Unverified Commit 799ce465 authored by Simon Thomas's avatar Simon Thomas
Browse files

Update with modifications from erl_simulations

parent 4b5ccff4
......@@ -26,10 +26,10 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<launch>
<arg name="robot_namespace" default="husky"/>
<arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED false)"/>
<arg name="kinect_enabled" default="$(optenv HUSKY_KINECT_ENABLED false)"/>
<arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED true)"/>
<arg name="kinect_enabled" default="$(optenv HUSKY_KINECT_ENABLED true)"/>
<param name="robot_description" command="$(find xacro)/xacro '$(find erl_simulations)/models/husky.urdf.xacro'
<param name="robot_description" command="$(find xacro)/xacro '$(find husky_description)/urdf/husky.urdf.xacro'
robot_namespace:=$(arg robot_namespace)
laser_enabled:=$(arg laser_enabled)
kinect_enabled:=$(arg kinect_enabled)
......
......@@ -29,7 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="zed_camera">
<xacro:arg name="cams_enabled" default="true" />
<xacro:arg name="cams_enabled" default="false" />
<xacro:arg name="depth_enabled" default="true" />
<xacro:macro name="zed_camera" params="prefix:=zed robot_namespace:=/">
......
......@@ -133,13 +133,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:if value="$(optenv HUSKY_LARGE_TOP_PLATE false)">
<link name="top_plate_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="1.57 0 -1.57" />
<geometry>
<mesh filename="package://husky_description/meshes/structure.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="1.57 0 -1.57"/>
<geometry>
<mesh filename="package://husky_description/meshes/structure.stl" />
</geometry>
......@@ -147,9 +147,9 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
<parent link="base_link" />
<parent link="base_footprint" />
<child link="top_plate_link"/>
<origin xyz="0.0812 0 0.225" rpy="0 0 0"/>
<origin xyz="-0.0812 0 -(0.225+${wheel_vertical_offset - wheel_radius})" rpy="0 0 0"/>
</joint>
<!-- Top plate front link -->
<joint name="top_plate_front_joint" type="fixed">
......@@ -168,13 +168,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:unless value="$(optenv HUSKY_LARGE_TOP_PLATE false)">
<link name="top_plate_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="1.57 0 -1.57" />
<geometry>
<mesh filename="package://husky_description/meshes/structure.stl" />
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<origin xyz="0 0 0" rpy="1.57 0 -1.57"/>
<geometry>
<mesh filename="package://husky_description/meshes/structure.stl" />
</geometry>
......@@ -182,9 +182,9 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</link>
<!-- Attach top plate -->
<joint name="top_plate_joint" type="fixed">
<parent link="base_link" />
<parent link="base_footprint" />
<child link="top_plate_link"/>
<origin xyz="0.0812 0 0.245" rpy="0 0 0"/>
<origin xyz="0 0 -0.01" rpy="0 0 0"/>
</joint>
<!-- Top plate front link -->
<joint name="top_plate_front_joint" type="fixed">
......
......@@ -30,7 +30,7 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:arg name="laser_rpy" default="$(optenv HUSKY_LMS1XX_RPY 0.0 0.0 0.0)" />
<xacro:arg name="kinect_enabled" default="true" />
<xacro:arg name="kinect_xyz" default="$(optenv HUSKY_KINECT_XYZ 0 0 0)" />
<xacro:arg name="kinect_xyz" default="$(optenv HUSKY_KINECT_XYZ 0.145 0 0.555 )" />
<xacro:arg name="kinect_rpy" default="$(optenv HUSKY_KINECT_RPY 0 0 0)" />
<xacro:property name="husky_front_bumper_extend" value="$(optenv HUSKY_FRONT_BUMPER_EXTEND 0)" />
......@@ -136,25 +136,22 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<xacro:if value="$(arg laser_enabled)">
<xacro:include filename="$(find robosense_description)/urdf/RS-16.urdf.xacro"/>
<RS-16 parent="base_link" name="robosense" topic="/rs_points" hz="20" samples="900" gpu="true">
<origin xyz="0 0 0.4" rpy="0 0 0" />
</RS-16>
<xacro:include filename="$(find robosense_description)/urdf/RS-16.urdf.xacro"/>
<xacro:RS-16 parent="base_link" name="robosense" topic="/rs_points" hz="20" samples="900" gpu="true">
<origin xyz="0 0 0.468" rpy="0 0 0" />
</xacro:RS-16>
</xacro:if>
<xacro:if value="$(arg kinect_enabled)">
<!--xacro:sensor_arch prefix="" parent="top_plate_front_link">
<origin xyz="-0.35 0 0.51" rpy="0 0 -3.14"/>
</xacro:sensor_arch-->
<joint name="kinect_frame_joint" type="fixed">
<origin xyz="$(arg kinect_xyz)" rpy="$(arg kinect_rpy)" />
<parent link="top_plate_front_link"/>
<child link="camera_link"/>
<origin xyz="$(optenv HUSKY_KINECT_XYZ 0.145 0 0.555 )" rpy="$(optenv HUSKY_KINECT_RPY 0 0 0)" />
<parent link="base_footprint"/>
<child link="zed_link"/>
</joint>
<xacro:kinect_camera prefix="camera" robot_namespace="$(arg robot_namespace)"/>
<xacro:zed_camera robot_namespace="husky"/>
</xacro:if>
<gazebo>
......@@ -185,6 +182,4 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<drift>0.0001 0.0001 0.0001</drift>
</plugin>
</gazebo>
</robot>
......@@ -34,8 +34,8 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
<arg name="z" default="0.0"/>
<arg name="yaw" default="0.0"/>
<arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED false)"/>
<arg name="kinect_enabled" default="$(optenv HUSKY_UR5_ENABLED false)"/>
<arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED true)"/>
<arg name="kinect_enabled" default="$(optenv HUSKY_UR5_ENABLED true)"/>
<!--arg name="urdf_extras" default="$(optenv HUSKY_URDF_EXTRAS)"/> -->
<group ns="$(arg robot_namespace)">
......@@ -68,37 +68,6 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
</include>
</group>
<group if="$(arg kinect_enabled)">
<!-- Include poincloud_to_laserscan if simulated Kinect is attached -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan" output="screen">
<remap from="cloud_in" to="camera/depth/points"/>
<remap from="scan" to="scan"/>
<rosparam>
target_frame: base_link # Leave empty to output scan in the pointcloud frame
tolerance: 1.0
min_height: 0.05
max_height: 1.0
angle_min: -0.52 # -30.0*M_PI/180.0
angle_max: 0.52 # 30.0*M_PI/180.0
angle_increment: 0.005 # M_PI/360.0
scan_time: 0.3333
range_min: 0.45
range_max: 4.0
use_inf: true
# Concurrency level, affects number of pointclouds queued for processing and number of threads used
# 0 : Detect number of cores
# 1 : Single threaded
# 2->inf : Parallelism level
concurrency_level: 1
</rosparam>
</node>
</group>
<!-- Spawn robot in gazebo -->
<node name="spawn_husky_model" pkg="gazebo_ros" type="spawn_model"
args="-x $(arg x)
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment