/livox_points_plugin.cpp)、 [livox_laser_simulation_RO2](https://github.com/stm32f303ret6/livox_laser_simulation_RO2/blob/main/src/livox_points_plugin.cpp)、 [Issue15: CustomMsg](https://github.com/Livox-SDK/livox_laser_simulation/issues/15) @@ -16,7 +16,7 @@ Mid360 点云仿真：参考了 [livox_laser_simulation](https://github.com/Livo |Mid360点云仿真 + FAST_LIO 里程计 + 障碍物/地面点云分割 + 三维点云转二维 + Navigation2| |:-:| -|| +|| ## 二. rm_simulation 话题接口 | **Topic name** | **Type** | **Note** | @@ -64,67 +64,68 @@ Mid360 点云仿真：参考了 [livox_laser_simulation](https://github.com/Livo cmake .. && make -j sudo make install ``` -3. 安装 [Livox ROS Driver 2](https://gitee.com/SMBU-POLARBEAR/livox_ros_driver2_humble) + +## 四. 编译运行 + +``` +git clone https://gitee.com/SMBU-POLARBEAR/pb_rmsimulation --recursive +``` + +``` +cd pb_rmsimulation +./build.sh +``` + +### 仿真模式 + +- 可选参数 + + world: + - `RMUL` - [Robomaster 1V1 场地（带动态障碍物）](https://github.com/SCAU-RM-NAV/rm2022_auto_infantry_ws) + - `RMUC` - [2023 Robomaster 7V7 场地](https://bbs.robomaster.com/thread-22576-1-1.html) + + rviz: + - `true` - 可视化 robot_descrition, FAST_LIO + - `false` - 仅提供 nav2 可视化窗口 + +- 边建图边导航 ``` - git clone https://gitee.com/SMBU-POLARBEAR/livox_ros_driver2_humble.git + ros2 launch ros2 launch rm_bringup bringup_sim_mapping.launch.py rviz:=false world:=RMUL ``` +- 已知全局地图导航 ``` - cd livox_ros_driver2_humble - colcon build --symlink-install + ros2 launch rm_bringup bringup_sim_navigation.launch.py rviz:=false world:=RMUL ``` - 设置每次启动终端时，自动 source livox_ros_driver2 的工作空间，才能使用 livox 雷达的自定义消息类型。**注意替换 `xxx`** +### 真实环境 + +- 边建图边导航 ``` - echo '# livox_ros_driver2_humble (Polarbear version)' >> ~/.bashrc - echo 'source /xxx/livox_ros_driver2_humble/install/setup.bash' >> ~/.bashrc + ros2 launch ros2 launch rm_bringup bringup_real_mapping.launch.py rviz:=false ``` -## 四. 编译运行 + Tips: -``` -git clone https://gitee.com/SMBU-POLARBEAR/pb_rmsimulation -``` + 1. 保存点云 pcd 文件：需先在 [fastlio_mid360.yaml](src/rm_bringup/config/fastlio_mid360.yaml) 中 将 `pcd_save_en` 改为 `true`，并设置 .pcd 文件的名称 + 2. 保存栅格地图：需先在 [save_grid_map.sh](save_grid_map.sh) 将 `YOUR_MAP_NAME` 更改为与 .pcd 文件相同的名称。保存后在当前工作空间新开终端，运行 `./save_grid_map.sh` 即可 -#### 仿真环境：边建图边导航 -``` -./sim_mapping.sh -``` - -#### 仿真环境：已知全局地图导航 -``` -./sim_nav.sh -``` +- 已知全局地图导航 + ``` + ros2 launch ros2 launch rm_bringup bringup_real_mapping.launch.py rviz:=false world:=YOUR_WORLD_NAME + ``` -#### 真实环境：边建图边导航(文档完善中) -``` -./real_mapping.sh -``` + Tips: 栅格地图文件和 pcd 文件需具为相同名称，分别存放在 `src/rm_bringup/map` 和 `src/rm_bringup/PCD` 中，启动导航时 world 指定为文件名前缀即可。 -#### 小工具 - 键盘控制 +### 小工具 - 键盘控制 ``` source install/setup.bash ros2 run teleop_twist_keyboard teleop_twist_keyboard ``` -## 五. 地图选择 - -| 地图 | 描述 | 来源 | -|:---------------------:|:----------:|:---:| -| auto_world | 2022 RMUL-步兵对抗 地图 | [华农](https://github.com/SCAU-RM-NAV/rm2022_auto_infantry_ws) | -| RMUC2023_world | 2023 RMUC 地图 | [Robomaster 官方](https://bbs.robomaster.com/thread-22576-1-1.html) | - -当前默认地图为 `RMUC2023_world`
-注：在原有基础上增加了重力、摩擦力、材质颜色和室内灯光 - -如需更换地图，在终端 launch 时添加参数即可： - -`ros2 launch pb_rm_simulation rm_simulation.launch.py world:=RMUC`
-or
-`ros2 launch pb_rm_simulation rm_simulation.launch.py world:=RMUL` -## 六. 雷达选择 +## 五. 仿真可选雷达 目前支持 Livox 系列雷达: Avia, HAP, Horizon, Mid40, Mid70, Mid360, Tele @@ -138,20 +139,6 @@ Avia, HAP, Horizon, Mid40, Mid70, Mid360, Tele ``` -## ATTENTION 当前项目存在性能问题 -1. 仿真性能瓶颈，livox_laser_simulation 无法多核并行计算，导致一核有难，十核围观。在 RMUC 地图中 mapping 模式 的 /livox/lidar 的频率仅 3.6~4.1Hz，在 nav 模式中频率更低。 - -2. 2023.12.8 版本往后修复了之前错误的 tf 树，现在的里程计完全由 FAST_LIO 提供，在 RMUC 地图中 mapping 模式 的 /Odometry 的频率仅约 3.8Hz ，远远不及使用 Gazebo libgazebo_ros_planar_move 直接提供的 里程计（50~60Hz）），这导致小车运动控制延迟加剧。 - -3. 在 nav 仿真模式下，运行 icp_localization 时存在概率性中断，抛出以下报错： - ```bash - [icp_localization-1] terminate called after throwing an instance of 'std::runtime_error' - [icp_localization-1] what(): val: 621356012573094357 is not ge than: 621356012573096939 - [ERROR] [icp_localization-1]: process has died [pid 48771, exit code -6, cmd '/home/CLH_NAVIGATION_WS/pb_rmsimulation/install/icp_localization_ros2/lib/icp_localization_ros2/icp_localization --ros-args --params-file /home/CLH_NAVIGATION_WS/pb_rmsimulation/install/icp_localization_ros2/share/icp_localization_ros2/config/node_params.yaml --params-file /tmp/launch_params_rtjf6lwa']. - ``` - 在多台主机上的测试表明，这可能与主机性能有关，尤其是内存大小。 - 内存为 32GB 的 NUC 中断概率较小，而在 16GB 的拯救者在 WSL2 下仅运行 5 秒即中断。 - ## TODO 1. ~~将湖工大地图模型文件修改为动态路径~~（2023.9.30 完成） diff --git a/build.sh b/build.sh new file mode 100755 index 0000000000000000000000000000000000000000..ab7c82790b7e0156cdaa2ab0b790ea0af49c9bc5 --- /dev/null +++ b/build.sh @@ -0,0 +1 @@ +colcon build --symlink-install \ No newline at end of file diff --git a/docs/RMUL_mapping.gif "b/docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" similarity index 59% rename from docs/RMUL_mapping.gif rename to "docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" index b8d9251080fd145bba058464dc9143259fe506c5..bf8d162c6578a214aff41d6cad6defe026236cc1 100644 Binary files a/docs/RMUL_mapping.gif and "b/docs/2023.12.29 \344\273\277\347\234\237\344\270\234\345\212\250\346\200\201\351\232\234\347\242\215\347\211\251README.gif" differ diff --git a/real_mapping.sh b/real_mapping.sh deleted file mode 100755 index 7c3284a7dea9e4dd6e7d7993681fe37e8f541880..0000000000000000000000000000000000000000 --- a/real_mapping.sh +++ /dev/null @@ -1,35 +0,0 @@ -# colcon build --symlink-install - -cmds=( - " - ros2 launch livox_ros_driver2 msg_MID360_launch.py - " - "ros2 launch pb_rm_simulation rm_real.launch.py \ - use_sim_time:=false - " - "ros2 launch imu_complementary_filter complementary_filter.launch.py \ - use_sim_time:=false - " - "ros2 launch fast_lio mapping_mid360.launch.py \ - use_sim_time:=false rviz:=true - " - "ros2 launch linefit_ground_segmentation_ros segmentation.launch.py \ - use_sim_time:=false - " - "ros2 launch pointcloud_to_laserscan pointcloud_to_laserscan_launch.py \ - use_sim_time:=false - " - "ros2 launch rm_navigation online_async_launch.py \ - use_sim_time:=false - " - "ros2 launch rm_navigation bringup_no_amcl_launch.py \ - use_sim_time:=false - " -) - -for cmd in "${cmds[@]}" -do - echo Current CMD : "$cmd" - gnome-terminal -- bash -c "cd $(pwd);source install/setup.bash;$cmd;exec bash;" - sleep 0.2 -done \ No newline at end of file diff --git a/save_grid_map.sh b/save_grid_map.sh new file mode 100755 index 0000000000000000000000000000000000000000..2db6ff4d0f6b3d39b0157616072bbe9d1ab445da --- /dev/null +++ b/save_grid_map.sh @@ -0,0 +1 @@ +ros2 run nav2_map_server map_saver_cli -f src/rm_bringup/map/YOUR_MAP_NAME \ No newline at end of file diff --git a/sim_mapping.sh b/sim_mapping.sh deleted file mode 100755 index bfd1b198a9f41d777ca627d4f72ac23be839c64f..0000000000000000000000000000000000000000 --- a/sim_mapping.sh +++ /dev/null @@ -1,32 +0,0 @@ -# colcon build --symlink-install - -cmds=( - "ros2 launch pb_rm_simulation rm_simulation.launch.py world:=RMUL \ - use_sim_time:=true - " - "ros2 launch imu_complementary_filter complementary_filter.launch.py \ - use_sim_time:=true - " - "ros2 launch fast_lio mapping_mid360.launch.py \ - use_sim_time:=true rviz:=false - " - "ros2 launch linefit_ground_segmentation_ros segmentation.launch.py \ - use_sim_time:=true - " - "ros2 launch pointcloud_to_laserscan pointcloud_to_laserscan_launch.py \ - use_sim_time:=true - " - "ros2 launch rm_navigation online_async_launch.py \ - use_sim_time:=true - " - "ros2 launch rm_navigation bringup_no_amcl_launch.py \ - use_sim_time:=true - " -) - -for cmd in "${cmds[@]}" -do - echo Current CMD : "$cmd" - gnome-terminal -- bash -c "cd $(pwd);source install/setup.bash;$cmd;exec bash;" - sleep 0.2 -done \ No newline at end of file diff --git a/sim_nav.sh b/sim_nav.sh deleted file mode 100755 index 5614d1551b268b1a0279532666b457490b99298d..0000000000000000000000000000000000000000 --- a/sim_nav.sh +++ /dev/null @@ -1,32 +0,0 @@ -colcon build --symlink-install - -cmds=( - "ros2 launch pb_rm_simulation rm_simulation.launch.py world:=RMUC \ - use_sim_time:=true - " - "ros2 launch imu_complementary_filter complementary_filter.launch.py \ - use_sim_time:=true - " - "ros2 launch fast_lio mapping_mid360.launch.py \ - use_sim_time:=true rviz:=false - " - "ros2 launch linefit_ground_segmentation_ros segmentation.launch.py \ - use_sim_time:=true - " - "ros2 launch pointcloud_to_laserscan pointcloud_to_laserscan_launch.py \ - use_sim_time:=true - " - "ros2 launch icp_localization_ros2 bringup.launch.py \ - use_sim_time:=true - " - "ros2 launch rm_navigation bringup_launch.py \ - use_sim_time:=true - " -) - -for cmd in "${cmds[@]}" -do - echo Current CMD : "$cmd" - gnome-terminal -- bash -c "cd $(pwd);source install/setup.bash;$cmd;exec bash;" - sleep 0.2 -done \ No newline at end of file diff --git a/src/rm_bringup/CMakeLists.txt b/src/rm_bringup/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..f1048027c48f53d99212570e083acb4429dcd8c8 --- /dev/null +++ b/src/rm_bringup/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.8) +project(rm_bringup) + +find_package(ament_cmake_auto REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + set(ament_cmake_copyright_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package( + INSTALL_TO_SHARE + launch + config + map + PCD + rviz +) + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/RMUC2023_world/preview/downsampled_rm_pt.pcd b/src/rm_bringup/PCD/RMUC.pcd similarity index 100% rename from src/rm_simulation/pb_rm_simulation/meshes/RMUC2023_world/preview/downsampled_rm_pt.pcd rename to src/rm_bringup/PCD/RMUC.pcd diff --git a/src/rm_bringup/PCD/RMUL.pcd b/src/rm_bringup/PCD/RMUL.pcd new file mode 100644 index 0000000000000000000000000000000000000000..a1adb8db2eeaf5f450c0df09e6254286d440ed73 Binary files /dev/null and b/src/rm_bringup/PCD/RMUL.pcd differ diff --git a/src/rm_bringup/config/MID360_config.json b/src/rm_bringup/config/MID360_config.json new file mode 100644 index 0000000000000000000000000000000000000000..1d246a5a518329fe98ed9c487def804faf0073ab --- /dev/null +++ b/src/rm_bringup/config/MID360_config.json @@ -0,0 +1,42 @@ +{ + "lidar_summary_info" : { + "lidar_type": 8 + }, + "MID360": { + "lidar_net_info" : { + "cmd_data_port": 56100, + "push_msg_port": 56200, + "point_data_port": 56300, + "imu_data_port": 56400, + "log_data_port": 56500 + }, + "host_net_info" : { + "cmd_data_ip" : "192.168.1.50", + "cmd_data_port": 56101, + "push_msg_ip": "192.168.1.50", + "push_msg_port": 56201, + "point_data_ip": "192.168.1.50", + "point_data_port": 56301, + "imu_data_ip" : "192.168.1.50", + "imu_data_port": 56401, + "log_data_ip" : "", + "log_data_port": 56501 + } + }, + "lidar_configs" : [ + { + "ip" : "192.168.1.146", + "pcl_data_type" : 1, + "pattern_mode" : 0, + "extrinsic_parameter" : { + "roll": 0.0, + "pitch": 0.0, + "yaw": 0.0, + "x": 0, + "y": 0, + "z": 0 + } + } + ] +} + diff --git a/src/rm_bringup/config/fastlio_mid360.yaml b/src/rm_bringup/config/fastlio_mid360.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8230e6f4643118c92eadbb5241b726e3d32e2661 --- /dev/null +++ b/src/rm_bringup/config/fastlio_mid360.yaml @@ -0,0 +1,45 @@ +/**: + ros__parameters: + common: + lid_topic: "/livox/lidar" + imu_topic: "/imu/data" + time_sync_en: false # ONLY turn on when external time synchronization is really not possible + time_offset_lidar_to_imu: 0.0 # Time offset between lidar and IMU calibrated by other algorithms, e.g. LI-Init (can be found in README). + # This param will take effect no matter what time_sync_en is. So if the time offset is not known exactly, please set as 0.0 + + preprocess: + lidar_type: 1 # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR, + scan_line: 64 + blind: 2.0 + timestamp_unit: 3 + scan_rate: 10 + + mapping: + acc_cov: 0.1 + gyr_cov: 0.1 + b_acc_cov: 0.0001 + b_gyr_cov: 0.0001 + fov_degree: 360.0 + det_range: 100.0 + extrinsic_est_en: true # true: enable the online estimation of IMU-LiDAR extrinsic, + extrinsic_T: [ 0.00, 0.00, -0.05 ] + extrinsic_R: [ 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 ] + + publish: + path_en: true # true: publish Path + scan_publish_en: true # false: close all the point cloud output + dense_publish_en: true # false: low down the points number in a global-frame point clouds scan. + scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame + + # when you use docker, you should enter the absolute path of in docker container + map_file_path: "src/rm_bringup/PCD/YOUR_MAP_NAME.pcd" + pcd_save: + pcd_save_en: false + interval: -1 # how many LiDAR frames saved in each pcd file; + # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames. + + traj_save: + traj_save_en: false + traj_file_path: "src/rm_localization/FAST_LIO/traj/RMUL.txt" # when you use docker, you should enter the absolute path of in docker container \ No newline at end of file diff --git a/src/rm_bringup/config/icp_config.yaml b/src/rm_bringup/config/icp_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4b8ef1adbe28b62155a8084581900b44b28c7e0b --- /dev/null +++ b/src/rm_bringup/config/icp_config.yaml @@ -0,0 +1,46 @@ +#reference filters get applied to the map and to the icp +referenceDataPointsFilters: +# - MaxDistDataPointsFilter: +# maxDist: 20.0 + - RandomSamplingDataPointsFilter: + prob: 1.0 + - SurfaceNormalDataPointsFilter: + knn: 5 + epsilon: 0 + keepNormals: 1 + keepDensities: 1 + - ObservationDirectionDataPointsFilter + - OrientNormalsDataPointsFilter +matcher: + KDTreeMatcher: + knn: 3 + maxDist: 10.0 + epsilon: 1.0 + +outlierFilters: + - TrimmedDistOutlierFilter: + ratio: 0.8 + - SurfaceNormalOutlierFilter: + maxAngle: 1.57 + +errorMinimizer: + PointToPlaneErrorMinimizer + +transformationCheckers: + - DifferentialTransformationChecker: + minDiffRotErr: 0.001 + minDiffTransErr: 0.01 + smoothLength: 2 + - CounterTransformationChecker: + maxIterationCount: 40 + - BoundTransformationChecker: + maxRotationNorm: 0.8 + maxTranslationNorm: 30.00 + +inspector: +# VTKFileInspector + NullInspector + +logger: +# FileLogger + NullLogger diff --git a/src/rm_bringup/config/icp_input_filters_mid360.yaml b/src/rm_bringup/config/icp_input_filters_mid360.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ff6b6a5c806f2a470fe9863bc08932abd7bf75cf --- /dev/null +++ b/src/rm_bringup/config/icp_input_filters_mid360.yaml @@ -0,0 +1,20 @@ +# these filters get applied to the scans from the range sensor every time a scan is received +- DistanceLimitDataPointsFilter: + dim: -1 # -1 means radial distance, 0 is x, 1 is y, 2 is z + dist: 40 + removeInside: 0 +- DistanceLimitDataPointsFilter: + dim: 2 # -1 means radial distance, 0 is x, 1 is y, 2 is z + dist: 40 + removeInside: 0 +- RandomSamplingDataPointsFilter: + prob: 0.9 +- SurfaceNormalDataPointsFilter: + knn: 8 + epsilon: 0 + keepNormals: 1 + keepDensities: 1 +- ObservationDirectionDataPointsFilter +- OrientNormalsDataPointsFilter +- MaxDensityDataPointsFilter: + maxDensity: 10000.0 diff --git a/src/rm_bringup/config/icp_node_params.yaml b/src/rm_bringup/config/icp_node_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa8781d893a6f59993b277aaa097678e8674650c --- /dev/null +++ b/src/rm_bringup/config/icp_node_params.yaml @@ -0,0 +1,39 @@ +/icp_localization: + ros__parameters: + # pcd_file_path: "src/rm_simulation/pb_rm_simulation/meshes/RMUC2023_world/preview/RMUC.pcd" + # pcd_file_path: "src/rm_simulation/pb_rm_simulation/meshes/auto_world/preview/RMUL.pcd" + icp_localization_ros2: + range_data_topic: "/cloud_registered_body" + num_accumulated_range_data: 1 + imu_data_topic: "/imu/data" + odometry_data_topic: "/Odometry" # Utilize '/Odometry' from FAST_LIO when in REAL environment + is_use_odometry: true + is_provide_odom_frame: false + gravity_vector_filter_time_constant: 0.01 + fixed_frame: "map" + min_num_odom_msgs_before_ready: 10 + + initial_pose: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 # degrees + pitch: 0.0 # degrees + yaw: 0.0 # degrees + + calibration: + imu_to_range_sensor: + x: 0.0 + y: 0.0 + z: -0.025 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 + + odometry_source_to_range_sensor: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 diff --git a/src/rm_bringup/config/mapper_params_online_async.yaml b/src/rm_bringup/config/mapper_params_online_async.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9e419d6fa1488c2355e4b87d0b1c84fdef7eff8f --- /dev/null +++ b/src/rm_bringup/config/mapper_params_online_async.yaml @@ -0,0 +1,73 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + odom_frame: odom + map_frame: map + base_frame: base_link + scan_topic: /scan + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true \ No newline at end of file diff --git a/src/rm_bringup/config/nav2_params.yaml b/src/rm_bringup/config/nav2_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..90291ad76e1c5d7d68b3766ff878e4dc84e100b2 --- /dev/null +++ b/src/rm_bringup/config/nav2_params.yaml @@ -0,0 +1,379 @@ +amcl: + ros__parameters: + use_sim_time: False + alpha1: 0.2 + alpha2: 0.2 + alpha3: 0.2 + alpha4: 0.2 + alpha5: 0.2 + base_frame_id: "base_link" + beam_skip_distance: 0.5 + beam_skip_error_threshold: 0.9 + beam_skip_threshold: 0.3 + do_beamskip: false + global_frame_id: "map" + lambda_short: 0.1 + laser_likelihood_max_dist: 2.0 + laser_max_range: 100.0 + laser_min_range: -1.0 + laser_model_type: "likelihood_field" + max_beams: 60 + max_particles: 2000 + min_particles: 500 + odom_frame_id: "odom" + pf_err: 0.05 + pf_z: 0.99 + recovery_alpha_fast: 0.0 + recovery_alpha_slow: 0.0 + resample_interval: 1 + robot_model_type: "nav2_amcl::OmniMotionModel" + save_pose_rate: 0.5 + sigma_hit: 0.2 + tf_broadcast: true + transform_tolerance: 1.0 + update_min_a: 0.2 + update_min_d: 0.25 + z_hit: 0.5 + z_max: 0.05 + z_rand: 0.5 + z_short: 0.05 + scan_topic: scan + +amcl_map_client: + ros__parameters: + use_sim_time: False + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: False + +bt_navigator: + ros__parameters: + use_sim_time: False + global_frame: map + robot_base_frame: base_link + odom_topic: /Odometry + bt_loop_duration: 10 + default_server_timeout: 20 + enable_groot_monitoring: True + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 + plugin_lib_names: + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node + +bt_navigator_rclcpp_node: + ros__parameters: + use_sim_time: False + +controller_server: + ros__parameters: + use_sim_time: False + controller_frequency: 5.0 + min_x_velocity_threshold: 0.001 + min_y_velocity_threshold: 0.5 + min_theta_velocity_threshold: 0.001 + failure_tolerance: 0.3 + progress_checker_plugin: "progress_checker" + goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" + controller_plugins: ["FollowPath"] + + # Progress checker parameters + progress_checker: + plugin: "nav2_controller::SimpleProgressChecker" + required_movement_radius: 0.5 + movement_time_allowance: 10.0 + + # Goal checker parameters + general_goal_checker: + stateful: True + plugin: "nav2_controller::SimpleGoalChecker" + xy_goal_tolerance: 0.25 + yaw_goal_tolerance: 0.25 + # DWB parameters + FollowPath: + plugin: "dwb_core::DWBLocalPlanner" + debug_trajectory_details: False + min_vel_x: -2.5 + min_vel_y: -2.5 + max_vel_x: 2.5 + max_vel_y: 2.5 + max_vel_theta: 12.0 + min_speed_xy: -8.0 + max_speed_xy: 8.0 + min_speed_theta: -12.0 + acc_lim_x: 5.0 + acc_lim_y: 5.0 + acc_lim_theta: 15.0 + decel_lim_x: -5.0 + decel_lim_y: -5.0 + decel_lim_theta: -15.0 + vx_samples: 20 + vy_samples: 20 + vtheta_samples: 20 + sim_time: 0.51 + linear_granularity: 0.05 + angular_granularity: 0.025 + transform_tolerance: 0.2 + xy_goal_tolerance: 0.25 + trans_stopped_velocity: 0.25 + short_circuit_trajectory_evaluation: True + stateful: True + critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] + BaseObstacle.scale: 0.02 + PathAlign.scale: 32.0 + PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 + GoalAlign.forward_point_distance: 0.1 + PathDist.scale: 32.0 + GoalDist.scale: 24.0 + RotateToGoal.scale: 32.0 + RotateToGoal.slowing_factor: 5.0 + RotateToGoal.lookahead_time: -1.0 + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False + +local_costmap: + local_costmap: + ros__parameters: + update_frequency: 20.0 + publish_frequency: 10.0 + global_frame: odom + global_frame: map + # robot_base_frame: base_link + use_sim_time: False + rolling_window: true + width: 5 + height: 5 + resolution: 0.05 + robot_radius: 0.2 + plugins: ["voxel2d_layer", "voxel3d_layer", "inflation_layer"] + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + voxel2d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: + topic: /scan + obstacle_max_range: 10.0 + obstacle_min_range: 0.0 + raytrace_min_range: 0.0 + raytrace_max_range: 20.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + voxel3d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + mark_threshold: 1 + observation_sources: livox + min_obstacle_height: 0.00 + max_obstacle_height: 2.0 + livox: + topic: /livox/lidar/pointcloud + obstacle_max_range: 10.0 + obstacle_min_range: 0.0 + raytrace_min_range: 0.0 + raytrace_max_range: 20.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "PointCloud2" + static_layer: + map_subscribe_transient_local: True + always_send_full_costmap: True + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +global_costmap: + global_costmap: + ros__parameters: + update_frequency: 15.0 + publish_frequency: 10.0 + global_frame: map + robot_base_frame: base_link + use_sim_time: False + robot_radius: 0.2 + resolution: 0.05 + track_unknown_space: true + plugins: ["static_layer", "voxel2d_layer", "voxel3d_layer", "inflation_layer"] + voxel2d_layer: + plugin: "nav2_costmap_2d::ObstacleLayer" + enabled: True + observation_sources: scan + scan: + topic: /scan + obstacle_max_range: 10.0 + obstacle_min_range: 0.0 + raytrace_min_range: 0.0 + raytrace_max_range: 20.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "LaserScan" + voxel3d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + mark_threshold: 1 + observation_sources: livox + min_obstacle_height: 0.00 + max_obstacle_height: 2.0 + livox: + topic: /livox/lidar/pointcloud + obstacle_max_range: 10.0 + obstacle_min_range: 0.0 + raytrace_min_range: 0.0 + raytrace_max_range: 20.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "PointCloud2" + static_layer: + plugin: "nav2_costmap_2d::StaticLayer" + map_subscribe_transient_local: True + inflation_layer: + plugin: "nav2_costmap_2d::InflationLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False + +map_server: + ros__parameters: + use_sim_time: False + yaml_filename: "" + +map_saver: + ros__parameters: + use_sim_time: False + save_map_timeout: 5.0 + free_thresh_default: 0.25 + occupied_thresh_default: 0.65 + map_subscribe_transient_local: True + +planner_server: + ros__parameters: + expected_planner_frequency: 5.0 + use_sim_time: False + planner_plugins: ["GridBased"] + GridBased: + plugin: "nav2_navfn_planner/NavfnPlanner" + tolerance: 0.5 + use_astar: false + allow_unknown: true + +# planner_server_rclcpp_node: +# ros__parameters: +# use_sim_time: False + +recoveries_server: + ros__parameters: + costmap_topic: local_costmap/costmap_raw + footprint_topic: local_costmap/published_footprint + cycle_frequency: 10.0 + recovery_plugins: ["spin", "backup", "wait"] + spin: + plugin: "nav2_recoveries/Spin" + backup: + plugin: "nav2_recoveries/BackUp" + wait: + plugin: "nav2_recoveries/Wait" + global_frame: odom + robot_base_frame: base_link + transform_timeout: 0.1 + use_sim_time: False + simulate_ahead_time: 2.0 + max_rotational_vel: 20.0 + min_rotational_vel: 0.4 + rotational_acc_lim: 10.0 + +robot_state_publisher: + ros__parameters: + use_sim_time: False + +waypoint_follower: + ros__parameters: + loop_rate: 20 + stop_on_failure: false + waypoint_task_executor_plugin: "wait_at_waypoint" + wait_at_waypoint: + plugin: "nav2_waypoint_follower::WaitAtWaypoint" + enabled: True + waypoint_pause_duration: 200 + +velocity_smoother: + ros__parameters: + use_sim_time: True + smoothing_frequency: 5.0 + scale_velocities: False + feedback: "CLOSED_LOOP" + max_velocity: [2.5, 2.5, 12.0] + min_velocity: [-2.5, -2.5, -12.0] + max_accel: [5.0, 5.0, 15.0] + max_decel: [-5.0, -5.0, -15.0] + odom_topic: "Odometry" + odom_duration: 0.1 + deadband_velocity: [0.0, 0.0, 0.0] + velocity_timeout: 1.0 \ No newline at end of file diff --git a/src/rm_bringup/config/segmentation_params.yaml b/src/rm_bringup/config/segmentation_params.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ce455747378e5cf61066dbafeba59282c841524e --- /dev/null +++ b/src/rm_bringup/config/segmentation_params.yaml @@ -0,0 +1,28 @@ +ground_segmentation: + ros__parameters: + n_threads: 4 # number of threads to use. + + r_min: 0.2 # minimum point distance. + r_max: 50 # maximum point distance. + n_bins: 120 # number of radial bins. + n_segments: 360 # number of radial segments. + + max_dist_to_line: 0.1 # maximum vertical distance of point to line to be considered ground. + + sensor_height: 0.225 # sensor height above ground. + min_slope: 0.0 # minimum slope of a ground line. + max_slope: 0.3 # maximum slope of a ground line. + max_fit_error: 0.05 # maximum error of a point during line fit. + long_threshold: 1.0 # distance between points after which they are considered far from each other. + max_long_height: 0.1 # maximum height change to previous point in long line. + max_start_height: 0.2 # maximum difference to estimated ground height to start a new line. + line_search_angle: 0.1 # how far to search in angular direction to find a line [rad]. + + gravity_aligned_frame: "" # Frame which has its z axis aligned with gravity. (Sensor frame if empty.) + + latch: false # latch output topics or not + visualize: false # visualize segmentation result - USE ONLY FOR DEBUGGING + + input_topic: "/livox/lidar/pointcloud" + obstacle_output_topic: "segmentation/obstacle" + ground_output_topic: "segmentation/ground" \ No newline at end of file diff --git a/src/rm_bringup/launch/bringup_real_mapping.launch.py b/src/rm_bringup/launch/bringup_real_mapping.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..600c0318cd883fb0162f45168684e8b2f4897ed8 --- /dev/null +++ b/src/rm_bringup/launch/bringup_real_mapping.launch.py @@ -0,0 +1,105 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('rm_bringup') + pb_rm_simulation_launch_dir = os.path.join(get_package_share_directory('pb_rm_simulation'), 'launch') + navigation2_launch_dir = os.path.join(get_package_share_directory('rm_navigation'), 'launch') + + # Select world (map file share the same name prefix as the 'world' parameter) + world = LaunchConfiguration('world', default='RMUL') + + map_dir = PathJoinSubstitution([bringup_dir, 'map', world]), ".yaml" + nav2_params_file_dir = os.path.join(bringup_dir, 'config', 'nav2_params.yaml') + slam_params_file_dir = os.path.join(bringup_dir, 'config', 'mapper_params_online_async.yaml') + + # Create the launch configuration variables + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + use_rviz = LaunchConfiguration('rviz', default='false') # Visualize robot descrption + map_yaml_file = LaunchConfiguration('map', default=map_dir) + nav2_params_file = LaunchConfiguration('params_file', default=nav2_params_file_dir) + + ####################### Livox_ros_driver2 parameters start ####################### + xfer_format = 4 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format + multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic + data_src = 0 # 0-lidar, others-Invalid data src + publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. + output_type = 0 + frame_id = 'livox_frame' + lvx_file_path = '/home/livox/livox_test.lvx' + cmdline_bd_code = 'livox0000000001' + + cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' + cur_config_path = cur_path + '../config' + user_config_path = os.path.join(cur_config_path, 'MID360_config.json') + + livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} + ] + ####################### Livox_ros_driver2 parameters end ######################### + + # Specify the actions + start_livox_ros_driver2_node = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + start_robot_description = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(pb_rm_simulation_launch_dir, 'rm_real.launch.py')), + launch_arguments={'rviz': use_rviz}.items() + ) + + start_async_slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + parameters=[ + slam_params_file_dir, + {'use_sim_time': use_sim_time} + ], + output='screen' + ) + + start_navigation2 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir, 'bringup_no_amcl_launch.py')), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': use_sim_time, + 'params_file': nav2_params_file}.items() + ) + + start_common = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(bringup_dir, 'launch', 'common.py')) + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(start_livox_ros_driver2_node) + ld.add_action(start_robot_description) + ld.add_action(start_common) + ld.add_action(start_async_slam_toolbox_node) + ld.add_action(start_navigation2) + + return ld + \ No newline at end of file diff --git a/src/rm_bringup/launch/bringup_real_navigation.launch.py b/src/rm_bringup/launch/bringup_real_navigation.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..d1b675bae287ea97192f3e68b79ba9bc214f2992 --- /dev/null +++ b/src/rm_bringup/launch/bringup_real_navigation.launch.py @@ -0,0 +1,115 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, TimerAction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('rm_bringup') + pb_rm_simulation_launch_dir = os.path.join(get_package_share_directory('pb_rm_simulation'), 'launch') + navigation2_launch_dir = os.path.join(get_package_share_directory('rm_navigation'), 'launch') + + # Select world (map file share the same name prefix as the 'world' parameter) + world = LaunchConfiguration('world', default='328') + + # Get the default map/config directory + map_dir = PathJoinSubstitution([bringup_dir, 'map', world]), ".yaml" + icp_pcd_dir = PathJoinSubstitution([bringup_dir, 'PCD', world]), ".pcd" + nav2_params_file_dir = os.path.join(bringup_dir, 'config', 'nav2_params.yaml') + icp_node_params_dir = os.path.join(bringup_dir, 'config', 'icp_node_params.yaml') + icp_config_dir = os.path.join(bringup_dir, 'config', 'icp_config.yaml') + icp_input_filters_config_path = os.path.join(bringup_dir, 'config', 'icp_input_filters_mid360.yaml') + + # Create the launch configuration variables + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + use_rviz = LaunchConfiguration('rviz', default='false') # Visualize robot descrption + map_yaml_file = LaunchConfiguration('map', default=map_dir) + nav2_params_file = LaunchConfiguration('params_file', default=nav2_params_file_dir) + + ####################### Livox_ros_driver2 parameters start ####################### + xfer_format = 4 # 0-Pointcloud2(PointXYZRTL), 1-customized pointcloud format + multi_topic = 0 # 0-All LiDARs share the same topic, 1-One LiDAR one topic + data_src = 0 # 0-lidar, others-Invalid data src + publish_freq = 10.0 # freqency of publish, 5.0, 10.0, 20.0, 50.0, etc. + output_type = 0 + frame_id = 'livox_frame' + lvx_file_path = '/home/livox/livox_test.lvx' + cmdline_bd_code = 'livox0000000001' + + cur_path = os.path.split(os.path.realpath(__file__))[0] + '/' + cur_config_path = cur_path + '../config' + user_config_path = os.path.join(cur_config_path, 'MID360_config.json') + + livox_ros2_params = [ + {"xfer_format": xfer_format}, + {"multi_topic": multi_topic}, + {"data_src": data_src}, + {"publish_freq": publish_freq}, + {"output_data_type": output_type}, + {"frame_id": frame_id}, + {"lvx_file_path": lvx_file_path}, + {"user_config_path": user_config_path}, + {"cmdline_input_bd_code": cmdline_bd_code} + ] + ####################### Livox_ros_driver2 parameters end ######################### + + # Specify the actions + start_livox_ros_driver2_node = Node( + package='livox_ros_driver2', + executable='livox_ros_driver2_node', + name='livox_lidar_publisher', + output='screen', + parameters=livox_ros2_params + ) + + start_robot_description = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(pb_rm_simulation_launch_dir, 'rm_real.launch.py')), + launch_arguments={'rviz': use_rviz}.items() + ) + + icp_node = Node( + package='icp_localization_ros2', + executable='icp_localization', + output='screen', + parameters=[ + icp_node_params_dir, + {'pcd_file_path': icp_pcd_dir, + 'icp_config_path': icp_config_dir, + 'input_filters_config_path': icp_input_filters_config_path, + 'use_sim_time': use_sim_time } + ] + ) + + icp_delay_node = TimerAction( + period=1.5, + actions=[icp_node] + ) + + start_navigation2 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir, 'bringup_launch.py')), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': use_sim_time, + 'params_file': nav2_params_file}.items() + ) + + start_common = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(bringup_dir, 'launch', 'common.py')) + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(start_livox_ros_driver2_node) + ld.add_action(start_robot_description) + ld.add_action(start_common) + ld.add_action(icp_delay_node) + ld.add_action(start_navigation2) + + return ld + \ No newline at end of file diff --git a/src/rm_bringup/launch/bringup_sim_mapping.launch.py b/src/rm_bringup/launch/bringup_sim_mapping.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..fa22b6fbf742e4459b51d8d412bf1ca655d41d50 --- /dev/null +++ b/src/rm_bringup/launch/bringup_sim_mapping.launch.py @@ -0,0 +1,83 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch.actions.append_environment_variable import AppendEnvironmentVariable + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('rm_bringup') + pb_rm_simulation_launch_dir = os.path.join(get_package_share_directory('pb_rm_simulation'), 'launch') + navigation2_launch_dir = os.path.join(get_package_share_directory('rm_navigation'), 'launch') + + # Select world (map file, world file share the same name prefix as the 'world' parameter) + world = LaunchConfiguration('world', default='RMUL') + + # Get the default map/config directory + map_dir = PathJoinSubstitution([bringup_dir, 'map', world]), ".yaml" + nav2_params_file_dir = os.path.join(bringup_dir, 'config', 'nav2_params.yaml') + slam_params_file_dir = os.path.join(bringup_dir, 'config', 'mapper_params_online_async.yaml') + + # Create the launch configuration variables + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + use_rviz = LaunchConfiguration('rviz', default='false') # Visualize robot descrption + map_yaml_file = LaunchConfiguration('map', default=map_dir) + nav2_params_file = LaunchConfiguration('params_file', default=nav2_params_file_dir) + + # Set Gazebo plugin path + append_enviroment = AppendEnvironmentVariable( + 'GAZEBO_PLUGIN_PATH', + os.path.join(os.path.join(get_package_share_directory('pb_rm_simulation'), 'meshes', 'obstacles', 'obstacle_plugin', 'lib')) + ) + + # Specify the actions + start_rm_simulation = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(pb_rm_simulation_launch_dir, 'rm_simulation.launch.py')), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'world': world, + 'rviz': use_rviz}.items() + ) + + start_async_slam_toolbox_node = Node( + package='slam_toolbox', + executable='async_slam_toolbox_node', + name='slam_toolbox', + parameters=[ + slam_params_file_dir, + {'use_sim_time': use_sim_time} + ], + output='screen' + ) + + start_navigation2 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir, 'bringup_no_amcl_launch.py')), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': use_sim_time, + 'params_file': nav2_params_file}.items() + ) + + start_common = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(bringup_dir, 'launch', 'common.py')) + ) + + ld = LaunchDescription() + + # Set environment variables + ld.add_action(append_enviroment) + + # Declare the launch options + ld.add_action(start_rm_simulation) + ld.add_action(start_async_slam_toolbox_node) + ld.add_action(start_navigation2) + ld.add_action(start_common) + + return ld + \ No newline at end of file diff --git a/src/rm_bringup/launch/bringup_sim_navigation.launch.py b/src/rm_bringup/launch/bringup_sim_navigation.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..2c697c0d744bf4d55bd7799d31443b073bbb1f16 --- /dev/null +++ b/src/rm_bringup/launch/bringup_sim_navigation.launch.py @@ -0,0 +1,94 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription, TimerAction +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration, PathJoinSubstitution +from launch_ros.actions import Node +from launch.actions.append_environment_variable import AppendEnvironmentVariable + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('rm_bringup') + pb_rm_simulation_launch_dir = os.path.join(get_package_share_directory('pb_rm_simulation'), 'launch') + navigation2_launch_dir = os.path.join(get_package_share_directory('rm_navigation'), 'launch') + + # Select world (map file, pcd file, world file share the same name prefix as the 'world' parameter) + world = LaunchConfiguration('world', default='RMUL') + + # Get the default map/config directory + map_dir = PathJoinSubstitution([bringup_dir, 'map', world]), ".yaml" + icp_pcd_dir = PathJoinSubstitution([bringup_dir, 'PCD', world]), ".pcd" + nav2_params_file_dir = os.path.join(bringup_dir, 'config', 'nav2_params.yaml') + icp_node_params_dir = os.path.join(bringup_dir, 'config', 'icp_node_params.yaml') + icp_config_dir = os.path.join(bringup_dir, 'config', 'icp_config.yaml') + icp_input_filters_config_path = os.path.join(bringup_dir, 'config', 'icp_input_filters_mid360.yaml') + + # Create the launch configuration variables + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + use_rviz = LaunchConfiguration('rviz', default='false') # Visualize robot descrption + map_yaml_file = LaunchConfiguration('map', default=map_dir) + nav2_params_file = LaunchConfiguration('params_file', default=nav2_params_file_dir) + + + # Set Gazebo plugin path + append_enviroment = AppendEnvironmentVariable( + 'GAZEBO_PLUGIN_PATH', + os.path.join(os.path.join(get_package_share_directory('pb_rm_simulation'), 'meshes', 'obstacles', 'obstacle_plugin', 'lib')) + ) + + # Specify the actions + start_rm_simulation = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(pb_rm_simulation_launch_dir, 'rm_simulation.launch.py')), + launch_arguments={ + 'use_sim_time': use_sim_time, + 'world': world, + 'rviz': use_rviz}.items() + ) + + icp_node = Node( + package='icp_localization_ros2', + executable='icp_localization', + output='screen', + parameters=[ + icp_node_params_dir, + {'pcd_file_path': icp_pcd_dir, + 'icp_config_path': icp_config_dir, + 'input_filters_config_path': icp_input_filters_config_path, + 'use_sim_time': use_sim_time } + ] + ) + + icp_delay_node = TimerAction( + period=1.5, + actions=[icp_node] + ) + + start_navigation2 = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(navigation2_launch_dir, 'bringup_launch.py')), + launch_arguments={ + 'map': map_yaml_file, + 'use_sim_time': use_sim_time, + 'params_file': nav2_params_file}.items() + ) + + start_common = IncludeLaunchDescription( + PythonLaunchDescriptionSource(os.path.join(bringup_dir, 'launch', 'common.py')) + ) + + + ld = LaunchDescription() + + # Set environment variables + ld.add_action(append_enviroment) + + # Declare the launch options + ld.add_action(start_rm_simulation) + ld.add_action(icp_delay_node) + ld.add_action(start_navigation2) + ld.add_action(start_common) + + return ld + \ No newline at end of file diff --git a/src/rm_bringup/launch/common.py b/src/rm_bringup/launch/common.py new file mode 100644 index 0000000000000000000000000000000000000000..bf74367f7cce6a1f44eb4fd61e6203bcac500be8 --- /dev/null +++ b/src/rm_bringup/launch/common.py @@ -0,0 +1,117 @@ +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.actions import GroupAction + +from launch.conditions import IfCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + # Get the launch directory + bringup_dir = get_package_share_directory('rm_bringup') + + ##################### linefit_ground_segementation parameters start ##################### + segmentation_params = os.path.join(bringup_dir, 'config', 'segmentation_params.yaml') + ##################### linefit_ground_segementation parameters end ##################### + + + ################################### FAST_LIO parameters start ################################### + fastlio_mid360_params = os.path.join(bringup_dir, 'config', 'fastlio_mid360.yaml') + fastlio_rviz_cfg = os.path.join(bringup_dir, 'rviz', 'fastlio.rviz') + + use_sim_time = LaunchConfiguration('use_sim_time', default='false') # bool + feature_extract_enable_param = LaunchConfiguration('feature_extract_enable', default='false') # bool + point_filter_num_param = LaunchConfiguration('point_filter_num', default='3') # int + max_iteration_param = LaunchConfiguration('max_iteration', default='3') # int + filter_size_surf_param = LaunchConfiguration('filter_size_surf', default='0.5') # double + filter_size_map_param = LaunchConfiguration('filter_size_map', default='0.5') # double + cube_side_length_param = LaunchConfiguration('cube_side_length', default='1000.0') # double + runtime_pos_log_enable_param = LaunchConfiguration('runtime_pos_log_enable', default='false') # bool + rviz_cfg = LaunchConfiguration('rviz_cfg', default=fastlio_rviz_cfg) # string + use_rviz = LaunchConfiguration('rviz', default='true') # bool + ################################### FAST_LIO parameters end ################################### + + bringup_imu_complementary_filter_group = Node( + package='imu_complementary_filter', + executable='complementary_filter_node', + name='complementary_filter_gain_node', + output='screen', + parameters=[ + {'do_bias_estimation': True}, + {'do_adaptive_gain': True}, + {'use_mag': False}, + {'gain_acc': 0.01}, + {'gain_mag': 0.01}, + ], + remappings=[ + ('/imu/data_raw', '/livox/imu'), + ] + ) + + bringup_FAST_LIO_group = GroupAction([ + Node( + package='fast_lio', + executable='fastlio_mapping', + parameters=[ + fastlio_mid360_params, + {'use_sim_time': use_sim_time}, + {'feature_extract_enable': feature_extract_enable_param}, + {'point_filter_num': point_filter_num_param}, + {'max_iteration': max_iteration_param}, + {'filter_size_surf': filter_size_surf_param}, + {'filter_size_map': filter_size_map_param}, + {'cube_side_length': cube_side_length_param}, + {'runtime_pos_log_enable': runtime_pos_log_enable_param} + ], + output='screen' + ), + + Node( + package='rviz2', + executable='rviz2', + arguments=['-d', rviz_cfg], + condition=IfCondition(use_rviz) + ) + ]) + + bringup_linefit_ground_segmentation_group = Node( + package='linefit_ground_segmentation_ros', + executable='ground_segmentation_node', + output='screen', + parameters=[segmentation_params] + ) + + bringup_pointcloud_to_laserscan_group = Node( + package='pointcloud_to_laserscan', executable='pointcloud_to_laserscan_node', + remappings=[('cloud_in', ['/segmentation/obstacle']), + ('scan', ['/scan'])], + parameters=[{ + 'target_frame': 'base_link', + 'transform_tolerance': 0.01, + 'min_height': -1.0, + 'max_height': 0.1, + 'angle_min': -3.14159, # -M_PI/2 + 'angle_max': 3.14159, # M_PI/2 + 'angle_increment': 0.0043, # M_PI/360.0 + 'scan_time': 0.3333, + 'range_min': 0.45, + 'range_max': 10.0, + 'use_inf': True, + 'inf_epsilon': 1.0 + }], + name='pointcloud_to_laserscan' + ) + + ld = LaunchDescription() + + ld.add_action(bringup_FAST_LIO_group) + ld.add_action(bringup_imu_complementary_filter_group) + ld.add_action(bringup_linefit_ground_segmentation_group) + ld.add_action(bringup_pointcloud_to_laserscan_group) + + return ld + \ No newline at end of file diff --git a/src/rm_navigation/map/map.pgm b/src/rm_bringup/map/RMUC.pgm similarity index 100% rename from src/rm_navigation/map/map.pgm rename to src/rm_bringup/map/RMUC.pgm diff --git a/src/rm_navigation/map/map.yaml b/src/rm_bringup/map/RMUC.yaml similarity index 86% rename from src/rm_navigation/map/map.yaml rename to src/rm_bringup/map/RMUC.yaml index 1e707d1397dee7ac6968661d05fe6feeb171580e..6e2c7a0151f0fa59c84456ea3dd8ea2d4dc788bb 100644 --- a/src/rm_navigation/map/map.yaml +++ b/src/rm_bringup/map/RMUC.yaml @@ -1,4 +1,4 @@ -image: map.pgm +image: RMUC.pgm mode: trinary resolution: 0.05 origin: [-6.64, -10.3, 0] diff --git a/src/rm_bringup/map/RMUL.pgm b/src/rm_bringup/map/RMUL.pgm new file mode 100644 index 0000000000000000000000000000000000000000..ecfd1629cf6604332ff0e7c7118ad73b50e1c716 Binary files /dev/null and b/src/rm_bringup/map/RMUL.pgm differ diff --git a/src/rm_bringup/map/RMUL.yaml b/src/rm_bringup/map/RMUL.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6b09c75a474b373e81d304ac2978ec55ad1a2ecc --- /dev/null +++ b/src/rm_bringup/map/RMUL.yaml @@ -0,0 +1,7 @@ +image: RMUL.pgm +mode: trinary +resolution: 0.05 +origin: [-0.663, -3.42, 0] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.25 \ No newline at end of file diff --git a/src/rm_bringup/package.xml b/src/rm_bringup/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8a75132e2921eacc67c04220f351c65920b94e7d --- /dev/null +++ b/src/rm_bringup/package.xml @@ -0,0 +1,16 @@ + + + + rm_bringup + 0.0.0 + TODO: Package description + Lihan Chen + TODO + Lihan Chen + + ament_cmake + + + ament_cmake + + diff --git a/src/rm_bringup/rviz/fastlio.rviz b/src/rm_bringup/rviz/fastlio.rviz new file mode 100644 index 0000000000000000000000000000000000000000..467dd5c4342936d84685c013c6c276a8d6ceece0 --- /dev/null +++ b/src/rm_bringup/rviz/fastlio.rviz @@ -0,0 +1,305 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /CloudMap1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: CloudMap +Visualization Manager: + Class: "" + Displays: + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + livox_frame: + Value: true + odom: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + odom: + livox_frame: + {} + Update Interval: 0 + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Odometry + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz_default_plugins/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /path + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 3.6277356147766113 + Min Value: -0.9040128588676453 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 30 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 186 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudRegistered + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_registered + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 184 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudEffected + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /cloud_effected + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 2.9017436504364014 + Min Value: -2.2115612030029297 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: CloudMap + Position Transformer: XYZ + Selectable: true + Size (Pixels): 1 + Size (m): 0.05000000074505806 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /Laser_map + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 13.142322540283203 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.008504047989845276 + Y: -0.0005770106799900532 + Z: 0.034441977739334106 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.9397971630096436 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 4.408558368682861 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1453 + X: 368 + Y: 104 diff --git a/src/rm_driver/livox_ros_driver2 b/src/rm_driver/livox_ros_driver2 new file mode 160000 index 0000000000000000000000000000000000000000..c55d308ac6d9e80a5952ed8c54fd5e46ae816f06 --- /dev/null +++ b/src/rm_driver/livox_ros_driver2 @@ -0,0 +1 @@ +Subproject commit c55d308ac6d9e80a5952ed8c54fd5e46ae816f06 diff --git a/src/rm_localization/FAST_LIO/Log/mat_pre.txt b/src/rm_localization/FAST_LIO/Log/mat_pre.txt index 9da351c6687bc2acf5f27048a129a4737efbce90..fc67c80bb6b0b22ce122b2ca46d794ee35d48670 100644 --- a/src/rm_localization/FAST_LIO/Log/mat_pre.txt +++ b/src/rm_localization/FAST_LIO/Log/mat_pre.txt @@ -1,574 +1,99 @@ - 0.34 0 0 0 6.37102e-06 -0.000129874 -0.000203538 0 0 0 0 0 -0.05 3.21234e-05 -0.00407432 -0.00114682 0.0400653 -0.000611224 0.000516411 0 0 0 -3.77954e-05 -0.0313511 -9.80895 - 0.456 0.0519067 -0.0109373 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0.0183225 -9.80578 diff --git a/src/rm_localization/FAST_LIO/config/mid360.yaml b/src/rm_localization/FAST_LIO/config/mid360.yaml index bee5a839e6c9ac27ea4090f54cc5a327dd580be8..ba84aaa628f9f769b286a124b7a06da827d2c879 100644 --- a/src/rm_localization/FAST_LIO/config/mid360.yaml +++ b/src/rm_localization/FAST_LIO/config/mid360.yaml @@ -34,7 +34,7 @@ scan_bodyframe_pub_en: true # true: output the point cloud scans in IMU-body-frame # when you use docker, you should enter the absolute path of in docker container - map_file_path: "src/FAST_LIO/PCD/328.pcd" + map_file_path: "src/rm_localization/FAST_LIO/PCD/RMUL.pcd" pcd_save: pcd_save_en: false interval: -1 # how many LiDAR frames saved in each pcd file; @@ -42,4 +42,4 @@ traj_save: traj_save_en: false - traj_file_path: "src/FAST_LIO/traj/328.txt" # when you use docker, you should enter the absolute path of in docker container \ No newline at end of file + traj_file_path: "src/rm_localization/FAST_LIO/traj/RMUL.txt" # when you use docker, you should enter the absolute path of in docker container \ No newline at end of file diff --git a/src/rm_localization/icp_localization_ros2/config/node_params.yaml b/src/rm_localization/icp_localization_ros2/config/node_params.yaml index ae1e2c3ad0fc4d0b1af2ab512152144ae2c4af97..e1bc09c26323e715fc6f821f033f4f17a5ebffdc 100644 --- a/src/rm_localization/icp_localization_ros2/config/node_params.yaml +++ b/src/rm_localization/icp_localization_ros2/config/node_params.yaml @@ -1,6 +1,7 @@ /icp_localization: ros__parameters: - pcd_file_path: "src/rm_simulation/pb_rm_simulation/meshes/RMUC2023_world/preview/downsampled_rm_pt.pcd" + # pcd_file_path: "src/rm_simulation/pb_rm_simulation/meshes/RMUC2023_world/preview/RMUC.pcd" + pcd_file_path: "src/rm_simulation/pb_rm_simulation/meshes/auto_world/preview/RMUL.pcd" icp_localization_ros2: range_data_topic: "/cloud_registered_body" num_accumulated_range_data: 1 diff --git a/src/rm_navigation/CMakeLists.txt b/src/rm_navigation/CMakeLists.txt index 54b9482715e561bde0aed2bb527817f53b8571c9..d4614eef5a6018bac7b74a11634335a98a45808f 100644 --- a/src/rm_navigation/CMakeLists.txt +++ b/src/rm_navigation/CMakeLists.txt @@ -26,5 +26,4 @@ endif() ament_auto_package(INSTALL_TO_SHARE params launch - map ) diff --git a/src/rm_navigation/launch/bringup_launch.py b/src/rm_navigation/launch/bringup_launch.py index 9fa8246b2e507d46ce41d08b6366b8d5bccd4355..3b6eae692015297413b3709e1881ae670961812c 100644 --- a/src/rm_navigation/launch/bringup_launch.py +++ b/src/rm_navigation/launch/bringup_launch.py @@ -85,7 +85,8 @@ def generate_launch_description(): declare_map_yaml_cmd = DeclareLaunchArgument( 'map', - default_value= os.path.join(bringup_dir,'map', 'map.yaml'), + # default_value= os.path.join(bringup_dir,'map', 'RMUC.yaml'), + default_value= os.path.join(bringup_dir,'map', 'RMUL.yaml'), description='Full path to map yaml file to load') declare_use_sim_time_cmd = DeclareLaunchArgument( diff --git a/src/rm_navigation/map/rmuc_map_draw.pgm b/src/rm_navigation/map/rmuc_map_draw.pgm deleted file mode 100644 index 21ddf5cfc48d18beac14a69a885e4d7e951ca73a..0000000000000000000000000000000000000000 Binary files a/src/rm_navigation/map/rmuc_map_draw.pgm and /dev/null differ diff --git a/src/rm_navigation/map/rmuc_map_draw.yaml b/src/rm_navigation/map/rmuc_map_draw.yaml deleted file mode 100644 index 2764fbf63c42922b1c26545fb0f4e6a34405b6c9..0000000000000000000000000000000000000000 --- a/src/rm_navigation/map/rmuc_map_draw.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: rmuc_map_draw.pgm -resolution: 0.050000 -origin: [-6.000000, -7.5000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/src/rm_navigation/params/nav2_params.yaml b/src/rm_navigation/params/nav2_params.yaml index f39887929cc38ded59263fed9deb1af4d589298f..0d135650273c85a5fc00afcf24fe5582351416ef 100644 --- a/src/rm_navigation/params/nav2_params.yaml +++ b/src/rm_navigation/params/nav2_params.yaml @@ -1,6 +1,6 @@ amcl: ros__parameters: - use_sim_time: True + use_sim_time: False alpha1: 0.2 alpha2: 0.2 alpha3: 0.2 @@ -14,10 +14,10 @@ amcl: global_frame_id: "map" lambda_short: 0.1 laser_likelihood_max_dist: 2.0 - laser_max_range: 10.0 + laser_max_range: 100.0 laser_min_range: -1.0 laser_model_type: "likelihood_field" - max_beams: 100 + max_beams: 60 max_particles: 2000 min_particles: 500 odom_frame_id: "odom" @@ -39,83 +39,70 @@ amcl: z_short: 0.05 scan_topic: scan +amcl_map_client: + ros__parameters: + use_sim_time: False + +amcl_rclcpp_node: + ros__parameters: + use_sim_time: False + bt_navigator: ros__parameters: - use_sim_time: True + use_sim_time: False global_frame: map robot_base_frame: base_link odom_topic: /Odometry bt_loop_duration: 10 default_server_timeout: 20 - # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults: - # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml - # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml - # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2. + enable_groot_monitoring: True + groot_zmq_publisher_port: 1666 + groot_zmq_server_port: 1667 plugin_lib_names: - - nav2_compute_path_to_pose_action_bt_node - - nav2_compute_path_through_poses_action_bt_node - - nav2_smooth_path_action_bt_node - - nav2_follow_path_action_bt_node - - nav2_spin_action_bt_node - - nav2_wait_action_bt_node - - nav2_assisted_teleop_action_bt_node - - nav2_back_up_action_bt_node - - nav2_drive_on_heading_bt_node - - nav2_clear_costmap_service_bt_node - - nav2_is_stuck_condition_bt_node - - nav2_goal_reached_condition_bt_node - - nav2_goal_updated_condition_bt_node - - nav2_globally_updated_goal_condition_bt_node - - nav2_is_path_valid_condition_bt_node - - nav2_initial_pose_received_condition_bt_node - - nav2_reinitialize_global_localization_service_bt_node - - nav2_rate_controller_bt_node - - nav2_distance_controller_bt_node - - nav2_speed_controller_bt_node - - nav2_truncate_path_action_bt_node - - nav2_truncate_path_local_action_bt_node - - nav2_goal_updater_node_bt_node - - nav2_recovery_node_bt_node - - nav2_pipeline_sequence_bt_node - - nav2_round_robin_node_bt_node - - nav2_transform_available_condition_bt_node - - nav2_time_expired_condition_bt_node - - nav2_path_expiring_timer_condition - - nav2_distance_traveled_condition_bt_node - - nav2_single_trigger_bt_node - - nav2_goal_updated_controller_bt_node - - nav2_is_battery_low_condition_bt_node - - nav2_navigate_through_poses_action_bt_node - - nav2_navigate_to_pose_action_bt_node - - nav2_remove_passed_goals_action_bt_node - - nav2_planner_selector_bt_node - - nav2_controller_selector_bt_node - - nav2_goal_checker_selector_bt_node - - nav2_controller_cancel_bt_node - - nav2_path_longer_on_approach_bt_node - - nav2_wait_cancel_bt_node - - nav2_spin_cancel_bt_node - - nav2_back_up_cancel_bt_node - - nav2_assisted_teleop_cancel_bt_node - - nav2_drive_on_heading_cancel_bt_node - - nav2_is_battery_charging_condition_bt_node + - nav2_compute_path_to_pose_action_bt_node + - nav2_compute_path_through_poses_action_bt_node + - nav2_follow_path_action_bt_node + - nav2_back_up_action_bt_node + - nav2_spin_action_bt_node + - nav2_wait_action_bt_node + - nav2_clear_costmap_service_bt_node + - nav2_is_stuck_condition_bt_node + - nav2_goal_reached_condition_bt_node + - nav2_goal_updated_condition_bt_node + - nav2_initial_pose_received_condition_bt_node + - nav2_reinitialize_global_localization_service_bt_node + - nav2_rate_controller_bt_node + - nav2_distance_controller_bt_node + - nav2_speed_controller_bt_node + - nav2_truncate_path_action_bt_node + - nav2_goal_updater_node_bt_node + - nav2_recovery_node_bt_node + - nav2_pipeline_sequence_bt_node + - nav2_round_robin_node_bt_node + - nav2_transform_available_condition_bt_node + - nav2_time_expired_condition_bt_node + - nav2_distance_traveled_condition_bt_node + - nav2_single_trigger_bt_node + - nav2_is_battery_low_condition_bt_node + - nav2_navigate_through_poses_action_bt_node + - nav2_navigate_to_pose_action_bt_node + - nav2_remove_passed_goals_action_bt_node + - nav2_planner_selector_bt_node + - nav2_controller_selector_bt_node + - nav2_goal_checker_selector_bt_node -bt_navigator_navigate_through_poses_rclcpp_node: +bt_navigator_rclcpp_node: ros__parameters: - use_sim_time: True - -bt_navigator_navigate_to_pose_rclcpp_node: - ros__parameters: - use_sim_time: True + use_sim_time: False controller_server: ros__parameters: - use_sim_time: True - controller_frequency: 20.0 + use_sim_time: False + controller_frequency: 5.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 - failure_tolerance: 0.5 + failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker" controller_plugins: ["FollowPath"] @@ -123,52 +110,19 @@ controller_server: # Progress checker parameters progress_checker: plugin: "nav2_controller::SimpleProgressChecker" - required_movement_radius: 0.4 + required_movement_radius: 0.5 movement_time_allowance: 10.0 + # Goal checker parameters - # precise_goal_checker: - # plugin: "nav2_controller::SimpleGoalChecker" - # xy_goal_tolerance: 0.25 - # yaw_goal_tolerance: 0.25 - # stateful: True general_goal_checker: stateful: True plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 - yaw_goal_tolerance: 0.8 - # PurePursuit - # https://navigation.ros.org/configuration/packages/configuring-regulated-pp.html - FollowPath: - plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" - desired_linear_vel: 2.5 - lookahead_dist: 0.6 - min_lookahead_dist: 0.3 - max_lookahead_dist: 0.9 - lookahead_time: 1.5 - rotate_to_heading_angular_vel: 10.0 - transform_tolerance: 0.1 - use_velocity_scaled_lookahead_dist: true - min_approach_linear_velocity: 0.05 - approach_velocity_scaling_dist: 2.0 - use_collision_detection: false - max_allowed_time_to_collision_up_to_carrot: 1.0 - use_regulated_linear_velocity_scaling: true - use_fixed_curvature_lookahead: false - curvature_lookahead_dist: 2.0 - use_cost_regulated_linear_velocity_scaling: true - regulated_linear_scaling_min_radius: 0.15 - regulated_linear_scaling_min_speed: 0.5 - use_rotate_to_heading: true - allow_reversing: false - rotate_to_heading_min_angle: 0.785 - max_angular_accel: 15.0 - max_robot_pose_search_dist: 10.0 - use_interpolation: true - + yaw_goal_tolerance: 0.25 # DWB parameters FollowPath: plugin: "dwb_core::DWBLocalPlanner" - debug_trajectory_details: True + debug_trajectory_details: False min_vel_x: -2.5 min_vel_y: -2.5 max_vel_x: 2.5 @@ -186,7 +140,7 @@ controller_server: vx_samples: 20 vy_samples: 20 vtheta_samples: 20 - sim_time: 0.38 + sim_time: 0.51 linear_granularity: 0.05 angular_granularity: 0.025 transform_tolerance: 0.2 @@ -197,134 +151,155 @@ controller_server: critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"] BaseObstacle.scale: 0.02 PathAlign.scale: 32.0 - GoalAlign.scale: 24.0 PathAlign.forward_point_distance: 0.1 + GoalAlign.scale: 24.0 GoalAlign.forward_point_distance: 0.1 PathDist.scale: 32.0 GoalDist.scale: 24.0 RotateToGoal.scale: 32.0 RotateToGoal.slowing_factor: 5.0 RotateToGoal.lookahead_time: -1.0 - - # Recovery - # shrink_horizon_backup: True - # shrink_horizon_min_duration: 10.0 - # oscillation_recovery: True - # oscillation_v_eps: 0.1 - # oscillation_omega_eps: 0.1 - # oscillation_recovery_mimaxn_duration: 10.0 - # oscillation_filter_duration: 10.0 - + +controller_server_rclcpp_node: + ros__parameters: + use_sim_time: False local_costmap: local_costmap: ros__parameters: update_frequency: 20.0 - publish_frequency: 20.0 - global_frame: map + publish_frequency: 10.0 + # global_frame: odom + global_frame: map robot_base_frame: base_link - use_sim_time: True + use_sim_time: False rolling_window: true - static_map: false width: 5 height: 5 resolution: 0.05 robot_radius: 0.2 - plugins: ["obstacle_layer", "inflation_layer"] + plugins: ["voxel2d_layer", "voxel3d_layer", "inflation_layer"] inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" - cost_scaling_factor: 3.0 - inflation_radius: 0.20 - obstacle_layer: - plugin: "nav2_costmap_2d::ObstacleLayer" + cost_scaling_factor: 8.0 + inflation_radius: 0.7 + voxel2d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" enabled: True - observation_sources: livox - max_obstacle_height: 1.0 - min_obstacle_height: -1.0 - livox: + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + max_obstacle_height: 2.0 + mark_threshold: 0 + observation_sources: scan + scan: topic: /scan - max_obstacle_height: 1.0 - min_obstacle_height: -1.0 + raytrace_min_range: 0.0 + raytrace_max_range: 50.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" - raytrace_max_range: 9.0 + voxel3d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + mark_threshold: 1 + observation_sources: livox + min_obstacle_height: 0.00 + max_obstacle_height: 2.0 + livox: + topic: /livox/lidar/pointcloud raytrace_min_range: 0.0 - obstacle_max_range: 7.5 - obstacle_min_range: 0.0 - # voxel_layer: - # plugin: "nav2_costmap_2d::VoxelLayer" - # enabled: True - # publish_voxel_map: True - # origin_z: -0.55 - # z_resolution: 0.05 - # z_voxels: 16 - # min_obstacle_height: 1.0 - # max_obstacle_height: 1.0 - # mark_threshold: 0 - # observation_sources: pointcloud - # pointcloud: - # topic: /segmentation/obstacle - # min_obstacle_height: -1.0 - # max_obstacle_height: 1.0 - # clearing: True - # marking: True - # data_type: "PointCloud2" - # raytrace_max_range: 5.0 - # raytrace_min_range: 0.0 - # obstacle_max_range: 3.0 - # obstacle_min_range: 0.0 + raytrace_max_range: 50.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "PointCloud2" static_layer: map_subscribe_transient_local: True always_send_full_costmap: True - + local_costmap_client: + ros__parameters: + use_sim_time: False + local_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False global_costmap: global_costmap: ros__parameters: update_frequency: 20.0 - publish_frequency: 20.0 + publish_frequency: 10.0 global_frame: map robot_base_frame: base_link - use_sim_time: True + use_sim_time: False robot_radius: 0.2 resolution: 0.05 track_unknown_space: true - plugins: ["static_layer", "inflation_layer"] - obstacle_layer: + plugins: ["static_layer", "voxel2d_layer", "voxel3d_layer", "inflation_layer"] + voxel2d_layer: plugin: "nav2_costmap_2d::ObstacleLayer" - enabled: False + enabled: True observation_sources: scan scan: - topic: /rplidar - sensor_frame: rplidar_frame + topic: /scan + raytrace_min_range: 0.0 + raytrace_max_range: 50.0 + min_obstacle_height: 0.0 max_obstacle_height: 2.0 clearing: True marking: True data_type: "LaserScan" - raytrace_max_range: 5.5 + voxel3d_layer: + plugin: "nav2_costmap_2d::VoxelLayer" + enabled: True + publish_voxel_map: False + origin_z: 0.0 + z_resolution: 0.05 + z_voxels: 16 + mark_threshold: 1 + observation_sources: livox + min_obstacle_height: 0.00 + max_obstacle_height: 2.0 + livox: + topic: /livox/lidar/pointcloud raytrace_min_range: 0.0 - obstacle_max_range: 5.0 - obstacle_min_range: 0.0 + raytrace_max_range: 50.0 + min_obstacle_height: 0.0 + max_obstacle_height: 2.0 + clearing: True + marking: True + data_type: "PointCloud2" static_layer: plugin: "nav2_costmap_2d::StaticLayer" map_subscribe_transient_local: True inflation_layer: plugin: "nav2_costmap_2d::InflationLayer" cost_scaling_factor: 8.0 - inflation_radius: 1.0 + inflation_radius: 0.7 always_send_full_costmap: True + global_costmap_client: + ros__parameters: + use_sim_time: False + global_costmap_rclcpp_node: + ros__parameters: + use_sim_time: False map_server: - ros__parameters : - use_sim_time: True - # Overridden in launch by the "map" launch configuration or provided default value. - # To use in yaml, remove the default "map" value in the tb3_simulation_launch.py file & provide full path to map below. + ros__parameters: + use_sim_time: False yaml_filename: "" map_saver: ros__parameters: - use_sim_time: True + use_sim_time: False save_map_timeout: 5.0 free_thresh_default: 0.25 occupied_thresh_default: 0.65 @@ -333,7 +308,7 @@ map_saver: planner_server: ros__parameters: expected_planner_frequency: 20.0 - use_sim_time: True + use_sim_time: False planner_plugins: ["GridBased"] GridBased: plugin: "nav2_navfn_planner/NavfnPlanner" @@ -341,51 +316,40 @@ planner_server: use_astar: false allow_unknown: true -smoother_server: - ros__parameters: - use_sim_time: True - smoother_plugins: ["simple_smoother"] - simple_smoother: - plugin: "nav2_smoother::SimpleSmoother" - tolerance: 1.0e-10 - max_its: 1000 - do_refinement: True +# planner_server_rclcpp_node: +# ros__parameters: +# use_sim_time: False -behavior_server: +recoveries_server: ros__parameters: costmap_topic: local_costmap/costmap_raw footprint_topic: local_costmap/published_footprint - cycle_frequency: 20.0 - behavior_plugins: ["spin", "backup", "drive_on_heading", "assisted_teleop", "wait"] + cycle_frequency: 10.0 + recovery_plugins: ["spin", "backup", "wait"] spin: - plugin: "nav2_behaviors/Spin" + plugin: "nav2_recoveries/Spin" backup: - plugin: "nav2_behaviors/BackUp" - drive_on_heading: - plugin: "nav2_behaviors/DriveOnHeading" + plugin: "nav2_recoveries/BackUp" wait: - plugin: "nav2_behaviors/Wait" - assisted_teleop: - plugin: "nav2_behaviors/AssistedTeleop" + plugin: "nav2_recoveries/Wait" global_frame: odom robot_base_frame: base_link - transform_tolerance: 0.1 - use_sim_time: True + transform_timeout: 0.1 + use_sim_time: False simulate_ahead_time: 2.0 max_rotational_vel: 20.0 min_rotational_vel: 0.4 - rotational_acc_lim: 25.0 + rotational_acc_lim: 10.0 robot_state_publisher: ros__parameters: - use_sim_time: True + use_sim_time: False waypoint_follower: ros__parameters: - use_sim_time: True loop_rate: 20 stop_on_failure: false - waypoint_task_executor_plugin: "wait_at_waypoint" + waypoint_task_executor_plugin: "wait_at_waypoint" wait_at_waypoint: plugin: "nav2_waypoint_follower::WaitAtWaypoint" enabled: True @@ -394,9 +358,9 @@ waypoint_follower: velocity_smoother: ros__parameters: use_sim_time: True - smoothing_frequency: 20.0 - scale_velocities: True - feedback: "OPEN_LOOP" + smoothing_frequency: 5.0 + scale_velocities: False + feedback: "CLOSED_LOOP" max_velocity: [2.5, 2.5, 12.0] min_velocity: [-2.5, -2.5, -12.0] max_accel: [5.0, 5.0, 15.0] @@ -404,4 +368,4 @@ velocity_smoother: odom_topic: "Odometry" odom_duration: 0.1 deadband_velocity: [0.0, 0.0, 0.0] - velocity_timeout: 1.0 + velocity_timeout: 1.0 \ No newline at end of file diff --git a/src/rm_simulation/pb_rm_simulation/launch/rm_real.launch.py b/src/rm_simulation/pb_rm_simulation/launch/rm_real.launch.py index de1fcc48483a26bcc230db78ff78f8b94af172a9..f38ad70f4c1c7771176798a69ef4ab1c32552f0d 100644 --- a/src/rm_simulation/pb_rm_simulation/launch/rm_real.launch.py +++ b/src/rm_simulation/pb_rm_simulation/launch/rm_real.launch.py @@ -6,11 +6,10 @@ from ament_index_python.packages import get_package_share_directory, get_package from launch import LaunchDescription from launch.substitutions import LaunchConfiguration, Command -from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, GroupAction -from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.actions import DeclareLaunchArgument from launch_ros.actions import Node from launch_ros.parameter_descriptions import ParameterValue -from launch.conditions import LaunchConfigurationEquals +from launch.conditions import IfCondition def generate_launch_description(): # Get the launch directory @@ -21,11 +20,11 @@ def generate_launch_description(): # Create the launch configuration variables use_sim_time = LaunchConfiguration('use_sim_time') - world = LaunchConfiguration('world') + use_rviz = LaunchConfiguration('rviz', default='false') declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', - default_value='True', + default_value='False', description='Use simulation (Gazebo) clock if true' ) @@ -63,6 +62,7 @@ def generate_launch_description(): ) start_rviz_cmd = Node( + condition=IfCondition(use_rviz), package='rviz2', namespace='', executable='rviz2', @@ -76,8 +76,6 @@ def generate_launch_description(): ld.add_action(declare_rviz_config_file_cmd) ld.add_action(start_joint_state_publisher_cmd) ld.add_action(start_robot_state_publisher_cmd) - - # Uncomment this line if you want to start RViz - # ld.add_action(start_rviz_cmd) + ld.add_action(start_rviz_cmd) return ld diff --git a/src/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py b/src/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py index 21829c89ae576d6c79ff86a9f85fae27f96fd133..3844af133a85c5caa69e589e88ef2d10a39ff3d6 100644 --- a/src/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py +++ b/src/rm_simulation/pb_rm_simulation/launch/rm_simulation.launch.py @@ -11,11 +11,13 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from launch_ros.parameter_descriptions import ParameterValue from launch.conditions import LaunchConfigurationEquals +from launch.conditions import IfCondition # Enum for world types class WorldType: RMUC = 'RMUC' RMUL = 'RMUL' + RMUL_dynamic_obstacles = 'RMUL_dynamic_obstacles' def get_world_config(world_type): world_configs = { @@ -31,7 +33,7 @@ def get_world_config(world_type): 'y': '0.0', 'z': '0.15', 'yaw': '-0.8', - 'world_path': 'auto_world/auto_world.world' + 'world_path': 'auto_world/auto_world_dynamic_obstacles.world' } } return world_configs.get(world_type, None) @@ -46,7 +48,7 @@ def generate_launch_description(): # Create the launch configuration variables use_sim_time = LaunchConfiguration('use_sim_time') - world = LaunchConfiguration('world') + use_rviz = LaunchConfiguration('rviz', default='false') declare_use_sim_time_cmd = DeclareLaunchArgument( 'use_sim_time', @@ -98,6 +100,7 @@ def generate_launch_description(): ) start_rviz_cmd = Node( + condition=IfCondition(use_rviz), package='rviz2', namespace='', executable='rviz2', @@ -147,6 +150,6 @@ def generate_launch_description(): ld.add_action(bringup_RMUC_cmd_group) # Uncomment this line if you want to start RViz - # ld.add_action(start_rviz_cmd) + ld.add_action(start_rviz_cmd) return ld diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.config new file mode 100644 index 0000000000000000000000000000000000000000..d87328299298421aaa6f79323e4d779abb1f8bf2 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.config @@ -0,0 +1,15 @@ + + + obstacle1 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..a59a914c252743d1d268e8933267e9a38a548821 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle1/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle1 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.config new file mode 100644 index 0000000000000000000000000000000000000000..091726a6c5b03b459e39d48947d0b910456cfac3 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.config @@ -0,0 +1,15 @@ + + + obstacle4 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..775d66fe53a9e87374bcc0a2c125f9e084a20c22 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle10/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle4 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.config new file mode 100644 index 0000000000000000000000000000000000000000..82e78493a22fa534247088a6a58b3ad3a678a873 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.config @@ -0,0 +1,15 @@ + + + obstacle5 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..771d775326666f5e800c56257db020a517323d4f --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle11/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.16 + 0.50 + + + + + + + + 0.16 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle5 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.config new file mode 100644 index 0000000000000000000000000000000000000000..aca3ff50b9ca1e510a242e6413982aed991bdb0e --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.config @@ -0,0 +1,15 @@ + + + obstacle6 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..ae4d932676fcb67eb4cf4c216ecc0c50b76cbd6b --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle12/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.16 + 0.50 + + + + + + + + 0.16 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle6 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.config new file mode 100644 index 0000000000000000000000000000000000000000..dfd8c6b512f990af5294272551eeb584ccf2896c --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.config @@ -0,0 +1,15 @@ + + + obstacle2 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..b9901f06193fbea04f64ddfc0f8fa6d96fa3344c --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle2/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle2 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.config new file mode 100644 index 0000000000000000000000000000000000000000..4003109af5e51bb6c209f5219c4810b55f12e6b1 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.config @@ -0,0 +1,15 @@ + + + obstacle3 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..b5fdcdb282f3a22e052d9c287273e6065c00faa0 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle3/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle3 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.config new file mode 100644 index 0000000000000000000000000000000000000000..091726a6c5b03b459e39d48947d0b910456cfac3 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.config @@ -0,0 +1,15 @@ + + + obstacle4 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..775d66fe53a9e87374bcc0a2c125f9e084a20c22 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle4/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle4 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.config new file mode 100644 index 0000000000000000000000000000000000000000..82e78493a22fa534247088a6a58b3ad3a678a873 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.config @@ -0,0 +1,15 @@ + + + obstacle5 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..71d917003a3b842c077105d995d2c442dda99062 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle5/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle5 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.config new file mode 100644 index 0000000000000000000000000000000000000000..aca3ff50b9ca1e510a242e6413982aed991bdb0e --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.config @@ -0,0 +1,15 @@ + + + obstacle6 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..8d0180d8043e3031d40a7be98c3de42d48029e31 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle6/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle6 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.config new file mode 100644 index 0000000000000000000000000000000000000000..d87328299298421aaa6f79323e4d779abb1f8bf2 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.config @@ -0,0 +1,15 @@ + + + obstacle1 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..a59a914c252743d1d268e8933267e9a38a548821 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle7/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle1 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.config new file mode 100644 index 0000000000000000000000000000000000000000..dfd8c6b512f990af5294272551eeb584ccf2896c --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.config @@ -0,0 +1,15 @@ + + + obstacle2 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..b9901f06193fbea04f64ddfc0f8fa6d96fa3344c --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle8/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle2 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.config b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.config new file mode 100644 index 0000000000000000000000000000000000000000..4003109af5e51bb6c209f5219c4810b55f12e6b1 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.config @@ -0,0 +1,15 @@ + + + obstacle3 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DRL World + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.sdf b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..b5fdcdb282f3a22e052d9c287273e6065c00faa0 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle9/model.sdf @@ -0,0 +1,38 @@ + + + + + + + + 0.3 + 0.50 + + + + + + + + 0.3 + 0.50 + + + + + + + /obstacle + odom:=odom + + true + 50.0 + link_obstacle3 + odom_obs + 0.0 + world + 0 0 0 + 0 0 0 + + + diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/CMakeLists.txt b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..2f48193acb7b2cfad5b4d51f02c2ce71c3c9944e --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/CMakeLists.txt @@ -0,0 +1,57 @@ +################################################################################ +# CMake +################################################################################ +cmake_minimum_required(VERSION 2.8 FATAL_ERROR) + +################################################################################ +# Packages +################################################################################ +find_package(gazebo REQUIRED) + +################################################################################ +# Build +################################################################################ +link_directories(${GAZEBO_LIBRARY_DIRS}) + +include_directories(${GAZEBO_INCLUDE_DIRS}) + +list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}") + +add_library(obstacle1 SHARED obstacle1.cc) +target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES}) + +add_library(obstacle2 SHARED obstacle2.cc) +target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES}) + +add_library(obstacle3 SHARED obstacle3.cc) +target_link_libraries(obstacle3 ${GAZEBO_LIBRARIES}) + +add_library(obstacle4 SHARED obstacle4.cc) +target_link_libraries(obstacle4 ${GAZEBO_LIBRARIES}) + +add_library(obstacle5 SHARED obstacle5.cc) +target_link_libraries(obstacle5 ${GAZEBO_LIBRARIES}) + +add_library(obstacle6 SHARED obstacle6.cc) +target_link_libraries(obstacle6 ${GAZEBO_LIBRARIES}) + +add_library(obstacle7 SHARED obstacle7.cc) +target_link_libraries(obstacle7 ${GAZEBO_LIBRARIES}) + +add_library(obstacle8 SHARED obstacle8.cc) +target_link_libraries(obstacle8 ${GAZEBO_LIBRARIES}) + +add_library(obstacle9 SHARED obstacle9.cc) +target_link_libraries(obstacle9 ${GAZEBO_LIBRARIES}) + +add_library(obstacle10 SHARED obstacle10.cc) +target_link_libraries(obstacle10 ${GAZEBO_LIBRARIES}) + +add_library(obstacle11 SHARED obstacle11.cc) +target_link_libraries(obstacle11 ${GAZEBO_LIBRARIES}) + +add_library(obstacle12 SHARED obstacle12.cc) +target_link_libraries(obstacle12 ${GAZEBO_LIBRARIES}) + +add_library(obstacles SHARED obstacles.cc) +target_link_libraries(obstacles ${GAZEBO_LIBRARIES}) \ No newline at end of file diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle1.so b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle1.so new file mode 100755 index 0000000000000000000000000000000000000000..71fa7373cc6a8ef0cc2bb7a207f2d7bc7c653c8f Binary files /dev/null and b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle1.so differ diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle10.so b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle10.so new file mode 100755 index 0000000000000000000000000000000000000000..f559665f5d1c176c8297f07a8aa84597bbe314a9 Binary files /dev/null and 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a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle2.so b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle2.so new file mode 100755 index 0000000000000000000000000000000000000000..cb0bf309eca631bbbc5cad7174f85043ed233589 Binary files /dev/null and b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle2.so differ diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle3.so b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle3.so new file mode 100755 index 0000000000000000000000000000000000000000..c1125033a4180b04b67995fef247be5fa67a6d25 Binary files /dev/null and b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle3.so differ diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle4.so b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle4.so new file mode 100755 index 0000000000000000000000000000000000000000..8cfab1d6519847a6393bb12e62af710c1bf33832 Binary files /dev/null and b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle4.so differ diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle5.so b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle5.so new file mode 100755 index 0000000000000000000000000000000000000000..89638bf5181cc96c361dbaa514be544c55931ea7 Binary files /dev/null and b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle5.so differ diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle6.so b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/lib/libobstacle6.so new file mode 100755 index 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a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle1.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle1.cc new file mode 100644 index 0000000000000000000000000000000000000000..7957af056176beba2e54ad9f097618b9d485bc37 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle1.cc @@ -0,0 +1,93 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + + +namespace gazebo +{ +class Obstacle1: public ModelPlugin +{ +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_1", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move1", 160.0, true)); + + gazebo::common::PoseKeyFrame * key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(50); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(70); + key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(90); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(160); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + +// Pointer to the model + +private: + physics::ModelPtr model; + +// Pointer to the update event connection + +private: + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacle1) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle10.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle10.cc new file mode 100644 index 0000000000000000000000000000000000000000..44d2ec5fdd73b8859fe799d24b4c7c3bcf078044 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle10.cc @@ -0,0 +1,100 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle10 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move10", 140.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.0, -0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(35); + key->Translation(ignition::math::Vector3d(3.0, -0.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(3.5, -1.3, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(60); + key->Translation(ignition::math::Vector3d(4.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(80); + key->Translation(ignition::math::Vector3d(3.5, -2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, -2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(1.3, -1.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0, -1.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle10) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle11.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle11.cc new file mode 100644 index 0000000000000000000000000000000000000000..98569572893a89cd8a28dc435e9059c609067c75 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle11.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle11 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move11", 110.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(1.0, 2.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(35); + key->Translation(ignition::math::Vector3d(-1.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(65); + key->Translation(ignition::math::Vector3d(1.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(75); + key->Translation(ignition::math::Vector3d(2.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(1.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(95); + key->Translation(ignition::math::Vector3d(0.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle11) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle12.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle12.cc new file mode 100644 index 0000000000000000000000000000000000000000..7c0840a879d33d7b5dc26a56a3423766cebfa0cd --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle12.cc @@ -0,0 +1,92 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle12 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move12", 120.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(15); + key->Translation(ignition::math::Vector3d(1.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(1.5, -4.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(50); + key->Translation(ignition::math::Vector3d(1.0, -4.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(80); + key->Translation(ignition::math::Vector3d(-1.5, -2.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(-1.5, -0.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(-1.0, -0.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle12) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle13.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle13.cc new file mode 100644 index 0000000000000000000000000000000000000000..8c54c2918a0c8661e831893788f310269eb8a990 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle13.cc @@ -0,0 +1,76 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle12 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move12", 345.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(15); + key->Translation(ignition::math::Vector3d(0.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(30); + key->Translation(ignition::math::Vector3d(-1.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(300); + key->Translation(ignition::math::Vector3d(-2.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle12) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle2.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle2.cc new file mode 100644 index 0000000000000000000000000000000000000000..f9f1657c4b23163b309dce98d52efa48be5ee4b0 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle2.cc @@ -0,0 +1,108 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle2 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move2", 140.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(115); + key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(125); + key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle2) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle3.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle3.cc new file mode 100644 index 0000000000000000000000000000000000000000..a0a1c72214f968fe500d326de854b43b0b5cffa9 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle3.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle3 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move3", 165.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-1.0, 0.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(-2.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(-3.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(-2.5, 1.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-1.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(145); + key->Translation(ignition::math::Vector3d(-2.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(165); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle3) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle4.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle4.cc new file mode 100644 index 0000000000000000000000000000000000000000..1b3a98adf29a5f23fdb3e5a2b7f05acc787f2dfc --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle4.cc @@ -0,0 +1,100 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle4 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move4", 170.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.0, -3.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(30); + key->Translation(ignition::math::Vector3d(2.0, -2.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(60); + key->Translation(ignition::math::Vector3d(0.0, -3.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(80); + key->Translation(ignition::math::Vector3d(2.0, -2.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0.0, -3.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(150); + key->Translation(ignition::math::Vector3d(2.0, -2.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(170); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle4) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle5.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle5.cc new file mode 100644 index 0000000000000000000000000000000000000000..a1e812cf1a92f6ae61a96dbbb953a1ff19d58536 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle5.cc @@ -0,0 +1,104 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle5 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move5", 205.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.7, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(2.5, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(0.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(125); + key->Translation(ignition::math::Vector3d(4.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(145); + key->Translation(ignition::math::Vector3d(3.0, -2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(170); + key->Translation(ignition::math::Vector3d(2.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(185); + key->Translation(ignition::math::Vector3d(2.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(205); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle5) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle6.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle6.cc new file mode 100644 index 0000000000000000000000000000000000000000..be41fcb5f2e688af2a7bb7d6c6cda210685968be --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle6.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle6 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move6", 170.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-1.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(-1.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(-1.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(0.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(-4.0, -1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-3.0, -1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(145); + key->Translation(ignition::math::Vector3d(-2.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(170); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle6) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle7.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle7.cc new file mode 100644 index 0000000000000000000000000000000000000000..8ebbf82ae93ba4df250744664bd47eec773f1341 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle7.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle7 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_1", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move7", 195.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(15); + key->Translation(ignition::math::Vector3d(-0.5, -0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(25); + key->Translation(ignition::math::Vector3d(-1.5, -0.3, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(-4.5, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(-4.0, -2.7, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(135); + key->Translation(ignition::math::Vector3d(0, -4.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(175); + key->Translation(ignition::math::Vector3d(-1.0, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(195); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // key = anim->CreateKeyFrame(170); + // key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + // key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle7) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle8.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle8.cc new file mode 100644 index 0000000000000000000000000000000000000000..18e50380339850b4a70314710e700ff5c2b8f1bb --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle8.cc @@ -0,0 +1,96 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle8 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move8", 150.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(1.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(30); + key->Translation(ignition::math::Vector3d(3.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(4.0, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(70); + key->Translation(ignition::math::Vector3d(2.5, 4.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(-0.5, 4.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-0.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.5, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(150); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle8) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle9.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle9.cc new file mode 100644 index 0000000000000000000000000000000000000000..e25ded119a8bc94c5f9f68a6ced7171161d89100 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacle9.cc @@ -0,0 +1,92 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +namespace gazebo +{ + class Obstacle9 : public ModelPlugin + { + public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move9", 120.0, true)); + + gazebo::common::PoseKeyFrame *key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(-2.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(-3.5, 1.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(-3.5, 3.3, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(90); + key->Translation(ignition::math::Vector3d(-0.6, 3.3, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(105); + key->Translation(ignition::math::Vector3d(-0.6, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(0.0, 2.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + + // Pointer to the model + + private: + physics::ModelPtr model; + + // Pointer to the update event connection + + private: + event::ConnectionPtr updateConnection; + }; + // Register this plugin with the simulator + GZ_REGISTER_MODEL_PLUGIN(Obstacle9) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacles.cc b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacles.cc new file mode 100644 index 0000000000000000000000000000000000000000..115966d622d7f51c7fc11b734edf469c236d705e --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/meshes/obstacles/obstacle_plugin/obstacles.cc @@ -0,0 +1,75 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +#define PI 3.141592 + + +namespace gazebo +{ +class Obstacles: public ModelPlugin +{ +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move", + // make it last 40 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move", 40.0, true)); + + gazebo::common::PoseKeyFrame * key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, PI)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI)); + + // set the animation + _parent->SetAnimation(anim); + } + +// Pointer to the model + +private: + physics::ModelPtr model; + +// Pointer to the update event connection + +private: + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacles) +} // namespace gazebo diff --git a/src/rm_simulation/pb_rm_simulation/package.xml b/src/rm_simulation/pb_rm_simulation/package.xml index f8057aa1da26679d6f555938bd42e66db2d2536a..ddf6c4cba9282bfbd4c8e440b5ee064d8eaa8eec 100644 --- a/src/rm_simulation/pb_rm_simulation/package.xml +++ b/src/rm_simulation/pb_rm_simulation/package.xml @@ -19,6 +19,11 @@ ament_cmake - + + diff --git a/src/rm_simulation/pb_rm_simulation/urdf/real_waking_robot.xacro b/src/rm_simulation/pb_rm_simulation/urdf/real_waking_robot.xacro index daac791bd68830ff5172e3d18545ff844bb66c87..8370f5b73dad20848798e83b449bf7da801c90b9 100644 --- a/src/rm_simulation/pb_rm_simulation/urdf/real_waking_robot.xacro +++ b/src/rm_simulation/pb_rm_simulation/urdf/real_waking_robot.xacro @@ -27,6 +27,7 @@ + @@ -137,13 +138,21 @@ - + + + + + + + + + - - - + + + diff --git a/src/rm_simulation/pb_rm_simulation/urdf/simulation_waking_robot.xacro b/src/rm_simulation/pb_rm_simulation/urdf/simulation_waking_robot.xacro index 5696af5b645cbe3b0ad31143c21fc49fded161b9..48ce23f4b835a1b1f1f6ad64cc8f7d6d3c2ee09a 100644 --- a/src/rm_simulation/pb_rm_simulation/urdf/simulation_waking_robot.xacro +++ b/src/rm_simulation/pb_rm_simulation/urdf/simulation_waking_robot.xacro @@ -27,6 +27,7 @@ + diff --git a/src/rm_simulation/pb_rm_simulation/world/auto_world/auto_world.world b/src/rm_simulation/pb_rm_simulation/world/auto_world/auto_world.world index 5a9d99607d087e35bef089670c89c8661f09236e..370a6288d0d9b5e564f71c545c361914951c842f 100644 --- a/src/rm_simulation/pb_rm_simulation/world/auto_world/auto_world.world +++ b/src/rm_simulation/pb_rm_simulation/world/auto_world/auto_world.world @@ -167,7 +167,7 @@ - 1.34483 -0.984011 6.89476 0 1.44364 2.60819 + 1.64806 -1.67843 7.01714 0 1.4698 -0.803857 orbit perspective diff --git a/src/rm_simulation/pb_rm_simulation/world/auto_world/auto_world_dynamic_obstacles.world b/src/rm_simulation/pb_rm_simulation/world/auto_world/auto_world_dynamic_obstacles.world new file mode 100644 index 0000000000000000000000000000000000000000..491bf9b1aaf79439bfd4ab07643f8a37ad6fed55 --- /dev/null +++ b/src/rm_simulation/pb_rm_simulation/world/auto_world/auto_world_dynamic_obstacles.world @@ -0,0 +1,217 @@ + + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + 1 + + + + + 0 0 1 + 100 100 + + + + + + 100 + 50 + + + + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + + + + + 1 -2.5 0.4 0 0 0 + model://obstacles/obstacle1 + + + + + + + 1 -1 0.4 0 0 0 + model://obstacles/obstacle2 + + + + + + + 2 -2.5 0.4 0 0 0 + model://obstacles/obstacle3 + + + + + + + 3 -2 0.4 0 0 0 + model://obstacles/obstacle4 + + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + + 0.001 + 1 + 1000 + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + + 1 + + + 1000 + 0 0 0 0 -0 0 + + 0.327091 + 0 + 0 + 1.37417 + 0 + 1.64109 + + + + 0 0 0 0 -0 0 + + + model://auto_world/auto_world.dae + + + + + 0 0 0 0 -0 0 + + + model://auto_world/auto_world.dae + + + 10 + + + + + + + + + + + + + + 0 + 0 + 0 + + 1.5925 -2.47285 0 0 -0 0 + + + + 36 181000000 + 38 267746196 + 1669527446 211716540 + 36181 + + 1.5925 -2.47285 0 0 -0 0 + 1 1 1 + + 1.5925 -2.47285 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + + + 1.64806 -1.67843 7.01714 0 1.4698 -0.803857 + orbit + perspective + + + + +