From e8db20a4eb7699ca7784dec5e658b0630728251e Mon Sep 17 00:00:00 2001
From: thirgy4 <thirgy4@googlemail.com>
Date: Wed, 24 Nov 2021 13:36:29 +0000
Subject: [PATCH] still not working?
---
.../urdf/spot_micro_camera.urdf.xacro | 29 +++
.../urdf/spot_micro_gazebo.launch | 59 +++++
.../urdf/turtlebot3_burger.gazebo.xacro | 135 +++++++++++
.../urdf/turtlebot3_burger.urdf.xacro | 166 +++++++++++++
.../urdf/turtlebot3_waffle_pi.urdf.xacro | 218 ++++++++++++++++++
.../urdf/turtlebot3_waffle_pi.urdf.xacro~ | 217 +++++++++++++++++
RWR/src/spot_micro_gazebo.launch | 15 +-
RWR/src/urdf/spot_micro_camera.urdf.xacro | 72 +-----
RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro | 218 ++++++++++++++++++
RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro~ | 217 +++++++++++++++++
10 files changed, 1281 insertions(+), 65 deletions(-)
create mode 100755 RWR/src/gazebo_dvs_plugin/urdf/spot_micro_camera.urdf.xacro
create mode 100755 RWR/src/gazebo_dvs_plugin/urdf/spot_micro_gazebo.launch
create mode 100644 RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.gazebo.xacro
create mode 100644 RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.urdf.xacro
create mode 100644 RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_waffle_pi.urdf.xacro
create mode 100644 RWR/src/gazebo_dvs_plugin/urdf/urdf/turtlebot3_waffle_pi.urdf.xacro~
create mode 100644 RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro
create mode 100644 RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro~
diff --git a/RWR/src/gazebo_dvs_plugin/urdf/spot_micro_camera.urdf.xacro b/RWR/src/gazebo_dvs_plugin/urdf/spot_micro_camera.urdf.xacro
new file mode 100755
index 0000000..2246ee4
--- /dev/null
+++ b/RWR/src/gazebo_dvs_plugin/urdf/spot_micro_camera.urdf.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_event_cam" xmlns:xacro="http://ros.org/wiki/xacro">
+ <gazebo reference="camera_rgb_frame">
+ <material>Gazebo/Green</material>
+ <sensor name="camera" type="camera">
+ <camera name="__default__">
+ <horizontal_fov>1.8</horizontal_fov>
+ <image>
+ <width>128</width>
+ <height>128</height>
+ </image>
+ <clip>
+ <near>0.1</near>
+ <far>100</far>
+ </clip>
+ </camera>
+ <always_on>1</always_on>
+ <update_rate>60</update_rate>
+ <visualize>1</visualize>
+ <plugin name="camera_controller" filename="libgazebo_dvs_plugin.so">
+ <cameraName>camera_front</cameraName>
+ <robotNamespace>AADC_AudiTT</robotNamespace>
+ <eventThreshold>10</eventThreshold>
+ <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+ <!-- <eventsTopicName>events</eventsTopicName> -->
+ </plugin>
+ </sensor>
+ </gazebo>
+</robot>
\ No newline at end of file
diff --git a/RWR/src/gazebo_dvs_plugin/urdf/spot_micro_gazebo.launch b/RWR/src/gazebo_dvs_plugin/urdf/spot_micro_gazebo.launch
new file mode 100755
index 0000000..de35e6a
--- /dev/null
+++ b/RWR/src/gazebo_dvs_plugin/urdf/spot_micro_gazebo.launch
@@ -0,0 +1,59 @@
+<launch>
+ <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+ <arg name="x_pos" default="-2.0"/>
+ <arg name="y_pos" default="-0.5"/>
+ <arg name="z_pos" default="0.0"/>
+ <arg name="gpu" default="false"/>
+
+ <arg name="second_tb3_x_pos" default="7.0"/>
+ <arg name="second_tb3_y_pos" default="-1.0"/>
+ <arg name="second_tb3_z_pos" default="0.0"/>
+ <arg name="second_tb3_yaw" default="0.0"/>
+
+<!--
+ <arg name="world_file" default="$(find lab5)/worlds/ex2.world"/>
+ <arg name="map_file" default="$(find lab5)/maps/ex2_map.yaml"/>
+ <arg name="amcl" default="$(find lab5)/amcl.launch"/>
+ <arg name="open_rviz" default="true"/>
+ <arg name="state_pub" default="true"/>
+-->
+ <!--arg name="map_file" default="/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/maps/ex2_map.yaml"/ -->
+
+ <include file="$(find gazebo_ros)/launch/empty_world.launch">
+ <arg name="world_name" value="/$(find turtlebot3_gazebo)/worlds/turtlebot3_house.world"/>
+
+ <arg name="paused" value="false"/>
+ <arg name="use_sim_time" value="true"/>
+ <arg name="gui" value="true"/>
+ <arg name="headless" value="false"/>
+ <arg name="debug" value="false"/>
+ </include>
+
+
+
+<!--
+ <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
+ <arg name="model" value="$(arg model)" />
+ </include>
+-->
+ <!--
+ <include file="$(find lab5)/amcl.launch"/>
+-->
+ <!--include file="$(find turtlebot3_navigation)/launch/move_base.launch">
+ <arg name="model" value="$(arg model)" />
+ </include -->
+
+ <param name="robot_description" command="$(find xacro)/xacro --inorder /home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro gpu:=$(arg gpu)"/>
+ <!-- node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/ -->
+
+ <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
+
+ <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+ <param name="publish_frequency" type="double" value="30.0" />
+ </node>
+
+ <node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer" output="screen" clear_params="true">
+ <remap from="/events" to="/AADC_AudiTT/camera_front/events"/>
+ </node>
+
+</launch>
\ No newline at end of file
diff --git a/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.gazebo.xacro b/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.gazebo.xacro
new file mode 100644
index 0000000..3e98e94
--- /dev/null
+++ b/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.gazebo.xacro
@@ -0,0 +1,135 @@
+<?xml version="1.0"?>
+<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:arg name="laser_visual" default="false"/>
+ <xacro:arg name="imu_visual" default="false"/>
+
+ <gazebo reference="base_link">
+ <material>Gazebo/DarkGrey</material>
+ </gazebo>
+
+ <gazebo reference="wheel_left_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>0.1</maxVel>
+ <fdir1>1 0 0</fdir1>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="wheel_right_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>500000.0</kp>
+ <kd>10.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>0.1</maxVel>
+ <fdir1>1 0 0</fdir1>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="caster_back_link">
+ <mu1>0.1</mu1>
+ <mu2>0.1</mu2>
+ <kp>1000000.0</kp>
+ <kd>100.0</kd>
+ <minDepth>0.001</minDepth>
+ <maxVel>1.0</maxVel>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>$(arg imu_visual)</visualize>
+ </sensor>
+ <material>Gazebo/FlatBlack</material>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
+ <commandTopic>cmd_vel</commandTopic>
+ <odometryTopic>odom</odometryTopic>
+ <odometryFrame>odom</odometryFrame>
+ <odometrySource>world</odometrySource>
+ <publishOdomTF>true</publishOdomTF>
+ <robotBaseFrame>base_footprint</robotBaseFrame>
+ <publishWheelTF>false</publishWheelTF>
+ <publishTf>true</publishTf>
+ <publishWheelJointState>true</publishWheelJointState>
+ <legacyMode>false</legacyMode>
+ <updateRate>30</updateRate>
+ <leftJoint>wheel_left_joint</leftJoint>
+ <rightJoint>wheel_right_joint</rightJoint>
+ <wheelSeparation>0.160</wheelSeparation>
+ <wheelDiameter>0.066</wheelDiameter>
+ <wheelAcceleration>1</wheelAcceleration>
+ <wheelTorque>10</wheelTorque>
+ <rosDebugLevel>na</rosDebugLevel>
+ </plugin>
+ </gazebo>
+
+ <gazebo>
+ <plugin name="imu_plugin" filename="libgazebo_ros_imu.so">
+ <alwaysOn>true</alwaysOn>
+ <bodyName>imu_link</bodyName>
+ <frameName>imu_link</frameName>
+ <topicName>imu</topicName>
+ <serviceName>imu_service</serviceName>
+ <gaussianNoise>0.0</gaussianNoise>
+ <updateRate>0</updateRate>
+ <imu>
+ <noise>
+ <type>gaussian</type>
+ <rate>
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ <bias_mean>0.0000075</bias_mean>
+ <bias_stddev>0.0000008</bias_stddev>
+ </rate>
+ <accel>
+ <mean>0.0</mean>
+ <stddev>1.7e-2</stddev>
+ <bias_mean>0.1</bias_mean>
+ <bias_stddev>0.001</bias_stddev>
+ </accel>
+ </noise>
+ </imu>
+ </plugin>
+ </gazebo>
+
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>$(arg laser_visual)</visualize>
+ <update_rate>5</update_rate>
+ <ray>
+ <scan>
+ <horizontal>
+ <samples>360</samples>
+ <resolution>1</resolution>
+ <min_angle>0.0</min_angle>
+ <max_angle>6.28319</max_angle>
+ </horizontal>
+ </scan>
+ <range>
+ <min>0.120</min>
+ <max>3.5</max>
+ <resolution>0.015</resolution>
+ </range>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.01</stddev>
+ </noise>
+ </ray>
+ <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+ <topicName>scan</topicName>
+ <frameName>base_scan</frameName>
+ </plugin>
+ </sensor>
+ </gazebo>
+
+</robot>
diff --git a/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.urdf.xacro b/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.urdf.xacro
new file mode 100644
index 0000000..53ff68d
--- /dev/null
+++ b/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.urdf.xacro
@@ -0,0 +1,166 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/urdf/turtlebot3_burger.gazebo.xacro"/>
+ <xacro:include filename="/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/urdf/spot_micro_camera.urdf.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link"/>
+ <origin xyz="0.0 0.0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.032 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/burger_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.032 0 0.070" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.140 0.140 0.143"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="8.2573504e-01"/>
+ <inertia ixx="2.2124416e-03" ixy="-1.2294101e-05" ixz="3.4938785e-05"
+ iyy="2.1193702e-03" iyz="-5.0120904e-06"
+ izz="2.0064271e-03" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.08 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.080 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_link"/>
+ <origin xyz="-0.081 0 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="-0.032 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.032 0 0.172" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0315" radius="0.055"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+</robot>
diff --git a/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_waffle_pi.urdf.xacro b/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_waffle_pi.urdf.xacro
new file mode 100644
index 0000000..9567270
--- /dev/null
+++ b/RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_waffle_pi.urdf.xacro
@@ -0,0 +1,218 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
+ <xacro:include filename="$(find gazebo_dvs_plugin)/urdf/spot_micro_camera.urdf.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.266 0.266 0.094"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="1.3729096e+00"/>
+ <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
+ iyy="8.6195418e-03" iyz="-3.5422299e-06"
+ izz="1.4612727e-02" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_right_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_right_link"/>
+ <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_right_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_left_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_left_link"/>
+ <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_left_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0315" radius="0.055"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="camera_joint" type="fixed">
+ <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="camera_link"/>
+ </joint>
+
+ <link name="camera_link">
+ <collision>
+ <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.015 0.030 0.027"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="camera_rgb_joint" type="fixed">
+ <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_rgb_frame"/>
+ </joint>
+ <link name="camera_rgb_frame"/>
+
+ <joint name="camera_rgb_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+ <parent link="camera_rgb_frame"/>
+ <child link="camera_rgb_optical_frame"/>
+ </joint>
+ <link name="camera_rgb_optical_frame"/>
+
+</robot>
diff --git a/RWR/src/gazebo_dvs_plugin/urdf/urdf/turtlebot3_waffle_pi.urdf.xacro~ b/RWR/src/gazebo_dvs_plugin/urdf/urdf/turtlebot3_waffle_pi.urdf.xacro~
new file mode 100644
index 0000000..46cf4a9
--- /dev/null
+++ b/RWR/src/gazebo_dvs_plugin/urdf/urdf/turtlebot3_waffle_pi.urdf.xacro~
@@ -0,0 +1,217 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.266 0.266 0.094"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="1.3729096e+00"/>
+ <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
+ iyy="8.6195418e-03" iyz="-3.5422299e-06"
+ izz="1.4612727e-02" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_right_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_right_link"/>
+ <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_right_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_left_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_left_link"/>
+ <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_left_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0315" radius="0.055"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="camera_joint" type="fixed">
+ <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="camera_link"/>
+ </joint>
+
+ <link name="camera_link">
+ <collision>
+ <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.015 0.030 0.027"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="camera_rgb_joint" type="fixed">
+ <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_rgb_frame"/>
+ </joint>
+ <link name="camera_rgb_frame"/>
+
+ <joint name="camera_rgb_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+ <parent link="camera_rgb_frame"/>
+ <child link="camera_rgb_optical_frame"/>
+ </joint>
+ <link name="camera_rgb_optical_frame"/>
+
+</robot>
diff --git a/RWR/src/spot_micro_gazebo.launch b/RWR/src/spot_micro_gazebo.launch
index debbca0..8779ddd 100755
--- a/RWR/src/spot_micro_gazebo.launch
+++ b/RWR/src/spot_micro_gazebo.launch
@@ -29,6 +29,8 @@
<arg name="debug" value="false"/>
</include>
+
+
<!--
<include file="$(find turtlebot3_navigation)/launch/move_base.launch">
<arg name="model" value="$(arg model)" />
@@ -37,18 +39,21 @@
<!--
<include file="$(find lab5)/amcl.launch"/>
-->
- <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
+ <!--include file="$(find turtlebot3_navigation)/launch/move_base.launch">
<arg name="model" value="$(arg model)" />
- </include>
+ </include -->
- <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.urdf.xacro gpu:=$(arg gpu)" />
-
+ <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(env TURTLEBOT3_MODEL).urdf.xacro gpu:=$(arg gpu)"/>
<!-- node pkg="map_server" name="map_server" type="map_server" args="$(arg map_file)"/ -->
- <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
+ <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model turtlebot3 -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
+ <node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer" output="screen" clear_params="true">
+ <remap from="/events" to="/AADC_AudiTT/camera_front/events"/>
+ </node>
+
</launch>
\ No newline at end of file
diff --git a/RWR/src/urdf/spot_micro_camera.urdf.xacro b/RWR/src/urdf/spot_micro_camera.urdf.xacro
index 1be3dba..2246ee4 100755
--- a/RWR/src/urdf/spot_micro_camera.urdf.xacro
+++ b/RWR/src/urdf/spot_micro_camera.urdf.xacro
@@ -1,44 +1,9 @@
-<!--?xml version="1.0"?-->
-<!--robot name="turtlebot3_burger_cam" xmlns:xacro="http://ros.org/wiki/xacro" -->
- <!--<xacro:property name="camera_link" value="0.01" /> --> <!-- Size of square 'camera' box -->
-<!--
- <joint name="camera_joint" type="fixed">
- <axis xyz="0 1 0" />
- <origin xyz="0.0 0.0 0.005" rpy="0 0 0"/>
- <parent link="base_scan"/>
- <child link="camera_link"/>
- </joint>
--->
- <!-- Camera -->
- <!--
- <link name="camera_link">
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="${camera_link} ${camera_link} ${camera_link}"/>
- </geometry>
- </collision>
-
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <box size="${camera_link} ${camera_link} ${camera_link}"/>
- </geometry>
- <material name="red"/>
- </visual>
-
- <inertial>
- <mass value="1e-5" />
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
- </inertial>
- </link>
--->
- <!-- camera -->
+<?xml version="1.0"?>
+<robot name="turtlebot3_event_cam" xmlns:xacro="http://ros.org/wiki/xacro">
<gazebo reference="camera_rgb_frame">
- <sensor type="camera" name="camera1">
-
- <camera name='__default__'>
+ <material>Gazebo/Green</material>
+ <sensor name="camera" type="camera">
+ <camera name="__default__">
<horizontal_fov>1.8</horizontal_fov>
<image>
<width>128</width>
@@ -48,30 +13,17 @@
<near>0.1</near>
<far>100</far>
</clip>
-
- <!-- noise stuff-->
-
</camera>
+ <always_on>1</always_on>
<update_rate>60</update_rate>
- <alwaysOn>1</alwaysOn>
- <visualize>0</visualize>
- <plugin name="camera_controller" file="/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/devel/lib/libgazebo_dvs_plugin.so">
-
+ <visualize>1</visualize>
+ <plugin name="camera_controller" filename="libgazebo_dvs_plugin.so">
+ <cameraName>camera_front</cameraName>
+ <robotNamespace>AADC_AudiTT</robotNamespace>
<eventThreshold>10</eventThreshold>
- <cameraName>rrbot/camera1</cameraName>
- <robotNamespace>/</robotNamespace>
- <!-- <imageTopicName>image_raw</imageTopicName> -->
- <eventTopicName>events</eventTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
-<!--
- <hackBaseline>0.07</hackBaseline>
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
--->
+ <!-- <eventsTopicName>events</eventsTopicName> -->
</plugin>
</sensor>
</gazebo>
-<!--/robot-->
\ No newline at end of file
+</robot>
\ No newline at end of file
diff --git a/RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro b/RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro
new file mode 100644
index 0000000..1f4841f
--- /dev/null
+++ b/RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro
@@ -0,0 +1,218 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
+ <xacro:include filename="/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/urdf/spot_micro_camera.urdf.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.266 0.266 0.094"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="1.3729096e+00"/>
+ <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
+ iyy="8.6195418e-03" iyz="-3.5422299e-06"
+ izz="1.4612727e-02" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_right_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_right_link"/>
+ <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_right_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_left_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_left_link"/>
+ <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_left_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0315" radius="0.055"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="camera_joint" type="fixed">
+ <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="camera_link"/>
+ </joint>
+
+ <link name="camera_link">
+ <collision>
+ <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.015 0.030 0.027"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="camera_rgb_joint" type="fixed">
+ <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_rgb_frame"/>
+ </joint>
+ <link name="camera_rgb_frame"/>
+
+ <joint name="camera_rgb_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+ <parent link="camera_rgb_frame"/>
+ <child link="camera_rgb_optical_frame"/>
+ </joint>
+ <link name="camera_rgb_optical_frame"/>
+
+</robot>
diff --git a/RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro~ b/RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro~
new file mode 100644
index 0000000..46cf4a9
--- /dev/null
+++ b/RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro~
@@ -0,0 +1,217 @@
+<?xml version="1.0" ?>
+<robot name="turtlebot3_waffle_pi" xmlns:xacro="http://ros.org/wiki/xacro">
+ <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro"/>
+ <xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_waffle_pi.gazebo.xacro"/>
+
+ <link name="base_footprint"/>
+
+ <joint name="base_joint" type="fixed">
+ <parent link="base_footprint"/>
+ <child link="base_link" />
+ <origin xyz="0 0 0.010" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_link">
+ <visual>
+ <origin xyz="-0.064 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="light_black"/>
+ </visual>
+
+ <collision>
+ <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.266 0.266 0.094"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="1.3729096e+00"/>
+ <inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04"
+ iyy="8.6195418e-03" iyz="-3.5422299e-06"
+ izz="1.4612727e-02" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_left_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_left_link"/>
+ <origin xyz="0.0 0.144 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_left_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="wheel_right_joint" type="continuous">
+ <parent link="base_link"/>
+ <child link="wheel_right_link"/>
+ <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+
+ <link name="wheel_right_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.018" radius="0.033"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="2.8498940e-02" />
+ <inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09"
+ iyy="1.1192413e-05" iyz="-1.4400107e-11"
+ izz="2.0712558e-05" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_right_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_right_link"/>
+ <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_right_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="caster_back_left_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="caster_back_left_link"/>
+ <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
+ </joint>
+
+ <link name="caster_back_left_link">
+ <collision>
+ <origin xyz="0 0.001 0" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.030 0.009 0.020"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <origin xyz="0 0 0" />
+ <mass value="0.005" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="imu_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="imu_link"/>
+ <origin xyz="0.0 0 0.068" rpy="0 0 0"/>
+ </joint>
+
+ <link name="imu_link"/>
+
+ <joint name="scan_joint" type="fixed">
+ <parent link="base_link"/>
+ <child link="base_scan"/>
+ <origin xyz="-0.064 0 0.122" rpy="0 0 0"/>
+ </joint>
+
+ <link name="base_scan">
+ <visual>
+ <origin xyz="0 0 0.0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
+ </geometry>
+ <material name="dark"/>
+ </visual>
+
+ <collision>
+ <origin xyz="0.015 0 -0.0065" rpy="0 0 0"/>
+ <geometry>
+ <cylinder length="0.0315" radius="0.055"/>
+ </geometry>
+ </collision>
+
+ <inertial>
+ <mass value="0.114" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.001" ixy="0.0" ixz="0.0"
+ iyy="0.001" iyz="0.0"
+ izz="0.001" />
+ </inertial>
+ </link>
+
+ <joint name="camera_joint" type="fixed">
+ <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
+ <parent link="base_link"/>
+ <child link="camera_link"/>
+ </joint>
+
+ <link name="camera_link">
+ <collision>
+ <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
+ <geometry>
+ <box size="0.015 0.030 0.027"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="camera_rgb_joint" type="fixed">
+ <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
+ <parent link="camera_link"/>
+ <child link="camera_rgb_frame"/>
+ </joint>
+ <link name="camera_rgb_frame"/>
+
+ <joint name="camera_rgb_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
+ <parent link="camera_rgb_frame"/>
+ <child link="camera_rgb_optical_frame"/>
+ </joint>
+ <link name="camera_rgb_optical_frame"/>
+
+</robot>
--
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