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Commit e8db20a4 authored by thirgy4's avatar thirgy4
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1 merge request!3Resolve "Create a simulation in Gazebo of the quadruped robot and intergrate the event camera"
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RWR/src/gazebo_dvs_plugin/urdf/spot_micro_camera.urdf.xacro 0 → 100755
+ 29
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View file @ e8db20a4
<?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
RWR/src/gazebo_dvs_plugin/urdf/spot_micro_gazebo.launch 0 → 100755
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View file @ e8db20a4
<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 $(arg z_pos) -param robot_description" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" />
</node>
<node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer" output="screen" clear_params="true">
<remap from="/events" to="/AADC_AudiTT/camera_front/events"/>
</node>
</launch>
\ No newline at end of file
RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.gazebo.xacro 0 → 100644
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<?xml version="1.0"?>
<robot name="turtlebot3_burger_sim" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="laser_visual" default="false"/>
<xacro:arg name="imu_visual" default="false"/>
<gazebo reference="base_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="wheel_left_link">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="wheel_right_link">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="caster_back_link">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="imu_link">
<sensor type="imu" name="imu">
<always_on>true</always_on>
<visualize>$(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>$(arg laser_visual)</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>0.0</min_angle>
<max_angle>6.28319</max_angle>
</horizontal>
</scan>
<range>
<min>0.120</min>
<max>3.5</max>
<resolution>0.015</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
<topicName>scan</topicName>
<frameName>base_scan</frameName>
</plugin>
</sensor>
</gazebo>
</robot>
RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_burger.urdf.xacro 0 → 100644
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View file @ e8db20a4
<?xml version="1.0" ?>
<robot name="turtlebot3_burger" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(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>
RWR/src/gazebo_dvs_plugin/urdf/turtlebot3_waffle_pi.urdf.xacro 0 → 100644
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<?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>
RWR/src/gazebo_dvs_plugin/urdf/urdf/turtlebot3_waffle_pi.urdf.xacro~ 0 → 100644
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View file @ e8db20a4
<?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>
RWR/src/spot_micro_gazebo.launch
+ 10
− 5
View file @ e8db20a4
...@@ -29,6 +29,8 @@ ...@@ -29,6 +29,8 @@
<arg name="debug" value="false"/> <arg name="debug" value="false"/>
</include> </include>
<!-- <!--
<include file="$(find turtlebot3_navigation)/launch/move_base.launch"> <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
<arg name="model" value="$(arg model)" /> <arg name="model" value="$(arg model)" />
...@@ -37,18 +39,21 @@ ...@@ -37,18 +39,21 @@
<!-- <!--
<include file="$(find lab5)/amcl.launch"/> <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)" /> <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="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 $(arg z_pos) -param robot_description" />
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"> <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="30.0" /> <param name="publish_frequency" type="double" value="30.0" />
</node> </node>
<node name="dvs_renderer" pkg="dvs_renderer" type="dvs_renderer" output="screen" clear_params="true">
<remap from="/events" to="/AADC_AudiTT/camera_front/events"/>
</node>
</launch> </launch>
\ No newline at end of file
RWR/src/urdf/spot_micro_camera.urdf.xacro
+ 12
− 60
View file @ e8db20a4
<!--?xml version="1.0"?--> <?xml version="1.0"?>
<!--robot name="turtlebot3_burger_cam" xmlns:xacro="http://ros.org/wiki/xacro" --> <robot name="turtlebot3_event_cam" xmlns:xacro="http://ros.org/wiki/xacro">
<!--<xacro:property name="camera_link" value="0.01" /> --> <!-- Size of square 'camera' box -->
<!--
<joint name="camera_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz="0.0 0.0 0.005" rpy="0 0 0"/>
<parent link="base_scan"/>
<child link="camera_link"/>
</joint>
-->
<!-- Camera -->
<!--
<link name="camera_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="${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 -->
<gazebo reference="camera_rgb_frame"> <gazebo reference="camera_rgb_frame">
<sensor type="camera" name="camera1"> <material>Gazebo/Green</material>
<sensor name="camera" type="camera">
<camera name='__default__'> <camera name="__default__">
<horizontal_fov>1.8</horizontal_fov> <horizontal_fov>1.8</horizontal_fov>
<image> <image>
<width>128</width> <width>128</width>
...@@ -48,30 +13,17 @@ ...@@ -48,30 +13,17 @@
<near>0.1</near> <near>0.1</near>
<far>100</far> <far>100</far>
</clip> </clip>
<!-- noise stuff-->
</camera> </camera>
<always_on>1</always_on>
<update_rate>60</update_rate> <update_rate>60</update_rate>
<alwaysOn>1</alwaysOn> <visualize>1</visualize>
<visualize>0</visualize> <plugin name="camera_controller" filename="libgazebo_dvs_plugin.so">
<plugin name="camera_controller" file="/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/devel/lib/libgazebo_dvs_plugin.so"> <cameraName>camera_front</cameraName>
<robotNamespace>AADC_AudiTT</robotNamespace>
<eventThreshold>10</eventThreshold> <eventThreshold>10</eventThreshold>
<cameraName>rrbot/camera1</cameraName>
<robotNamespace>/</robotNamespace>
<!-- <imageTopicName>image_raw</imageTopicName> -->
<eventTopicName>events</eventTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName> <cameraInfoTopicName>camera_info</cameraInfoTopicName>
<!-- <!-- <eventsTopicName>events</eventsTopicName> -->
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
-->
</plugin> </plugin>
</sensor> </sensor>
</gazebo> </gazebo>
<!--/robot--> </robot>
\ No newline at end of file \ No newline at end of file
RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro 0 → 100644
+ 218
− 0
View file @ e8db20a4
<?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>
RWR/src/urdf/turtlebot3_waffle_pi.urdf.xacro~ 0 → 100644
+ 217
− 0
View file @ e8db20a4
<?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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