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Added Gazebo world and fixed point cloud coordinates petryTCC
authorgrpetry <gabriel.petry26@gmail.com>
Fri, 29 Nov 2019 01:26:16 +0000 (22:26 -0300)
committergrpetry <gabriel.petry26@gmail.com>
Fri, 29 Nov 2019 01:26:16 +0000 (22:26 -0300)
12 files changed:
twil_2dnav/config/base_local_planner_params.yaml patch | blob | history
twil_2dnav/config/costmap_common_params.yaml patch | blob | history
twil_2dnav/config/global_costmap_params.yaml patch | blob | history
twil_2dnav/config/local_costmap_params.yaml patch | blob | history
twil_2dnav/launch/move_base.launch patch | blob | history
twil_bringup/launch/gazebo_rviz.launch patch | blob | history
twil_bringup/rviz/gazebo_rviz.rviz patch | blob | history
twil_description/launch/gazebo.launch patch | blob | history
twil_description/world/centenario.world [new file with mode: 0644] patch | blob
twil_description/world/model.config [new file with mode: 0644] patch | blob
twil_description/world/model.sdf [new file with mode: 0644] patch | blob
twil_description/xacro/twil.urdf.xacro patch | blob | history

diff --git a/twil_2dnav/config/base_local_planner_params.yaml b/twil_2dnav/config/base_local_planner_params.yaml
index b7d3e09..a8b69a0 100644 (file)
--- a/twil_2dnav/config/base_local_planner_params.yaml
+++ b/twil_2dnav/config/base_local_planner_params.yaml
@@ -1,16 +1,19 @@
 TrajectoryPlannerROS:
-  max_vel_x: 0.47 #(vel angular max = 2*pi)
-  min_vel_x: 0.2 #zona morta - obtido por experimento
-  max_vel_theta: 2.92 #2*(max_vel_x) / wheelbase
-  min_vel_theta: -2.92
+  max_vel_x: 0.6 #(vel angular max = 2*pi) 0.47
+  min_vel_x: 0.35 #zona morta - obtido por experimento 0.2
+  max_vel_theta: 4 #2*(max_vel_x) / wheelbase 2.92
+  min_vel_theta: -4 # -2.92
   min_in_place_vel_theta: 1 #zona morta - obtido por experimento
-  escape_vel: -0.3 
+  escape_vel: -0.4  #-0.3
 
   acc_lim_theta: 79.5
   acc_lim_x: 44.4
-  acc_lim_y: 0
+  acc_lim_y: 44.4
 
   holonomic_robot: false
 
+  yaw_goal_tolerance: 0.15 # default 0.05 rad
+  xy_goal_tolerance: 0.25 # default 0.1 m
+
 controller_frequency: 4.0
 
diff --git a/twil_2dnav/config/costmap_common_params.yaml b/twil_2dnav/config/costmap_common_params.yaml
index c03805b..a80f882 100644 (file)
--- a/twil_2dnav/config/costmap_common_params.yaml
+++ b/twil_2dnav/config/costmap_common_params.yaml
@@ -1,13 +1,13 @@
-obstacle_range: 2.5 # alcance da adição de obstáculos no costmap
-raytrace_range: 3.0 # 
+obstacle_range: 2.5 # alcance da adição de obstáculos no costmap 2.5
+raytrace_range: 3.0 # 3.0
 
 max_obstacle_height: 1,0
 min_obstacle_height: 0.05
 
 #footprint: [[x0, y0], [x1, y1], ... [xn, yn]]
 robot_radius: 0.3 #wheelbase/2
-inflation_radius: 0.3
-cost_scaling_factor: 10
+inflation_radius: 0.35
+#cost_scaling_factor: 10
 
 observation_sources: point_cloud_sensor
 
diff --git a/twil_2dnav/config/global_costmap_params.yaml b/twil_2dnav/config/global_costmap_params.yaml
index 139b82e..d1649b8 100644 (file)
--- a/twil_2dnav/config/global_costmap_params.yaml
+++ b/twil_2dnav/config/global_costmap_params.yaml
@@ -1,8 +1,8 @@
 global_costmap:
   global_frame: map
   robot_base_frame: twil_origin
-  update_frequency: 2.0
+  update_frequency: 1.0
   static_map: true
-  resolution: 0.1
-  origin_x: -16.0
-  origin_y: -2.0
+#  resolution: 0.1
+#  origin_x: -16.0
+#  origin_y: -2.0
diff --git a/twil_2dnav/config/local_costmap_params.yaml b/twil_2dnav/config/local_costmap_params.yaml
index 0364d11..b073726 100644 (file)
--- a/twil_2dnav/config/local_costmap_params.yaml
+++ b/twil_2dnav/config/local_costmap_params.yaml
@@ -1,9 +1,9 @@
 local_costmap:
   global_frame: odom
   robot_base_frame: twil_origin
-  update_frequency: 5.0
+  update_frequency: 4.0
   publish_frequency: 2.0
-  static_map: true
+  static_map: false
   rolling_window: true
   width: 6.0
   height: 6.0
diff --git a/twil_2dnav/launch/move_base.launch b/twil_2dnav/launch/move_base.launch
index a52c9b7..8696beb 100644 (file)
--- a/twil_2dnav/launch/move_base.launch
+++ b/twil_2dnav/launch/move_base.launch
@@ -13,10 +13,7 @@
            <rosparam file="$(find twil_2dnav)/config/local_costmap_params.yaml" command="load" />
            <rosparam file="$(find twil_2dnav)/config/global_costmap_params.yaml" command="load" /> 
            <rosparam file="$(find twil_2dnav)/config/base_local_planner_params.yaml" command="load" />
-
           
- </node>
-
-
+   </node>
 
 </launch> 
diff --git a/twil_bringup/launch/gazebo_rviz.launch b/twil_bringup/launch/gazebo_rviz.launch
index a511f06..b41ebdb 100644 (file)
--- a/twil_bringup/launch/gazebo_rviz.launch
+++ b/twil_bringup/launch/gazebo_rviz.launch
@@ -3,8 +3,8 @@
        <arg name="headless" default="false"/>
        <arg name="use_sim_time" default="true"/>
        <arg name="wam" default="false"/>
-       
-       <arg name="controller" default="joint_effort_controller"/>
+       <arg name="world" default ="/home/gabriel/Navega/src/twil/twil_description/world/centenario.world"/>
+       <arg name="controller" default="twist_mrac_linearizing_controller"/>
         <arg name="config" default="$(find twil_bringup)/config/$(arg controller).yaml"/>
 
        <remap from="/twist_mrac_linearizing_controller/odom" to="/odom" />
@@ -15,14 +15,12 @@
                <arg name="headless" value="$(arg headless)"/>
                <arg name="use_sim_time" value="$(arg use_sim_time)"/>
                <arg name="wam" value="$(arg wam)"/>
-               
+               <arg name="world" value="$(arg world)" />
        </include>
 
-
        <include file="$(find twil_bringup)/launch/$(arg controller).launch" />
        
 
-
        <node pkg="tf2_ros" type="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
 
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
diff --git a/twil_bringup/rviz/gazebo_rviz.rviz b/twil_bringup/rviz/gazebo_rviz.rviz
index 1cd2991..dda1efc 100644 (file)
--- a/twil_bringup/rviz/gazebo_rviz.rviz
+++ b/twil_bringup/rviz/gazebo_rviz.rviz
@@ -53,7 +53,7 @@ Visualization Manager:
         Y: 0
         Z: 0
       Plane: XY
-      Plane Cell Count: 10
+      Plane Cell Count: 50
       Reference Frame: <Fixed Frame>
       Value: true
     - Alpha: 1
@@ -356,22 +356,22 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 7.028791904449463
+      Distance: 8.200119972229004
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 4.286587715148926
-        Y: 0.3864009976387024
-        Z: 2.368278741836548
+        X: 0.19336318969726562
+        Y: 2.774914026260376
+        Z: 2.59694242477417
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.9747968912124634
+      Pitch: 1.4347964525222778
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
       Yaw: 4.71176290512085
@@ -381,8 +381,8 @@ Window Geometry:
     collapsed: false
   Height: 1025
   Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d0000031b00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cc0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000259fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000259000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d0000031b00fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -390,7 +390,7 @@ Window Geometry:
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: false
+    collapsed: true
   Width: 1853
   X: 67
   Y: 27
diff --git a/twil_description/launch/gazebo.launch b/twil_description/launch/gazebo.launch
index c59641e..ee15c7f 100644 (file)
--- a/twil_description/launch/gazebo.launch
+++ b/twil_description/launch/gazebo.launch
@@ -3,12 +3,13 @@
        <arg name="headless" default="false"/>
        <arg name="use_sim_time" default="true"/>
        <arg name="wam" default="false"/>
+       <arg name="world" default ="worlds/empty_sky.world"/>
 
        <include file="$(find gazebo_ros)/launch/empty_world.launch">
                <arg name="paused" value="$(arg paused)"/>
                <arg name="headless" value="$(arg headless)"/>
                <arg name="use_sim_time" value="$(arg use_sim_time)"/>
-               <arg name="world_name" value="worlds/empty_sky.world" />
+               <arg name="world_name" value="$(arg world)"/>
        </include>
 
        <include file="$(find twil_description)/launch/twil.launch" >
diff --git a/twil_description/world/centenario.world b/twil_description/world/centenario.world
new file mode 100644 (file)
index 0000000..4571f07
--- /dev/null
+++ b/twil_description/world/centenario.world
@@ -0,0 +1,2915 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <contact>
+              <collide_bitmask>65535</collide_bitmask>
+              <ode/>
+            </contact>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+              <torsional>
+                <ode/>
+              </torsional>
+            </friction>
+            <bounce/>
+          </surface>
+          <max_contacts>10</max_contacts>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+        <self_collide>0</self_collide>
+        <enable_wind>0</enable_wind>
+        <kinematic>0</kinematic>
+      </link>
+    </model>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics name='default_physics' default='0' type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <audio>
+      <device>default</device>
+    </audio>
+    <wind/>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <model name='Centenario'>
+      <pose frame=''>-0.118577 7.44241 0 0 -0 0</pose>
+      <link name='Stairs_0'>
+        <visual name='Stairs_0_Visual_0'>
+          <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_0'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_1'>
+          <pose frame=''>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_1'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.034964 -3.81539 0.25 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_2'>
+          <pose frame=''>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>1 1 1 1</ambient>
+          </material>
+          <meta>
+            <layer>0</layer>
+          </meta>
+        </visual>
+        <collision name='Stairs_0_Collision_2'>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <pose frame=''>-0.034964 -3.58206 0.416667 0 -0 -3.14159</pose>
+          <max_contacts>10</max_contacts>
+          <surface>
+            <contact>
+              <ode/>
+            </contact>
+            <bounce/>
+            <friction>
+              <torsional>
+                <ode/>
+              </torsional>
+              <ode/>
+            </friction>
+          </surface>
+        </collision>
+        <visual name='Stairs_0_Visual_3'>
+          <pose frame=''>-0.034964 -3.34872 0.583333 0 -0 -3.14159</pose>
+          <geometry>
+            <box>
+              <size>1.99247 0.233333 0.166667</size>
+            </box>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
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+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.980392 0.705882 0.588235 1</ambient>
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+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+            <ambient>0.980392 0.705882 0.588235 1</ambient>
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+      <static>1</static>
+    </model>
+    <state world_name='default'>
+      <sim_time>391 258000000</sim_time>
+      <real_time>418 798904136</real_time>
+      <wall_time>1574880074 464362845</wall_time>
+      <iterations>391258</iterations>
+      <model name='Centenario'>
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+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <pose frame=''>8.49786 7.5 0 0 0 -1.5708</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <velocity>0 0 0 0 -0 0</velocity>
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+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
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+          <wrench>0 0 0 0 -0 0</wrench>
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+          <wrench>0 0 0 0 -0 0</wrench>
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+          <acceleration>0 0 0 0 -0 0</acceleration>
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+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
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+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <model name='ground_plane'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='link'>
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+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose frame=''>0 0 10 0 -0 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>4.51855 4.85934 38.2537 -3.9e-05 1.5698 1.56416</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+  </world>
+</sdf>
diff --git a/twil_description/world/model.config b/twil_description/world/model.config
new file mode 100644 (file)
index 0000000..2cca988
--- /dev/null
+++ b/twil_description/world/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>Centenario</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>
diff --git a/twil_description/world/model.sdf b/twil_description/world/model.sdf
new file mode 100644 (file)
index 0000000..b5853ff
--- /dev/null
+++ b/twil_description/world/model.sdf
@@ -0,0 +1,1663 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='Centenario'>
+    <pose frame=''>-0.026228 -3.16612 0 0 -0 0</pose>
+    <link name='Stairs_0'>
+      <visual name='Stairs_0_Visual_0'>
+        <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
+        <geometry>
+          <box>
+            <size>1.99247 0.233333 0.166667</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <collision name='Stairs_0_Collision_0'>
+        <geometry>
+          <box>
+            <size>1.99247 0.233333 0.166667</size>
+          </box>
+        </geometry>
+        <pose frame=''>-0.034964 -4.04872 0.083333 0 -0 -3.14159</pose>
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+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose frame=''>2.17835 -2.47496 0 0 -0 1.5708</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>
diff --git a/twil_description/xacro/twil.urdf.xacro b/twil_description/xacro/twil.urdf.xacro
index cfbdf47..4d17d25 100644 (file)
--- a/twil_description/xacro/twil.urdf.xacro
+++ b/twil_description/xacro/twil.urdf.xacro
@@ -121,6 +121,14 @@
     <origin xyz="0 0 0.876" rpy="0.0 0.0 0.0" />
   </xacro:sensor_d435>
 
+  <link name="plugin_camera_link" />
+
+  <joint name="plugin_camera_joint" type="fixed">
+    <parent link="camera_link"/>
+    <child link="plugin_camera_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="${-M_PI/2} 0.0 ${-M_PI/2}" />
+  </joint>
+
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so" >
       <!-- <robotNamespace>/twil</robotNamespace> -->
@@ -165,7 +173,7 @@
         <depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
         <depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
         <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
-        <frameName>camera_link</frameName>
+        <frameName>plugin_camera_link</frameName>
         <pointCloudCutoff>0.175</pointCloudCutoff> <!-- or 0.28 at 720p -->
        <pointCloudCutoffMax>10.0</pointCloudCutoffMax>
         <distortionK1>0</distortionK1>
Twil ROS meta-package.