git commit -m "first commit"
This commit is contained in:
15
simulators/sim_env/CMakeLists.txt
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15
simulators/sim_env/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
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project(sim_env)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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message_generation
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controller_manager
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gazebo_ros
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rviz
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)
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catkin_package(
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CATKIN_DEPENDS urdf xacro
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)
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25
simulators/sim_env/config/amcl_params.yaml
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25
simulators/sim_env/config/amcl_params.yaml
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min_particles: 500
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max_particles: 3000
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kld_err: 0.02
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update_min_d: 0.20
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update_min_a: 0.20
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resample_interval: 1
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transform_tolerance: 0.5
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recovery_alpha_slow: 0.00
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recovery_alpha_fast: 0.00
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gui_publish_rate: 50.0
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laser_max_range: 3.5
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laser_max_beams: 180
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laser_z_hit: 0.5
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laser_z_short: 0.05
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laser_z_max: 0.05
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laser_z_rand: 0.5
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laser_sigma_hit: 0.2
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laser_lambda_short: 0.1
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laser_likelihood_max_dist: 2.0
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laser_model_type: "likelihood_field"
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odom_model_type: "diff"
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odom_alpha1: 0.1
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odom_alpha2: 0.1
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odom_alpha3: 0.1
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odom_alpha4: 0.1
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15
simulators/sim_env/config/costmap/global_costmap_params.yaml
Executable file
15
simulators/sim_env/config/costmap/global_costmap_params.yaml
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global_costmap:
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global_frame: map
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robot_base_frame: $(arg prefix)base_footprint
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update_frequency: 1.0
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publish_frequency: 1.0
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transform_tolerance: 0.5
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static_map: true
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# plugins:
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# - {name: static_map, type: "costmap_2d::StaticLayer"}
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# # - {name: voxel_layer, type: "costmap_2d::VoxelLayer"}
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# - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
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# - {name: voronoi_layer, type: "costmap_2d::VoronoiLayer"}
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# - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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17
simulators/sim_env/config/costmap/local_costmap_params.yaml
Executable file
17
simulators/sim_env/config/costmap/local_costmap_params.yaml
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local_costmap:
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global_frame: odom
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robot_base_frame: $(arg prefix)base_footprint
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update_frequency: 10.0
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publish_frequency: 10.0
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transform_tolerance: 0.5
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static_map: false
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rolling_window: true
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width: 3
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height: 3
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resolution: 0.05
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# plugins:
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# - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
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# - {name: inflation_layer, type: "costmap_2d::InflationLayer"}
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12
simulators/sim_env/config/move_base_params.yaml
Executable file
12
simulators/sim_env/config/move_base_params.yaml
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shutdown_costmaps: false
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planner_frequency: 2.0
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planner_patience: 5.0
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controller_frequency: 10.0
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controller_patience: 15.0
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oscillation_timeout: 10.0
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oscillation_distance: 0.2
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conservative_reset_dist: 3.0
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47
simulators/sim_env/config/planner/dwa_planner_params.yaml
Executable file
47
simulators/sim_env/config/planner/dwa_planner_params.yaml
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DWAPlanner:
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# Robot Configuration Parameters
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max_vel_x: 0.46
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min_vel_x: 0.00
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max_vel_y: 0.0
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min_vel_y: 0.0
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# The velocity when robot is moving in a straight line
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max_vel_trans: 0.26
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min_vel_trans: 0.13
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max_vel_theta: 1.82
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min_vel_theta: 0.9
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acc_lim_x: 2.5
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acc_lim_y: 0.0
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acc_lim_theta: 3.2
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# Goal Tolerance Parameters
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xy_goal_tolerance: 0.05
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yaw_goal_tolerance: 0.17
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latch_xy_goal_tolerance: false
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# Forward Simulation Parameters
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sim_time: 2.0
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vx_samples: 20
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vy_samples: 0
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vth_samples: 40
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controller_frequency: 10.0
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# Trajectory Scoring Parameters
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path_distance_bias: 32.0
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goal_distance_bias: 20.0
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occdist_scale: 0.02
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forward_point_distance: 0.325
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stop_time_buffer: 0.2
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scaling_speed: 0.25
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max_scaling_factor: 0.2
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# Oscillation Prevention Parameters
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oscillation_reset_dist: 0.05
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# Debugging
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publish_traj_pc : true
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publish_cost_grid_pc: true
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23
simulators/sim_env/config/planner/evolutionary_planner_params.yaml
Executable file
23
simulators/sim_env/config/planner/evolutionary_planner_params.yaml
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EvolutionaryPlanner:
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# offset of transform from world(x,y) to grid map(x,y)
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convert_offset: 0.0
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# error tolerance
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default_tolerance: 0.0
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# whether outline the map or not
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outline_map: true
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# obstacle inflation factor
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obstacle_factor: 0.5
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## Ant Colony Optimization(ACO) planner
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# number of ants
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n_ants: 50
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# pheromone weight coefficient
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alpha: 1.0
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# heuristic factor weight coefficient
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beta: 8.0
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# evaporation coefficient
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rho: 0.1
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# pheromone gain
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Q: 1.0
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# maximum iterations
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max_iter: 30
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11
simulators/sim_env/config/planner/graph_planner_params.yaml
Executable file
11
simulators/sim_env/config/planner/graph_planner_params.yaml
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GraphPlanner:
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# offset of transform from world(x,y) to grid map(x,y)
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convert_offset: 0.0
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# error tolerance
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default_tolerance: 0.0
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# whether outline the map or not
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outline_map: true
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# obstacle inflation factor
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obstacle_factor: 0.5
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# whether publish expand zone or not
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expand_zone: true
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29
simulators/sim_env/config/planner/pid_planner_params.yaml
Executable file
29
simulators/sim_env/config/planner/pid_planner_params.yaml
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PIDPlanner:
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# next point distance/turning angle
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p_window: 0.2
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o_window: 1.0
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# goal reached tolerance
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p_precision: 0.2
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o_precision: 0.5
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# linear velocity
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max_v: 0.5
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min_v: 0.0
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max_v_inc: 0.5
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# angular velocity
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max_w: 1.57
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min_w: 0.0
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max_w_inc: 1.57
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# pid controller params
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k_v_p: 1.00
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k_v_i: 0.10
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k_v_d: 0.10
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k_w_p: 1.00
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k_w_i: 0.10
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k_w_d: 0.10
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k_theta: 0.3
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17
simulators/sim_env/config/planner/sample_planner_params.yaml
Executable file
17
simulators/sim_env/config/planner/sample_planner_params.yaml
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SamplePlanner:
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# random sample points
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sample_points: 2000 #1000 for informed RRT*, 3000 for others
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# max distance between sample points
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sample_max_d: 10.0
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# optimization radius
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optimization_r: 20.0
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# offset of transform from world(x,y) to grid map(x,y)
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convert_offset: 0.0
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# error tolerance
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default_tolerance: 0.0
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# whether outline the map or not
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outline_map: true
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# obstacle inflation factor
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obstacle_factor: 0.5
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# whether publish expand zone or not
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expand_zone: true
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@@ -0,0 +1,12 @@
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obstacle_range: 3.0
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raytrace_range: 3.5
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footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
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#robot_radius: 0.105
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inflation_radius: 3.0
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cost_scaling_factor: 3.0
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map_type: costmap
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observation_sources: scan
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scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
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@@ -0,0 +1,12 @@
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obstacle_range: 3.0
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raytrace_range: 3.5
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footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
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#robot_radius: 0.17
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inflation_radius: 1.0
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cost_scaling_factor: 3.0
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map_type: costmap
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observation_sources: scan
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scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true, inf_is_valid: true}
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@@ -0,0 +1,12 @@
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obstacle_range: 3.0
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raytrace_range: 3.5
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footprint: [[-0.205, -0.155], [-0.205, 0.155], [0.077, 0.155], [0.077, -0.155]]
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#robot_radius: 0.17
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inflation_radius: 1.0
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cost_scaling_factor: 3.0
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map_type: costmap
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||||
observation_sources: scan
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scan: {sensor_frame: base_scan, data_type: LaserScan, topic: scan, marking: true, clearing: true}
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87
simulators/sim_env/launch/app/environment_single.launch.xml
Executable file
87
simulators/sim_env/launch/app/environment_single.launch.xml
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@@ -0,0 +1,87 @@
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<!--
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******************************************************************************************
|
||||
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
|
||||
* *
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||||
* @brief Single robot startup file. *
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||||
* @author Haodong Yang *
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||||
* @version 1.0.2 *
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||||
* @date 2022.07.08 *
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||||
* @license GNU General Public License (GPL) *
|
||||
******************************************************************************************
|
||||
-->
|
||||
|
||||
<launch>
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||||
<!-- robot's type -->
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||||
<arg name="robot" default="turtlebot3_waffle" />
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||||
<!-- robot's namespace -->
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<arg name="robot_namespace" />
|
||||
<!-- whether use namespace or not -->
|
||||
<arg name="start_ns" default="false" />
|
||||
<!-- global path planner name -->
|
||||
<arg name="global_planner" default="astar"/>
|
||||
<!-- local planner name -->
|
||||
<arg name="local_planner" default="dwa" />
|
||||
|
||||
<!-- initial pose -->
|
||||
<arg name="robot_x" />
|
||||
<arg name="robot_y" />
|
||||
<arg name="robot_z" />
|
||||
<arg name="robot_yaw" />
|
||||
|
||||
<!-- multi -->
|
||||
<group ns = "$(arg robot_namespace)" if="$(arg start_ns)">
|
||||
<param name="tf_prefix" value="$(arg robot_namespace)" />
|
||||
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
|
||||
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
|
||||
<param name="robot_description"
|
||||
command="$(find xacro)/xacro --inorder $(find sim_env)/urdf/$(arg robot)/$(arg robot).xacro" />
|
||||
<!-- Gazebo -->
|
||||
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
|
||||
args="-urdf -x $(arg robot_x) -y $(arg robot_y) -z $(arg robot_z) -Y $(arg robot_yaw)
|
||||
-model $(arg robot_namespace) -param robot_description"/>
|
||||
<!-- AMCL定位 -->
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||||
<include file="$(find sim_env)/launch/include/location_methods/amcl.launch.xml">
|
||||
<arg name="robot_namespace" value="$(arg robot_namespace)" />
|
||||
<arg name="start_ns" value="$(arg start_ns)" />
|
||||
<arg name="robot_x" value="$(arg robot_x)" />
|
||||
<arg name="robot_y" value="$(arg robot_y)" />
|
||||
<arg name="robot_z" value="$(arg robot_z)" />
|
||||
</include>
|
||||
<!-- MoveBase -->
|
||||
<include file="$(find sim_env)/launch/include/navigation/move_base.launch.xml">
|
||||
<arg name="robot_namespace" value="$(arg robot_namespace)" />
|
||||
<arg name="start_ns" value="$(arg start_ns)" />
|
||||
<arg name="robot" value="$(arg robot)" />
|
||||
<arg name="global_planner" value="$(arg global_planner)" />
|
||||
<arg name="local_planner" value="$(arg local_planner)" />
|
||||
</include>
|
||||
</group>
|
||||
|
||||
<!-- single -->
|
||||
<group unless="$(arg start_ns)">
|
||||
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
|
||||
<node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" />
|
||||
<param name="robot_description"
|
||||
command="$(find xacro)/xacro --inorder $(find sim_env)/urdf/$(arg robot)/$(arg robot).xacro" />
|
||||
<!-- Gazebo -->
|
||||
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
|
||||
args="-urdf -x $(arg robot_x) -y $(arg robot_y) -z $(arg robot_z) -Y $(arg robot_yaw)
|
||||
-model $(arg robot) -param robot_description"/>
|
||||
<!-- AMCL -->
|
||||
<include file="$(find sim_env)/launch/include/location_methods/amcl.launch.xml">
|
||||
<arg name="robot_namespace" value="$(arg robot_namespace)" />
|
||||
<arg name="start_ns" value="$(arg start_ns)" />
|
||||
<arg name="robot_x" value="$(arg robot_x)" />
|
||||
<arg name="robot_y" value="$(arg robot_y)" />
|
||||
<arg name="robot_z" value="$(arg robot_z)" />
|
||||
</include>
|
||||
<!-- MoveBase-->
|
||||
<include file="$(find sim_env)/launch/include/navigation/move_base.launch.xml">
|
||||
<arg name="robot_namespace" value="$(arg robot_namespace)" />
|
||||
<arg name="start_ns" value="$(arg start_ns)" />
|
||||
<arg name="robot" value="$(arg robot)" />
|
||||
<arg name="global_planner" value="$(arg global_planner)" />
|
||||
<arg name="local_planner" value="$(arg local_planner)" />
|
||||
</include>
|
||||
</group>
|
||||
</launch>
|
||||
51
simulators/sim_env/launch/config.launch
Executable file
51
simulators/sim_env/launch/config.launch
Executable file
@@ -0,0 +1,51 @@
|
||||
<!--
|
||||
******************************************************************************************
|
||||
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
|
||||
* *
|
||||
* @brief Launch gazebo simulation with world and multi robots. *
|
||||
* @author Haodong Yang *
|
||||
* @version 1.0.1 *
|
||||
* @date 2022.06.30 *
|
||||
* @license GNU General Public License (GPL) *
|
||||
******************************************************************************************
|
||||
-->
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- Select the robots , the world and the map -->
|
||||
<arg name="world" default="warehouse" doc="model type [warehouse, workshop, turtlebot3_house, ...]"/>
|
||||
<arg name="map" default="warehouse" doc="map type [warehouse, workshop, turtlebot3_house, ...]" />
|
||||
|
||||
<!-- Select the number of robots -->
|
||||
<arg name="robot_number" default="1" />
|
||||
|
||||
<!-- Tune some other parameters -->
|
||||
<arg name="debug" default="false"/>
|
||||
<arg name="gui" default="true"/>
|
||||
<arg name="headless" default="false"/>
|
||||
|
||||
<!-- Start Gazebo with a specific world -->
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch" unless="$(eval arg('world') == '')">
|
||||
<arg name="world_name" value="$(find sim_env)/worlds/$(arg world).world"/>
|
||||
<arg name="debug" value="$(arg debug)" />
|
||||
<arg name="gui" value="$(arg gui)" />
|
||||
<arg name="paused" value="false"/>
|
||||
<arg name="use_sim_time" value="true"/>
|
||||
<arg name="headless" value="$(arg headless)"/>
|
||||
</include>
|
||||
|
||||
<!-- start map-server and publish user map -->
|
||||
<node name="map_server" pkg="map_server" type="map_server" args="$(find sim_env)/maps/$(arg map)/$(arg map).yaml" unless="$(eval arg('map') == '')"/>
|
||||
|
||||
<!-- Spawn multi robots with specific pose, and add robot control and state publisher. -->
|
||||
<!-- Remember to change robot initial poses when using different world in start_robots.launch.xml. -->
|
||||
<include file="$(find sim_env)/launch/include/robots/start_robots.launch.xml" />
|
||||
|
||||
<!-- Open Rviz to visualize information -->
|
||||
<arg name="rviz_file" default="" />
|
||||
<node pkg="dynamic_rviz_config" type="rviz_generate.py" name="rosapp_rviz" args="$(arg robot_number)" output="screen"
|
||||
if="$(eval arg('rviz_file') == '')" />
|
||||
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find sim_env)/rviz/$(arg rviz_file)"
|
||||
unless="$(eval arg('rviz_file') == '')"/>
|
||||
|
||||
</launch>
|
||||
35
simulators/sim_env/launch/include/location_methods/amcl.launch.xml
Executable file
35
simulators/sim_env/launch/include/location_methods/amcl.launch.xml
Executable file
@@ -0,0 +1,35 @@
|
||||
<!--
|
||||
******************************************************************************************
|
||||
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
|
||||
* *
|
||||
* @brief Amcl method module parameter configure. *
|
||||
* @author Haodong Yang, *
|
||||
* @version 1.0.0 *
|
||||
* @date 2022.06.30 *
|
||||
* @license GNU General Public License (GPL) *
|
||||
******************************************************************************************
|
||||
-->
|
||||
|
||||
<launch>
|
||||
<!-- 机器人命名空间 -->
|
||||
<arg name="robot_namespace" />
|
||||
<!-- 是否启用命名空间 -->
|
||||
<arg name="start_ns" default="false" />
|
||||
<!-- 机器人属性 -->
|
||||
<arg name="robot_x" />
|
||||
<arg name="robot_y" />
|
||||
<arg name="robot_z" />
|
||||
|
||||
<node pkg="amcl" type="amcl" name="amcl">
|
||||
<!-- 加载初始化默认参数 -->
|
||||
<rosparam file="$(find sim_env)/config/amcl_params.yaml" command="load" />
|
||||
<param name="initial_pose_x" value="$(arg robot_x)"/>
|
||||
<param name="initial_pose_y" value="$(arg robot_y)"/>
|
||||
<param name="initial_pose_z" value="$(arg robot_z)"/>
|
||||
<!-- 为坐标系添加命名空间 -->
|
||||
<param name="odom_frame_id" value="$(arg robot_namespace)/odom" if="$(arg start_ns)"/>
|
||||
<param name="base_frame_id" value="$(arg robot_namespace)/base_footprint" if="$(arg start_ns)"/>
|
||||
|
||||
<remap from="static_map" to="/static_map"/>
|
||||
</node>
|
||||
</launch>
|
||||
130
simulators/sim_env/launch/include/navigation/move_base.launch.xml
Executable file
130
simulators/sim_env/launch/include/navigation/move_base.launch.xml
Executable file
@@ -0,0 +1,130 @@
|
||||
<!--
|
||||
******************************************************************************************
|
||||
* Copyright (c) 2023 Yang Haodong, All Rights Reserved *
|
||||
* *
|
||||
* @brief move base module parameter configure. *
|
||||
* @author Haodong Yang, *
|
||||
* @version 1.0.0 *
|
||||
* @date 2022.06.30 *
|
||||
* @license GNU General Public License (GPL) *
|
||||
******************************************************************************************
|
||||
-->
|
||||
|
||||
<launch>
|
||||
<!-- robot's namespace -->
|
||||
<arg name="robot_namespace" />
|
||||
<!-- whether use namespace or not -->
|
||||
<arg name="start_ns" default="false" />
|
||||
<!-- robot's type -->
|
||||
<arg name="robot" default="turtlebot3_waffle" />
|
||||
<!-- global path planner name -->
|
||||
<arg name="global_planner" default="a_star" />
|
||||
<!-- local planner name -->
|
||||
<arg name="local_planner" default="dwa" />
|
||||
|
||||
<!-- move base module -->
|
||||
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
|
||||
<!-- global planner plugin -->
|
||||
<!-- graph search -->
|
||||
<param name="base_global_planner" value="graph_planner/GraphPlanner"
|
||||
if="$(eval arg('global_planner')=='a_star'
|
||||
or arg('global_planner')=='jps'
|
||||
or arg('global_planner')=='gbfs'
|
||||
or arg('global_planner')=='dijkstra'
|
||||
or arg('global_planner')=='d_star'
|
||||
or arg('global_planner')=='lpa_star'
|
||||
or arg('global_planner')=='voronoi'
|
||||
or arg('global_planner')=='d_star_lite')" />
|
||||
<param name="GraphPlanner/planner_name" value="$(arg global_planner)"
|
||||
if="$(eval arg('global_planner')=='a_star'
|
||||
or arg('global_planner')=='jps'
|
||||
or arg('global_planner')=='gbfs'
|
||||
or arg('global_planner')=='dijkstra'
|
||||
or arg('global_planner')=='d_star'
|
||||
or arg('global_planner')=='lpa_star'
|
||||
or arg('global_planner')=='voronoi'
|
||||
or arg('global_planner')=='d_star_lite')" />
|
||||
<rosparam file="$(find sim_env)/config/planner/graph_planner_params.yaml" command="load"
|
||||
if="$(eval arg('global_planner')=='a_star'
|
||||
or arg('global_planner')=='jps'
|
||||
or arg('global_planner')=='gbfs'
|
||||
or arg('global_planner')=='dijkstra'
|
||||
or arg('global_planner')=='d_star'
|
||||
or arg('global_planner')=='lpa_star'
|
||||
or arg('global_planner')=='voronoi'
|
||||
or arg('global_planner')=='d_star_lite')"/>
|
||||
|
||||
<!-- sample search -->
|
||||
<param name="base_global_planner" value="sample_planner/SamplePlanner"
|
||||
if="$(eval arg('global_planner')=='rrt'
|
||||
or arg('global_planner')=='rrt_star'
|
||||
or arg('global_planner')=='informed_rrt'
|
||||
or arg('global_planner')=='rrt_connect')" />
|
||||
<param name="SamplePlanner/planner_name" value="$(arg global_planner)"
|
||||
if="$(eval arg('global_planner')=='rrt'
|
||||
or arg('global_planner')=='rrt_star'
|
||||
or arg('global_planner')=='informed_rrt'
|
||||
or arg('global_planner')=='rrt_connect')" />
|
||||
<rosparam file="$(find sim_env)/config/planner/sample_planner_params.yaml" command="load"
|
||||
if="$(eval arg('global_planner')=='rrt'
|
||||
or arg('global_planner')=='rrt_star'
|
||||
or arg('global_planner')=='informed_rrt'
|
||||
or arg('global_planner')=='rrt_connect')"/>
|
||||
|
||||
<!-- evolutionary search -->
|
||||
<param name="base_global_planner" value="evolutionary_planner/EvolutionaryPlanner"
|
||||
if="$(eval arg('global_planner')=='aco'
|
||||
or arg('global_planner')=='ga')" />
|
||||
<param name="EvolutionaryPlanner/planner_name" value="$(arg global_planner)"
|
||||
if="$(eval arg('global_planner')=='aco'
|
||||
or arg('global_planner')=='ga')" />
|
||||
<rosparam file="$(find sim_env)/config/planner/evolutionary_planner_params.yaml" command="load"
|
||||
if="$(eval arg('global_planner')=='aco'
|
||||
or arg('global_planner')=='ga')"/>
|
||||
|
||||
<!-- local planner plugin -->
|
||||
<param name="base_local_planner" value="dwa_planner/DWAPlanner"
|
||||
if="$(eval arg('local_planner')=='dwa')" />
|
||||
<rosparam file="$(find sim_env)/config/planner/dwa_planner_params.yaml" command="load"
|
||||
if="$(eval arg('local_planner')=='dwa')" />
|
||||
|
||||
<param name="base_local_planner" value="pid_planner/PIDPlanner"
|
||||
if="$(eval arg('local_planner')=='pid')" />
|
||||
<rosparam file="$(find sim_env)/config/planner/pid_planner_params.yaml" command="load"
|
||||
if="$(eval arg('local_planner')=='pid')" />
|
||||
|
||||
<!-- loading navigation parameters -->
|
||||
<rosparam
|
||||
file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
|
||||
+ arg('robot') + '.yaml')"
|
||||
command="load" ns="global_costmap" />
|
||||
<rosparam
|
||||
file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
|
||||
+ arg('robot') + '.yaml')"
|
||||
command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find sim_env)/config/costmap/local_costmap_params.yaml" command="load" />
|
||||
<rosparam file="$(find sim_env)/config/costmap/global_costmap_params.yaml" command="load" />
|
||||
<rosparam file="$(find sim_env)/config/move_base_params.yaml" command="load" />
|
||||
|
||||
<!-- set coordinate transformation namespace -->
|
||||
<param name="global_costmap/scan/sensor_frame" value="$(arg robot_namespace)/base_scan"
|
||||
if="$(arg start_ns)" />
|
||||
<param name="global_costmap/obstacle_layer/scan/sensor_frame"
|
||||
value="$(arg robot_namespace)/base_scan" if="$(arg start_ns)" />
|
||||
<param name="global_costmap/global_frame" value="map" />
|
||||
<param name="global_costmap/robot_base_frame" value="$(arg robot_namespace)/base_footprint"
|
||||
if="$(arg start_ns)" />
|
||||
|
||||
<param name="local_costmap/scan/sensor_frame" value="$(arg robot_namespace)/base_scan"
|
||||
if="$(arg start_ns)" />
|
||||
<param name="local_costmap/obstacle_layer/scan/sensor_frame"
|
||||
value="$(arg robot_namespace)/base_scan" if="$(arg start_ns)" />
|
||||
<param name="local_costmap/global_frame" value="$(arg robot_namespace)/odom"
|
||||
if="$(arg start_ns)" />
|
||||
<param name="local_costmap/robot_base_frame" value="$(arg robot_namespace)/base_footprint"
|
||||
if="$(arg start_ns)" />
|
||||
|
||||
<!-- centralize map -->
|
||||
<remap from="map" to="/map" />
|
||||
</node>
|
||||
</launch>
|
||||
25
simulators/sim_env/launch/include/robots/start_robots.launch.xml
Executable file
25
simulators/sim_env/launch/include/robots/start_robots.launch.xml
Executable file
@@ -0,0 +1,25 @@
|
||||
<?xml version='1.0' encoding='utf-8'?>
|
||||
<launch>
|
||||
<arg name="robot_number" default="1" />
|
||||
<arg name="robot1_type" value="turtlebot3_waffle" />
|
||||
<arg name="robot1_global_planner" value="d_star" />
|
||||
<arg name="robot1_local_planner" value="dwa" />
|
||||
<arg name="robot1_x_pos" value="0.0" />
|
||||
<arg name="robot1_y_pos" value="0.0" />
|
||||
<arg name="robot1_z_pos" value="0.0" />
|
||||
<arg name="robot1_yaw" value="0.0" />
|
||||
<include file="$(find sim_env)/launch/app/environment_single.launch.xml">
|
||||
<arg name="robot" value="$(eval arg('robot' + str(arg('robot_number')) + '_type'))" />
|
||||
<arg name="global_planner" value="$(eval arg('robot' + str(arg('robot_number')) + '_global_planner'))" />
|
||||
<arg name="local_planner" value="$(eval arg('robot' + str(arg('robot_number')) + '_local_planner'))" />
|
||||
<arg name="robot_namespace" value="robot$(arg robot_number)" />
|
||||
<arg name="start_ns" value="false" />
|
||||
<arg name="robot_x" value="$(eval arg('robot' + str(arg('robot_number')) + '_x_pos'))" />
|
||||
<arg name="robot_y" value="$(eval arg('robot' + str(arg('robot_number')) + '_y_pos'))" />
|
||||
<arg name="robot_z" value="$(eval arg('robot' + str(arg('robot_number')) + '_z_pos'))" />
|
||||
<arg name="robot_yaw" value="$(eval arg('robot' + str(arg('robot_number')) + '_yaw'))" />
|
||||
</include>
|
||||
<include file="$(find sim_env)/launch/include/robots/start_robots.launch.xml" if="$(eval arg('robot_number') > 1)">
|
||||
<arg name="robot_number" value="$(eval arg('robot_number') - 1)" />
|
||||
</include>
|
||||
</launch>
|
||||
11
simulators/sim_env/launch/main.launch
Executable file
11
simulators/sim_env/launch/main.launch
Executable file
@@ -0,0 +1,11 @@
|
||||
<?xml version='1.0' encoding='utf-8'?>
|
||||
<launch>
|
||||
<arg name="world_parameter" value="warehouse_with_pedestrians" />
|
||||
<node pkg="dynamic_xml_config" type="obstacles_generate_ros.py" name="obstacles_generate" args="user_config.yaml" output="screen" />
|
||||
<include file="$(find sim_env)/launch/config.launch">
|
||||
<arg name="world" value="$(arg world_parameter)" />
|
||||
<arg name="map" value="warehouse" />
|
||||
<arg name="robot_number" value="1" />
|
||||
<arg name="rviz_file" value="sim_env.rviz" />
|
||||
</include>
|
||||
</launch>
|
||||
103
simulators/sim_env/launch/realworld/(untested)qbot_navigaition.launch
Executable file
103
simulators/sim_env/launch/realworld/(untested)qbot_navigaition.launch
Executable file
@@ -0,0 +1,103 @@
|
||||
<launch>
|
||||
<!-- Planner -->
|
||||
<arg name="global_planner" default="astar" />
|
||||
<arg name="local_planner" default="pid" />
|
||||
|
||||
<!-- Init pose -->
|
||||
<arg name="robot_x" value="0.0" />
|
||||
<arg name="robot_y" value="0.0" />
|
||||
<arg name="robot_z" value="0.0" />
|
||||
<arg name="robot_yaw" value="0.0" />
|
||||
<arg name="robot" default="turtlebot3_waffle" />
|
||||
|
||||
<!-- Map file TODO -->
|
||||
<arg name="map" default="warehouse" doc="map type [warehouse, workshop, turtlebot3_house, ...]" />
|
||||
|
||||
<!-- Load map -->
|
||||
<node name="map_server" pkg="map_server" type="map_server"
|
||||
args="$(find sim_env)/maps/$(arg map)/$(arg map).yaml" />
|
||||
|
||||
<!-- AMCL -->
|
||||
<node pkg="amcl" type="amcl" name="amcl">
|
||||
<rosparam file="$(find sim_env)/config/amcl_params.yaml" command="load" />
|
||||
<param name="initial_pose_x" value="$(arg robot_x)" />
|
||||
<param name="initial_pose_y" value="$(arg robot_y)" />
|
||||
<param name="initial_pose_z" value="$(arg robot_z)" />
|
||||
<remap from="static_map" to="/static_map" />
|
||||
</node>
|
||||
|
||||
<!-- Move base -->
|
||||
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
|
||||
<!-- global planner plugin -->
|
||||
<!-- graph search -->
|
||||
<param name="base_global_planner" value="graph_planner/GraphPlanner"
|
||||
if="$(eval arg('global_planner')=='a_star'
|
||||
or arg('global_planner')=='jps'
|
||||
or arg('global_planner')=='gbfs'
|
||||
or arg('global_planner')=='dijkstra'
|
||||
or arg('global_planner')=='d_star'
|
||||
or arg('global_planner')=='lpa_star'
|
||||
or arg('global_planner')=='d_star_lite')" />
|
||||
<param name="GraphPlanner/planner_name" value="$(arg global_planner)"
|
||||
if="$(eval arg('global_planner')=='a_star'
|
||||
or arg('global_planner')=='jps'
|
||||
or arg('global_planner')=='gbfs'
|
||||
or arg('global_planner')=='dijkstra'
|
||||
or arg('global_planner')=='d_star'
|
||||
or arg('global_planner')=='lpa_star'
|
||||
or arg('global_planner')=='d_star_lite')" />
|
||||
|
||||
<!-- sample search -->
|
||||
<param name="base_global_planner" value="sample_planner/SamplePlanner"
|
||||
if="$(eval arg('global_planner')=='rrt'
|
||||
or arg('global_planner')=='rrt_star'
|
||||
or arg('global_planner')=='informed_rrt'
|
||||
or arg('global_planner')=='rrt_connect')" />
|
||||
<param name="SamplePlanner/planner_name" value="$(arg global_planner)"
|
||||
if="$(eval arg('global_planner')=='rrt'
|
||||
or arg('global_planner')=='rrt_star'
|
||||
or arg('global_planner')=='informed_rrt'
|
||||
or arg('global_planner')=='rrt_connect')" />
|
||||
|
||||
<!-- local planner plugin -->
|
||||
<param name="base_local_planner" value="dwa_planner/DWAPlanner"
|
||||
if="$(eval arg('local_planner')=='dwa')" />
|
||||
<rosparam file="$(find sim_env)/config/planner/dwa_planner_params.yaml" command="load"
|
||||
if="$(eval arg('local_planner')=='dwa')" />
|
||||
|
||||
<param name="base_local_planner" value="pid_planner/PIDPlanner"
|
||||
if="$(eval arg('local_planner')=='pid')" />
|
||||
<rosparam file="$(find sim_env)/config/planner/pid_planner_params.yaml" command="load"
|
||||
if="$(eval arg('local_planner')=='pid')" />
|
||||
|
||||
<!-- loading navigation parameters -->
|
||||
<rosparam
|
||||
file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
|
||||
+ arg('robot') + '.yaml')"
|
||||
command="load" ns="global_costmap" />
|
||||
<rosparam
|
||||
file="$(eval find('sim_env') + '/config/' + arg('robot') + '/costmap_common_params_'
|
||||
+ arg('robot') + '.yaml')"
|
||||
command="load" ns="local_costmap" />
|
||||
<rosparam file="$(find sim_env)/config/costmap/local_costmap_params.yaml" command="load" />
|
||||
<rosparam file="$(find sim_env)/config/costmap/global_costmap_params.yaml" command="load" />
|
||||
<rosparam file="$(find sim_env)/config/move_base_params.yaml" command="load" />
|
||||
|
||||
<rosparam file="$(find sim_env)/config/planner/graph_planner_params.yaml" command="load" />
|
||||
<rosparam file="$(find sim_env)/config/planner/sample_planner_params.yaml" command="load" />
|
||||
|
||||
<!-- set coordinate transformation namespace -->
|
||||
<param name="global_costmap/global_frame" value="map" />
|
||||
|
||||
<!-- centralize map -->
|
||||
<remap from="map" to="/map" />
|
||||
|
||||
<!-- command -->
|
||||
<remap from="/cmd_vel" to="/" />
|
||||
</node>
|
||||
|
||||
<!-- Rviz -->
|
||||
<node name="rviz" pkg="rviz" type="rviz" />
|
||||
<!-- args="-d $(find sim_env)/rviz/$(arg rviz_file)" -->
|
||||
|
||||
</launch>
|
||||
7
simulators/sim_env/maps/warehouse/warehouse.pgm
Executable file
7
simulators/sim_env/maps/warehouse/warehouse.pgm
Executable file
File diff suppressed because one or more lines are too long
7
simulators/sim_env/maps/warehouse/warehouse.yaml
Executable file
7
simulators/sim_env/maps/warehouse/warehouse.yaml
Executable file
@@ -0,0 +1,7 @@
|
||||
image: ./warehouse.pgm
|
||||
resolution: 0.050000
|
||||
origin: [-12.000000, -12.000000, 0.000000]
|
||||
negate: 0
|
||||
occupied_thresh: 0.65
|
||||
free_thresh: 0.196
|
||||
|
||||
BIN
simulators/sim_env/meshes/turtlebot3/bases/burger_base.stl
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/bases/burger_base.stl
Executable file
Binary file not shown.
BIN
simulators/sim_env/meshes/turtlebot3/bases/waffle_base.stl
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/bases/waffle_base.stl
Executable file
Binary file not shown.
BIN
simulators/sim_env/meshes/turtlebot3/bases/waffle_base_for_open_manipulator.stl
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/bases/waffle_base_for_open_manipulator.stl
Executable file
Binary file not shown.
BIN
simulators/sim_env/meshes/turtlebot3/bases/waffle_pi_base.stl
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/bases/waffle_pi_base.stl
Executable file
Binary file not shown.
Binary file not shown.
256759
simulators/sim_env/meshes/turtlebot3/sensors/astra.dae
Executable file
256759
simulators/sim_env/meshes/turtlebot3/sensors/astra.dae
Executable file
File diff suppressed because one or more lines are too long
BIN
simulators/sim_env/meshes/turtlebot3/sensors/astra.jpg
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/sensors/astra.jpg
Executable file
Binary file not shown.
|
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BIN
simulators/sim_env/meshes/turtlebot3/sensors/lds.stl
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/sensors/lds.stl
Executable file
Binary file not shown.
890
simulators/sim_env/meshes/turtlebot3/sensors/r200.dae
Executable file
890
simulators/sim_env/meshes/turtlebot3/sensors/r200.dae
Executable file
File diff suppressed because one or more lines are too long
BIN
simulators/sim_env/meshes/turtlebot3/sensors/r200.jpg
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/sensors/r200.jpg
Executable file
Binary file not shown.
|
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BIN
simulators/sim_env/meshes/turtlebot3/wheels/left_tire.stl
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/wheels/left_tire.stl
Executable file
Binary file not shown.
BIN
simulators/sim_env/meshes/turtlebot3/wheels/right_tire.stl
Executable file
BIN
simulators/sim_env/meshes/turtlebot3/wheels/right_tire.stl
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|
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|
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|
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@@ -0,0 +1,327 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
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46
simulators/sim_env/models/aws_robomaker_warehouse_ShelfD_01/model.sdf
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<extra><technique profile="MAX3D"><frame_rate>30.000000</frame_rate></technique><technique profile="FCOLLADA"><start_time>0.000000</start_time><end_time>3.333333</end_time></technique></extra>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#aws_robomaker_warehouse_ShelfE_01_collision"></instance_visual_scene>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
File diff suppressed because one or more lines are too long
11
simulators/sim_env/models/aws_robomaker_warehouse_ShelfE_01/model.config
Executable file
11
simulators/sim_env/models/aws_robomaker_warehouse_ShelfE_01/model.config
Executable file
@@ -0,0 +1,11 @@
|
||||
<?xml version="1.0" ?>
|
||||
<model>
|
||||
<name>aws_robomaker_warehouse_ShelfE_01</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
<author>
|
||||
<name></name>
|
||||
<email></email>
|
||||
</author>
|
||||
<description></description>
|
||||
</model>
|
||||
46
simulators/sim_env/models/aws_robomaker_warehouse_ShelfE_01/model.sdf
Executable file
46
simulators/sim_env/models/aws_robomaker_warehouse_ShelfE_01/model.sdf
Executable file
@@ -0,0 +1,46 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="aws_robomaker_warehouse_ShelfE_01">
|
||||
<link name="link">
|
||||
<inertial>
|
||||
<mass>30</mass>
|
||||
<inertia>
|
||||
<ixx>907.144</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>104.950</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>824.248</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_collision.DAE</uri>
|
||||
<scale>1 1 1</scale>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<surface>
|
||||
<friction>
|
||||
<ode>
|
||||
<mu>0.2</mu>
|
||||
<mu2>0.2</mu2>
|
||||
<fdir1>0 0 0</fdir1>
|
||||
<slip1>0</slip1>
|
||||
<slip2>0</slip2>
|
||||
</ode>
|
||||
</friction>
|
||||
</surface>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://aws_robomaker_warehouse_ShelfE_01/meshes/aws_robomaker_warehouse_ShelfE_01_visual.DAE</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<meta> <layer> 1 </layer></meta>
|
||||
</visual>
|
||||
</link>
|
||||
<static>1</static>
|
||||
</model>
|
||||
</sdf>
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 457 KiB |
163
simulators/sim_env/models/construction_cone/meshes/construction_cone.dae
Executable file
163
simulators/sim_env/models/construction_cone/meshes/construction_cone.dae
Executable file
File diff suppressed because one or more lines are too long
24
simulators/sim_env/models/construction_cone/model-1_3.sdf
Executable file
24
simulators/sim_env/models/construction_cone/model-1_3.sdf
Executable file
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.3">
|
||||
<model name="Construction Cone">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>10 10 10</scale>
|
||||
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>10 10 10</scale>
|
||||
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
23
simulators/sim_env/models/construction_cone/model-1_4.sdf
Executable file
23
simulators/sim_env/models/construction_cone/model-1_4.sdf
Executable file
@@ -0,0 +1,23 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.4">
|
||||
<model name="Construction Cone">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>10 10 10</scale>
|
||||
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>10 10 10</scale>
|
||||
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
24
simulators/sim_env/models/construction_cone/model.config
Executable file
24
simulators/sim_env/models/construction_cone/model.config
Executable file
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Construction Cone</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
An orange construction cone
|
||||
</description>
|
||||
|
||||
</model>
|
||||
23
simulators/sim_env/models/construction_cone/model.sdf
Executable file
23
simulators/sim_env/models/construction_cone/model.sdf
Executable file
@@ -0,0 +1,23 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="Construction Cone">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>10 10 10</scale>
|
||||
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>10 10 10</scale>
|
||||
<uri>model://construction_cone/meshes/construction_cone.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
simulators/sim_env/models/construction_cone/thumbnails/1.png
Executable file
BIN
simulators/sim_env/models/construction_cone/thumbnails/1.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 28 KiB |
BIN
simulators/sim_env/models/construction_cone/thumbnails/2.png
Executable file
BIN
simulators/sim_env/models/construction_cone/thumbnails/2.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 28 KiB |
BIN
simulators/sim_env/models/construction_cone/thumbnails/3.png
Executable file
BIN
simulators/sim_env/models/construction_cone/thumbnails/3.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 33 KiB |
BIN
simulators/sim_env/models/construction_cone/thumbnails/4.png
Executable file
BIN
simulators/sim_env/models/construction_cone/thumbnails/4.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 33 KiB |
BIN
simulators/sim_env/models/construction_cone/thumbnails/5.png
Executable file
BIN
simulators/sim_env/models/construction_cone/thumbnails/5.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 33 KiB |
29
simulators/sim_env/models/dumpster/materials/scripts/dumpster.material
Executable file
29
simulators/sim_env/models/dumpster/materials/scripts/dumpster.material
Executable file
@@ -0,0 +1,29 @@
|
||||
material Dumpster/Diffuse
|
||||
{
|
||||
receive_shadows off
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture Dumpster_Diffuse.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
material Dumpster/Specular
|
||||
{
|
||||
receive_shadows off
|
||||
technique
|
||||
{
|
||||
pass
|
||||
{
|
||||
texture_unit
|
||||
{
|
||||
texture Dumpster_Spec.png
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
BIN
simulators/sim_env/models/dumpster/materials/textures/Dumpster_Diffuse.png
Executable file
BIN
simulators/sim_env/models/dumpster/materials/textures/Dumpster_Diffuse.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 1.2 MiB |
BIN
simulators/sim_env/models/dumpster/materials/textures/Dumpster_Spec.png
Executable file
BIN
simulators/sim_env/models/dumpster/materials/textures/Dumpster_Spec.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 716 KiB |
151
simulators/sim_env/models/dumpster/meshes/dumpster.dae
Executable file
151
simulators/sim_env/models/dumpster/meshes/dumpster.dae
Executable file
File diff suppressed because one or more lines are too long
28
simulators/sim_env/models/dumpster/model-1_3.sdf
Executable file
28
simulators/sim_env/models/dumpster/model-1_3.sdf
Executable file
@@ -0,0 +1,28 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.3">
|
||||
<model name="Dumpster">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://dumpster/meshes/dumpster.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://dumpster/meshes/dumpster.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://dumpster/materials/scripts</uri>
|
||||
<uri>model://dumpster/materials/textures</uri>
|
||||
<name>Dumpster/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
28
simulators/sim_env/models/dumpster/model-1_4.sdf
Executable file
28
simulators/sim_env/models/dumpster/model-1_4.sdf
Executable file
@@ -0,0 +1,28 @@
|
||||
<?xml version="1.0"?>
|
||||
<sdf version="1.4">
|
||||
<model name="Dumpster">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://dumpster/meshes/dumpster.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<uri>model://dumpster/meshes/dumpster.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://dumpster/materials/scripts</uri>
|
||||
<uri>model://dumpster/materials/textures</uri>
|
||||
<name>Dumpster/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
24
simulators/sim_env/models/dumpster/model.config
Executable file
24
simulators/sim_env/models/dumpster/model.config
Executable file
@@ -0,0 +1,24 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Dumpster</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.3">model-1_3.sdf</sdf>
|
||||
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||
<sdf version="1.5">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>natekoenig@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A dumpster.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
30
simulators/sim_env/models/dumpster/model.sdf
Executable file
30
simulators/sim_env/models/dumpster/model.sdf
Executable file
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.5">
|
||||
<model name="Dumpster">
|
||||
<link name="link">
|
||||
<collision name="collision">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1.5 1.5 1.5</scale>
|
||||
<uri>model://dumpster/meshes/dumpster.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1.5 1.5 1.5</scale>
|
||||
<uri>model://dumpster/meshes/dumpster.dae</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<script>
|
||||
<uri>model://dumpster/materials/scripts</uri>
|
||||
<uri>model://dumpster/materials/textures</uri>
|
||||
<name>Dumpster/Diffuse</name>
|
||||
</script>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
BIN
simulators/sim_env/models/dumpster/thumbnails/1.png
Executable file
BIN
simulators/sim_env/models/dumpster/thumbnails/1.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 117 KiB |
BIN
simulators/sim_env/models/dumpster/thumbnails/2.png
Executable file
BIN
simulators/sim_env/models/dumpster/thumbnails/2.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 92 KiB |
BIN
simulators/sim_env/models/dumpster/thumbnails/3.png
Executable file
BIN
simulators/sim_env/models/dumpster/thumbnails/3.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 126 KiB |
BIN
simulators/sim_env/models/dumpster/thumbnails/4.png
Executable file
BIN
simulators/sim_env/models/dumpster/thumbnails/4.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 158 KiB |
BIN
simulators/sim_env/models/dumpster/thumbnails/5.png
Executable file
BIN
simulators/sim_env/models/dumpster/thumbnails/5.png
Executable file
Binary file not shown.
|
After Width: | Height: | Size: 126 KiB |
Binary file not shown.
|
After Width: | Height: | Size: 1005 B |
@@ -0,0 +1,16 @@
|
||||
# 3ds Max Wavefront OBJ Exporter v0.97b - (c)2007 guruware
|
||||
# File Created: 19.01.2018 17:10:24
|
||||
|
||||
newmtl ShippingContainer
|
||||
Ns 10.0000
|
||||
Ni 1.5000
|
||||
d 1.0000
|
||||
Tr 0.0000
|
||||
Tf 1.0000 1.0000 1.0000
|
||||
illum 2
|
||||
Ka 0.5882 0.5882 0.5882
|
||||
Kd 0.5882 0.5882 0.5882
|
||||
Ks 0.0000 0.0000 0.0000
|
||||
Ke 0.0000 0.0000 0.0000
|
||||
map_Ka ShippingContainer.png
|
||||
map_Kd ShippingContainer.png
|
||||
File diff suppressed because it is too large
Load Diff
22
simulators/sim_env/models/shipping_container_conveyor_ariac/model.config
Executable file
22
simulators/sim_env/models/shipping_container_conveyor_ariac/model.config
Executable file
@@ -0,0 +1,22 @@
|
||||
<?xml version="1.0"?>
|
||||
|
||||
<model>
|
||||
<name>Shipping Container Conveyor</name>
|
||||
<version>1.0</version>
|
||||
<sdf version="1.6">model.sdf</sdf>
|
||||
|
||||
<author>
|
||||
<name>Cole Biesemeyer</name>
|
||||
<email>cole.bsmr@gmail.com</email>
|
||||
</author>
|
||||
|
||||
<author>
|
||||
<name>Nate Koenig</name>
|
||||
<email>nate@osrfoundation.com</email>
|
||||
</author>
|
||||
|
||||
<description>
|
||||
A shipping container conveyor belt with out ramp.
|
||||
</description>
|
||||
|
||||
</model>
|
||||
36
simulators/sim_env/models/shipping_container_conveyor_ariac/model.sdf
Executable file
36
simulators/sim_env/models/shipping_container_conveyor_ariac/model.sdf
Executable file
@@ -0,0 +1,36 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version="1.6">
|
||||
<model name="shipping_container_conveyor_ariac">
|
||||
<static>true</static>
|
||||
<link name="link">
|
||||
<collision name="collision_belt_side_front">
|
||||
<pose>1.191 1.6275 0.32 0 0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.137 7.98 0.3</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<collision name="collision_belt_side_back">
|
||||
<pose>0.268 1.6275 0.32 0 0 0</pose>
|
||||
<max_contacts>10</max_contacts>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.145 7.98 0.3</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name="visual">
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1.3 0.7 1.0</scale>
|
||||
<uri>model://shipping_container_conveyor_ariac/meshes/ShippingContainer_Textured.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</sdf>
|
||||
40
simulators/sim_env/package.xml
Executable file
40
simulators/sim_env/package.xml
Executable file
@@ -0,0 +1,40 @@
|
||||
<package>
|
||||
<name>sim_env</name>
|
||||
<version>0.0.1</version>
|
||||
<description>
|
||||
ROS motion planning simulation environment.
|
||||
</description>
|
||||
<author>Winter</author>
|
||||
<maintainer email="913982779@qq.com">Winter</maintainer>
|
||||
<license>BSD</license>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>message_generation</build_depend>
|
||||
<build_depend>gazebo_ros</build_depend>
|
||||
<build_depend>rviz</build_depend>
|
||||
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>rospy</run_depend>
|
||||
<run_depend>std_msgs</run_depend>
|
||||
<run_depend>controller_manager</run_depend>
|
||||
<run_depend>urdf</run_depend>
|
||||
<run_depend>effort_controllers</run_depend>
|
||||
<run_depend>gazebo_plugins</run_depend>
|
||||
<run_depend>gazebo_ros</run_depend>
|
||||
<run_depend>gazebo_ros_control</run_depend>
|
||||
<run_depend>joint_state_controller</run_depend>
|
||||
<run_depend>joint_state_publisher</run_depend>
|
||||
<run_depend>robot_state_publisher</run_depend>
|
||||
<run_depend>yocs_cmd_vel_mux</run_depend>
|
||||
<run_depend>message_runtime</run_depend>
|
||||
<run_depend>xacro</run_depend>
|
||||
<run_depend>rviz</run_depend>
|
||||
|
||||
<export>
|
||||
<!-- <gazebo_ros gazebo_media_path="${prefix}"/> -->
|
||||
<!-- <gazebo_ros gazebo_model_path="${prefix}/models/"/> -->
|
||||
<gazebo_ros gazebo_model_path="${prefix}/.." />
|
||||
</export>
|
||||
</package>
|
||||
47
simulators/sim_env/rviz/cache.rviz
Executable file
47
simulators/sim_env/rviz/cache.rviz
Executable file
@@ -0,0 +1,47 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Name: Displays
|
||||
- Class: rviz/Tool Properties
|
||||
Name: Tool Properties
|
||||
Visualization Manager:
|
||||
Displays:
|
||||
- Class: rviz/Map
|
||||
Enabled: true
|
||||
Name: Map
|
||||
Topic: /map
|
||||
- Class: rviz/Grid
|
||||
Enabled: true
|
||||
Name: Grid
|
||||
- Class: rviz/TF
|
||||
Enabled: false
|
||||
Name: TF
|
||||
- Class: rviz/RobotModel
|
||||
Enabled: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
- Class: rviz/Image
|
||||
Enabled: false
|
||||
Name: Image
|
||||
Topic: /camera/rgb/image_raw
|
||||
- Alpha: 1
|
||||
Class: rviz/LaserScan
|
||||
Color: 255; 0; 0
|
||||
Color Transformer: FlatColor
|
||||
Enabled: true
|
||||
Name: LaserScan
|
||||
Size (m): 0.03
|
||||
Style: Spheres
|
||||
Topic: /scan
|
||||
Global Options:
|
||||
Fixed Frame: map
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/PublishPoint
|
||||
- Class: rviz/SetInitialPose
|
||||
Topic: /initialpose
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
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Block a user