<arg name="pause" default="true"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
- <arg name="world" default ="worlds/empty_sky.world"/>
+ <arg name="world" default="worlds/empty_sky.world"/>
<arg name="d435" default="false"/>
-
+ <arg name="ignition" default="false"/>
+
<arg name="controller" default="pid"/>
<arg name="config" default="$(find-pkg-share tatuira_bringup)/config/$(var controller).yaml"/>
<!--remap unless="$(var odometry)" from="$(var controller)/odom" to="/odom"/-->
- <include file="$(find-pkg-share tatuira_description)/launch/gazebo.launch.xml">
+ <include unless="$(var ignition)" file="$(find-pkg-share tatuira_description)/launch/gazebo.launch.xml">
<arg name="pause" value="$(var pause)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="d435" value="$(var d435)"/>
</include>
+ <include if="$(var ignition)" file="$(find-pkg-share tatuira_description)/launch/ignition.launch.xml">
+ <arg name="pause" value="$(var pause)"/>
+ <arg name="gui" value="$(var gui)"/>
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="world" value="empty.sdf"/>
+ <arg name="d435" value="$(var d435)"/>
+ </include>
+
<include file="$(find-pkg-share tatuira_bringup)/launch/$(var controller).launch.xml">
<arg name="config" value="$(var config)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="pause" default="true"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
+ <arg name="ignition" default="false"/>
<arg name="controller" default="nonsmooth_backstep_controller"/>
<arg name="config" default="$(find-pkg-share tatuira_bringup)/config/$(var controller).yaml"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="controller" value="$(var controller)"/>
<arg name="config" value="$(var config)"/>
+ <arg name="ignition" value="$(var ignition)"/>
</include>
<node name="eight_trajectory" pkg="pose2d_trajectories" exec="eight_trajectory">
<remap from="command" to="/$(var controller)/command"/>
</node>
+
<node name="pose2d_stamp" pkg="pose2d_trajectories" exec="pose2d_stamp" args="_frame_id:=map"/>
+ <group>
<include file="$(find-pkg-share tatuira_description)/launch/display.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="gui" value="false"/>
</include>
+ </group>
</launch>
ament_lint_auto_find_test_dependencies()
endif()
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
+
ament_package()
--- /dev/null
+- ros_topic_name: "/clock"
+ gz_topic_name: "/clock"
+ ros_type_name: "rosgraph_msgs/msg/Clock"
+ gz_type_name: "ignition.msgs.Clock"
+# subscriber_queue: 5 # Default 10
+# publisher_queue: 6 # Default 10
+# lazy: true # Default "false"
+ direction: GZ_TO_ROS # Default "BIDIRECTIONAL" - Bridge both directions
+ # "GZ_TO_ROS" - Bridge Ignition topic to ROS
+ # "ROS_TO_GZ" - Bridge ROS topic to Ignition
+
+- ros_topic_name: "/ground_truth"
+ gz_topic_name: "/model/tatuira/pose"
+ ros_type_name: "geometry_msgs/msg/PoseArray"
+ gz_type_name: "ignition.msgs.Pose_V"
+ direction: GZ_TO_ROS
+
+#- ros_topic_name: "/gnss/fix"
+# gz_topic_name: "/gnss/fix"
+# ros_type_name: "sensor_msgs/msg/NavSatFix"
+# gz_type_name: "ignition.msgs.NavSat"
+# direction: GZ_TO_ROS
+
+#- ros_topic_name: "/imu/data"
+# gz_topic_name: "/imu/data"
+# ros_type_name: "sensor_msgs/msg/Imu"
+# gz_type_name: "ignition.msgs.IMU"
+# direction: GZ_TO_ROS
+
+#- ros_topic_name: "/imu/mag"
+# gz_topic_name: "/imu/mag"
+# ros_type_name: "sensor_msgs/msg/MagneticField"
+# gz_type_name: "ignition.msgs.Magnetometer"
+# direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/camera_info"
+ gz_topic_name: "/camera/camera_info"
+ ros_type_name: "sensor_msgs/msg/CameraInfo"
+ gz_type_name: "ignition.msgs.CameraInfo"
+ direction: GZ_TO_ROS
+
+- ros_topic_name: "/camera/image_raw"
+ gz_topic_name: "/camera/image_raw"
+ ros_type_name: "sensor_msgs/msg/Image"
+ gz_type_name: "ignition.msgs.Image"
+ direction: GZ_TO_ROS
--- /dev/null
+prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share
+
+set-if-unset;MESA_GL_VERSION_OVERRIDE;3.3
--- /dev/null
+<!--******************************************************************************
+ Tatuira Description
+ Ignition Gazebo Launch File
+ Copyright (C) 2023 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="pause" default="true"/>
+ <arg name="gui" default="true"/>
+ <arg name="use_sim_time" default="true"/>
+ <arg name="d435" default="false"/>
+ <arg name="world" default ="empty.sdf"/>
+
+ <arg unless="$(var pause)" name="gz_pause" default="-r"/>
+ <arg if="$(var pause)" name="gz_pause" default=""/>
+
+ <arg unless="$(var gui)" name="gz_gui" default="-s"/>
+ <arg if="$(var gui)" name="gz_gui" default=""/>
+
+ <include file="$(find-pkg-share ros_gz_sim)/launch/gz_sim.launch.py">
+ <arg name="gz_args" value="$(var gz_pause) $(var gz_gui) $(var world)"/>
+ </include>
+
+ <include file="$(find-pkg-share tatuira_description)/launch/tatuira.launch.xml">
+ <arg name="use_sim_time" value="$(var use_sim_time)"/>
+ <arg name="hardware" value="ignition"/>
+ <arg name="d435" value="$(var d435)"/>
+ </include>
+
+ <node name="tatuira_spawner" pkg="ros_gz_sim" exec="create" args="-topic robot_description -name tatuira"/>
+
+ <node name="gz_bridge" pkg="ros_gz_bridge" exec="parameter_bridge">
+ <param name="config_file" value="$(find-pkg-share tatuira_description)/config/gz_bridge.yaml"/>
+ <param name="use_sim_time" value="$(var use_sim_time)"/>
+ </node>
+</launch>
--- /dev/null
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:arg name="hardware" default="gazebo"/>
+ <xacro:property name="hardware" value="$(arg hardware)"/>
+
+ <xacro:arg name="d435" default="false"/>
+
+ <xacro:if value="$(arg d435)">
+ <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
+ <xacro:sensor_d435 parent="awac_link">
+ <origin xyz="0 0 0.175" rpy="0.0 0.0 ${pi/2}" />
+ </xacro:sensor_d435>
+
+ <link name="plugin_camera_link" />
+
+ <joint name="plugin_camera_joint" type="fixed">
+ <parent link="camera_link"/>
+ <child link="plugin_camera_link" />
+ <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${-pi/2}" />
+ </joint>
+
+ <gazebo reference="camera_link">
+ <sensor name="camera" type="depth">
+ <!--sensor name="camera" type="depth_camera"-->
+ <always_on>trun</always_on>
+ <update_rate>15</update_rate> <!--or 6 or 30 -->
+ <visualize>false</visualize>
+ <triggered>false</triggered>
+ <trigger_topic>trigger</trigger_topic>
+ <topic>depth_camera</topic> <!-- This is only used by Gazebo Ignition -->
+ <ignition_frame_id>camera_link</ignition_frame_id>
+ <camera>
+ <horizontal_fov>1.309</horizontal_fov> <!--75 deg at 480p or 87 deg at 720p-->
+ <image>
+ <width>640</width> <!--or 1280 -->
+ <height>480</height> <!--or 720 -->
+ <format>R8G8B8</format>
+ <!--format>R_FLOAT32</format-->
+ </image>
+ <clip>
+ <near>0.05</near>
+ <far>10</far>
+ </clip>
+ <noise>
+ <type>gaussian</type>
+ <mean>0.0</mean>
+ <stddev>0.02</stddev>
+ </noise>
+ </camera>
+
+ <!-- Gazebo Classic -->
+ <xacro:if value="${hardware == 'gazebo'}">
+ <plugin name="camera_plugin" filename="libgazebo_ros_camera.so">
+ <baseline>0.05</baseline> <!-- dist between sensors -->
+ <!-- Keep this zero, update_rate in the parent <sensor> tag
+ will control the frame rate. -->
+ <update_rate>0.0</update_rate>
+ <camera_name>camera</camera_name>
+ <frame_name>camera_link</frame_name>
+ <hack_baseline>0.05</hack_baseline>
+ <!--P_cx>0.0</P_cx?
+ <P_cy>0.0</P_cy>
+ <P_fy>0.0</P_fy>
+ <Tx>0.0</Tx>
+ <Ty>0.0</Ty>
+ <rectification_matrix>1 0 0 0 1 0 0 0 1</rectification_matrix-->
+ <ros>
+ <!--namespace>namespace</namespace-->
+ <remapping>/camera/image_raw:=/camera/color/image_raw</remapping>
+ <remapping>/camera/camera_info:=camera/color/camera_info</remapping>
+ <remapping>/camera/depth/image_raw:=/camera/depth/image_raw</remapping>
+ <remapping>/camera_depth/camera_info:=/camera/depth/camera_info</remapping>
+ <remapping>/camera/points:=camera/depth/points</remapping>
+ </ros>
+ <!--pointCloudCutoff>0.175</pointCloudCutoff--> <!-- or 0.28 at 720p -->
+ </plugin>
+ </xacro:if>
+ </sensor>
+ </gazebo>
+ </xacro:if>
+</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:arg name="hardware" default="gazebo"/>
+ <xacro:property name="hardware" value="$(arg hardware)"/>
+
<gazebo>
- <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
- <robot_param>robot_description</robot_param>
- <robot_param_node>robot_state_publisher</robot_param_node>
- <parameters>$(find tatuira_description)/config/controller_manager.yaml</parameters>
- </plugin>
+ <xacro:if value="${hardware == 'gazebo'}">
+ <!-- Gazebo Classic -->
+ <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+ <robot_param>robot_description</robot_param>
+ <robot_param_node>robot_state_publisher</robot_param_node>
+ <parameters>$(find tatuira_description)/config/controller_manager.yaml</parameters>
+ </plugin>
+ </xacro:if>
+ <xacro:if value="${hardware == 'ignition'}">
+ <!-- Gazebo Ignition -->
+ <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
+ <robot_param>robot_description</robot_param>
+ <robot_param_node>robot_state_publisher</robot_param_node>
+ <parameters>$(find tatuira_description)/config/controller_manager.yaml</parameters>
+ </plugin>
+ </xacro:if>
</gazebo>
</robot>
--- /dev/null
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:arg name="hardware" default="gazebo"/>
+ <xacro:property name="hardware" value="$(arg hardware)"/>
+
+ <gazebo>
+ <!-- Gazebo Classic -->
+ <xacro:if value="${hardware == 'gazebo'}">
+ <plugin name="gound_truth" filename="libgazebo_ros_p3d.so">
+ <update_rate>100.0</update_rate>
+ <body_name>origin_link</body_name>
+ <ros>
+ <remapping>odom:=ground_truth</remapping>
+ </ros>
+ <gaussian_noise>0.0</gaussian_noise>
+ <frame_name>world</frame_name>
+ <xyz_offset>0 0 0</xyz_offset>
+ <rpy_offset>0 0 ${pi/2}</rpy_offset>
+ </plugin>
+ </xacro:if>
+ <!-- Gazebo Ignition -->
+ <xacro:if value="${hardware == 'ignition'}">
+ <!-- Publish Ignition (not ROS!) topics -->
+ <plugin filename="ignition-gazebo-pose-publisher-system" name="ignition::gazebo::systems::PosePublisher">
+ <publish_model_pose>true</publish_model_pose>
+ <publish_link_pose>false</publish_link_pose>
+ <publish_sensor_pose>false</publish_sensor_pose>
+ <publish_collision_pose>false</publish_collision_pose>
+ <publish_visual_pose>false</publish_visual_pose>
+ <publish_nested_model_pose>true</publish_nested_model_pose>
+ <use_pose_vector_msg>true</use_pose_vector_msg>
+ <update_frequency>100</update_frequency>
+ <static_publisher>false</static_publisher>
+ <static_update_frequency>100</static_update_frequency>
+ </plugin>
+ </xacro:if>
+ </gazebo>
+</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <xacro:arg name="hardware" default="gazebo"/>
+ <xacro:property name="hardware" value="$(arg hardware)"/>
+
<ros2_control name="GazeboSystem" type="system">
- <hardware>
- <plugin>gazebo_ros2_control/GazeboSystem</plugin>
- </hardware>
+ <xacro:if value="${hardware == 'gazebo'}">
+ <!-- Gazebo Classic -->
+ <hardware>
+ <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+ </hardware>
+ </xacro:if>
+ <xacro:if value="${hardware == 'ignition'}">
+ <!-- Gazebo Ignition -->
+ <hardware>
+ <plugin>ign_ros2_control/IgnitionSystem</plugin>
+ </hardware>
+ </xacro:if>
<joint name="right_rim_joint">
<command_interface name="effort">
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tatuira">
+ <xacro:arg name="hardware" default="gazebo"/>
+ <xacro:property name="hardware" value="$(arg hardware)"/>
+
<xacro:include filename="$(find tatuira_description)/urdf/back.urdf.xacro"/>
<xacro:include filename="$(find tatuira_description)/urdf/front.urdf.xacro"/>
<xacro:include filename="$(find tatuira_description)/urdf/link_joint.urdf.xacro"/>
<xacro:include filename="ros2_control.xacro"/>
<xacro:include filename="gazebo_control.xacro"/>
- <gazebo>
- <plugin name="gound_truth" filename="libgazebo_ros_p3d.so">
- <update_rate>100.0</update_rate>
- <body_name>origin_link</body_name>
- <ros>
- <remapping>odom:=ground_truth</remapping>
- </ros>
- <gaussian_noise>0.0</gaussian_noise>
- <frame_name>world</frame_name>
- <xyz_offset>0 0 0</xyz_offset>
- <rpy_offset>0 0 ${pi/2}</rpy_offset>
- </plugin>
- </gazebo>
-
- <xacro:if value="$(arg d435)">
- <xacro:include filename="$(find realsense2_description)/urdf/_d435.urdf.xacro" />
- <xacro:sensor_d435 parent="awac_link">
- <origin xyz="0 0 0.175" rpy="0.0 0.0 ${pi/2}" />
- </xacro:sensor_d435>
-
- <link name="plugin_camera_link" />
-
- <joint name="plugin_camera_joint" type="fixed">
- <parent link="camera_link"/>
- <child link="plugin_camera_link" />
- <origin xyz="0.0 0.0 0.0" rpy="${-pi/2} 0.0 ${-pi/2}" />
- </joint>
-
- <gazebo reference="camera_link">
- <sensor name="camera" type="depth">
- <update_rate>15</update_rate> <!--or 6 or 30 -->
- <camera>
- <horizontal_fov>1.309</horizontal_fov> <!--75 deg at 480p or 87 deg at 720p-->
- <image>
- <width>640</width> <!--or 1280 -->
- <height>480</height> <!--or 720 -->
- <format>R8G8B8</format>
- </image>
- <clip>
- <near>0.05</near>
- <far>10</far>
- </clip>
- <noise>
- <type>gaussian</type>
- <mean>0.0</mean>
- <stddev>0.02</stddev>
- </noise>
- </camera>
-
- <plugin name="camera_plugin" filename="libgazebo_ros_openni_kinect.so">
- <baseline>0.05</baseline> <!-- dist between sensors -->
- <alwaysOn>true</alwaysOn>
- <!-- Keep this zero, update_rate in the parent <sensor> tag
- will control the frame rate. -->
- <updateRate>0.0</updateRate>
- <cameraName>camera</cameraName>
- <imageTopicName>/camera/color/image_raw</imageTopicName>
- <cameraInfoTopicName>/camera/color/camera_info</cameraInfoTopicName>
- <depthImageTopicName>/camera/depth/image_raw</depthImageTopicName>
- <depthImageInfoTopicName>/camera/depth/camera_info</depthImageInfoTopicName>
- <pointCloudTopicName>/camera/depth/points</pointCloudTopicName>
- <frameName>plugin_camera_link</frameName>
- <pointCloudCutoff>0.175</pointCloudCutoff> <!-- or 0.28 at 720p -->
- <pointCloudCutoffMax>10.0</pointCloudCutoffMax>
- <distortionK1>0</distortionK1>
- <distortionK2>0</distortionK2>
- <distortionK3>0</distortionK3>
- <distortionT1>0</distortionT1>
- <distortionT2>0</distortionT2>
- <CxPrime>0</CxPrime>
- <Cx>0</Cx>
- <Cy>0</Cy>
- <focalLength>0</focalLength>
- <hackBaseline>0</hackBaseline>
- </plugin>
- </sensor>
- </gazebo>
- </xacro:if>
+ <xacro:include filename="ground_truth.xacro"/>
+ <xacro:include filename="d435.xacro"/>
</robot>
<arg name="pause" default="true"/>
<arg name="gui" default="true"/>
<arg name="use_sim_time" default="true"/>
+ <arg name="ignition" default="false"/>
<include file="$(find-pkg-share tatuira_bringup)/launch/gazebo.launch.xml">
<arg name="pause" value="$(var pause)"/>
<arg name="gui" value="$(var gui)"/>
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="controller" value="bypass"/>
+ <arg name="ignition" value="$(var ignition)"/>
</include>
<include file="$(find-pkg-share tatuira_ident)/launch/ident.launch.xml">
projects / tatuira.git / commitdiff