- caster_base_joint
- front_caster_wheel_joint
- front_caster_base_joint
+ - tower_joint
/dynamics_linearizing_controller:
ros__parameters:
- caster_base_joint
- front_caster_wheel_joint
- front_caster_base_joint
+ - tower_joint
/left_wheel_joint_effort_controller:
ros__parameters:
- caster_base_joint
- front_caster_wheel_joint
- front_caster_base_joint
+ - tower_joint
/left_wheel_joint_velocity_controller:
ros__parameters:
- caster_base_joint
- front_caster_wheel_joint
- front_caster_base_joint
+ - tower_joint
/nonsmooth_backstep_controller:
ros__parameters:
- caster_base_joint
- front_caster_wheel_joint
- front_caster_base_joint
+ - tower_joint
/nonsmooth_backstep_controller:
ros__parameters:
- caster_base_joint
- front_caster_wheel_joint
- front_caster_base_joint
+ - tower_joint
/twist_mrac_linearizing_controller:
ros__parameters:
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
<arg name="wam" default="false"/>
+ <arg name="gps" default="false"/>
+ <arg name="world" default ="worlds/empty_sky.world"/>
<arg name="controller" default="joint_effort_controller"/>
<arg name="config" default="$(find-pkg-share twil_bringup)/config/$(var controller).yaml"/>
<arg name="gui" value="$(var gui)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="wam" value="$(var wam)"/>
+ <arg name="gps" value="$(var gps)"/>
+ <arg name="world" value="$(var world)"/>
</include>
<include file="$(find-pkg-share twil_bringup)/launch/$(var controller).launch.xml" >
*******************************************************************************-->
<launch>
- <arg name="pause" default="true"/>
- <arg name="gui" default="true"/>
- <arg name="use_sim_time" default="true"/>
- <arg name="wam" default="false"/>
+ <arg name="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="wam" default="false"/>
+ <arg name="gps" default="false"/>
+ <arg name="world" default ="worlds/empty_sky.world"/>
- <arg name="controller" default="nonsmooth_backstep_controller"/>
- <arg name="config" default="$(find-pkg-share twil_bringup)/config/$(var controller).yaml"/>
+
<arg name="controller" default="nonsmooth_backstep_controller"/>
+
<arg name="config" default="$(find-pkg-share twil_bringup)/config/$(var controller).yaml"/>
- <include file="$(find-pkgshare twil_bringup)/launch/gazebo.launch.xml">
- <arg name="pause" value="$(var pause)"/>
- <arg name="gui" value="$(var gui)"/>
- <arg name="use_sim_time" value="$(var use_sim_time)"/>
- <arg name="wam" value="$(var wam)"/>
- <arg name="controller" value="$(var controller)"/>
- <arg name="config" value="$(var config)"/>
- </include>
+ <include file="$(find-pkg-share twil_bringup)/launch/gazebo.launch.xml">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="wam" value="$(var wam)"/>
+ <arg name="gps" value="$(var gps)"/>
+ <arg name="world" value="$(var world)"/>
+ <arg name="controller" value="$(var controller)"/>
+ <arg name="config" value="$(var config)"/>
+ </include>
- <remap from="/command" to="/$(arg controller)/command" />
+ <node name="eight_trajectory" pkg="pose2d_trajectories" exec="eight_trajectory">
+ <param name="x" value="0.0"/>
+ <param name="y" value="-0.5"/>
+ <param name="radius" value="1.0"/>
+ <param name="ang_vel" value="0.1"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <remap from="command" to="/$(var controller)/command" />
+ </node>
- <node name="eight_trajectory" pkg="pose2d_trajectories" exec="eight_trajectory" respawn="false" output="screen" args="_x:=0.0 _y:=-0.5 _radius:=1.0 _ang_vel:=0.1"/>
+ <node name="pose2d_stamp" pkg="pose2d_trajectories" exec="pose2d_stamp">
+ <param name="frame_id" value="map"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ <remap from="command" to="/$(var controller)/command" />
+ </node>
- <node name="pose2d_stamp" pkg="pose2d_trajectories" exec="pose2d_stamp" respawn="false" output="screen" args="_frame_id:=map" />
-
- <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
-
- <include file="$(find-pkg-share twil_description)/launch/display.launch.xml" />
-
- <rosparam file="$(find-pkg-share twil_bringup)/config/odometry_publisher.yaml" command="load"/>
-
- <node pkg="arc_odometry" exec="odometry_publisher" name="odom_publisher" />
+ <node pkg="tf2_ros" exec="static_transform_publisher" name="odom_frame_publisher" args="0 0 0 0 0 0 1 map odom" />
+ <include file="$(find-pkg-share twil_description)/launch/display.launch.xml">
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ </include>
</launch>
--- /dev/null
+<!--******************************************************************************
+ Twil Bringup
+ Joint States Odometry Launch File
+ Copyright (C) 2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ Geneal Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************-->
+
+<launch>
+ <arg name="use_sim_time" default="false"/>
+ <arg name="config" default="$(find-pkg-share twil_bringup)/config/odometry_publisher.yaml"/>
+
+ <node pkg="arc_odometry" exec="odometry_publisher" name="odometry_publisher">
+ <param from="$(var config)"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+
+</launch>
<arg name="wam" default="false"/>
<arg name="use_gui" default="false"/>
<arg name="d435" default="false"/>
+ <arg name="use_sim_time" default="false"/>
<node pkg="tf2_ros" exec="static_transform_publisher" name="twil_origin_publisher" args="0 0 0 0 0 0 1 map twil_origin" />
<node if="$(var use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
<arg name="wam" value="$(var wam)" />
<arg name="d435" value="$(var d435)" />
</include>
- <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_description)/rviz/display.rviz" />
+ <node name="rviz" pkg="rviz2" exec="rviz2" args="-d $(find-pkg-share twil_description)/rviz/display.rviz">
+ <param name="use_sim_time" value='$(var use_sim_time)'/>
+ </node>
</launch>
<arg name="use_sim_time" default="true"/>
<arg name="wam" default="false"/>
<arg name="d435" default="false"/>
+ <arg name="gps" default="false"/>
<arg name="world" default ="worlds/empty_sky.world"/>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="pause" value="$(var pause)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
- <arg name="world" value="$(var world)" />
+ <arg name="world" value="$(var world)"/>
<arg name="extra_gazebo_args" value="--ros-args --params-file $(find-pkg-share twil_description)/config/gazebo.yaml"/>
</include>
<include file="$(find-pkg-share twil_description)/launch/twil.launch.xml" >
<arg name="use_sim_time" value="$(var use_sim_time)"/>
- <arg name="wam" value="$(var wam)" />
- <arg name="d435" value="$(var d435)" />
+ <arg name="wam" value="$(var wam)"/>
+ <arg name="d435" value="$(var d435)"/>
+ <arg name="gps" value="$(var gps)"/>
</include>
- <node name="twil_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity twil" />
+ <node name="twil_spawner" pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity twil"/>
</launch>
<arg name="use_sim_time" default="false"/>
<arg name="wam" default="false"/>
<arg name="d435" default="false"/>
+ <arg name="gps" default="false"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" exec="robot_state_publisher">
- <param name="robot_description" value="$(command 'xacro $(find-pkg-share twil_description)/xacro/twil.urdf.xacro wam:=$(var wam) d435:=$(var d435) add_plug:=true')" type="str"/>
+ <param name="robot_description" value="$(command 'xacro $(find-pkg-share twil_description)/xacro/twil.urdf.xacro wam:=$(var wam) d435:=$(var d435) add_plug:=true gps:=$(var gps)')" type="str"/>
<param name="use_sim_time" value="$(var use_sim_time)"/>
</node>
</launch>
Name: Displays
Property Tree Widget:
Expanded:
- - /Global Options1
- - /Status1
+ - /Ground Truth1/Topic1
Splitter Ratio: 0.6764705777168274
Tree Height: 549
- Class: rviz_common/Selection
Value: false
motor_driver:
Value: false
+ odom:
+ Value: true
power_supply:
Value: false
right_wheel:
Show Names: false
Tree:
map:
+ odom:
+ {}
twil_origin:
chassis:
battery:
{}
Update Interval: 0
Value: true
+ - Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz_default_plugins/Pose
+ Color: 0; 0; 255
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Name: Pose Reference
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /command_stamped
+ Value: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz_default_plugins/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: false
+ Enabled: true
+ Keep: 100
+ Name: Ground Truth
+ Position Tolerance: 0.10000000149011612
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 25; 255; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /ground_truth
+ Value: true
+ - Angle Tolerance: 0.10000000149011612
+ Class: rviz_default_plugins/Odometry
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
+ Enabled: true
+ Keep: 42
+ Name: Odometry
+ Position Tolerance: 0.30000001192092896
+ Shape:
+ Alpha: 1
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Color: 255; 25; 0
+ Head Length: 0.30000001192092896
+ Head Radius: 0.10000000149011612
+ Shaft Length: 1
+ Shaft Radius: 0.05000000074505806
+ Value: Arrow
+ Topic:
+ Depth: 10
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /nonsmooth_backstep_controller/odom
+ Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Views:
Current:
Class: rviz_default_plugins/Orbit
- Distance: 3.0386643409729004
+ Distance: 6.876165390014648
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
- Pitch: -0.10960151255130768
+ Pitch: 0.7303981184959412
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
- Yaw: 1.160394310951233
+ Yaw: 0.7503947019577026
Saved: ~
Window Geometry:
Displays:
--- /dev/null
+<?xml version="1.0" ?>
+
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+<xacro:macro name="sensor_gps" params="name parent *origin">
+
+ <link name="${name}_link" />
+
+ <joint name="${name}_joint" type="fixed">
+ <parent link="${parent}"/>
+ <child link="${name}_link" />
+ <xacro:insert_block name="origin" />
+ </joint>
+
+ <gazebo reference="${name}_link">
+ <sensor name="${name}_sensor" type="gps">
+ <always_on>true</always_on>
+ <update_rate>5.0</update_rate>
+ <gps>
+ <position_sensing>
+ <horizontal>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ </noise>
+ </horizontal>
+ <vertical>
+ <noise type="gaussian">
+ <mean>0.0</mean>
+ <stddev>2e-4</stddev>
+ </noise>
+ </vertical>
+ </position_sensing>
+ </gps>
+
+ <plugin name="${name}_controller" filename="libgazebo_ros_gps_sensor.so">
+ <ros>
+ <!-- <namespace>/namespace</namespace> -->
+ <remapping>${name}_controller/out:=${name}/fix</remapping>
+ </ros>
+ <frame_name>${name}_link</frame_name>
+ </plugin>
+ </sensor>
+ <material>Gazebo/Grey</material>
+ </gazebo>
+ </xacro:macro>
+
+</robot>
</plugin>
<plugin name="ground_truth" filename="libgazebo_ros_p3d.so">
- <frame_name>world</frame_name>
+ <frame_name>map</frame_name>
<body_name>twil_origin</body_name>
- <argument>odom:=ground_truth</argument>
- <!--update_rate>30</update_rate-->
+ <ros>
+ <remapping>odom:=ground_truth</remapping>
+ </ros>
+ <!--update_rate>100</update_rate-->
</plugin>
+
</gazebo>
+ <xacro:if value="$(arg gps)">
+ <xacro:include filename="$(find twil_description)/xacro/gps.urdf.xacro"/>
+ <xacro:sensor_gps name="gps" parent="twil_origin">
+ <origin xyz="0 0 0" rpy="0.0 0.0 0.0" />
+ </xacro:sensor_gps>
+ </xacro:if>
<xacro:if value="$(arg d435)">
<xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
projects / twil.git / commitdiff