feat: add lms-nav2-gazebo-simulator module
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build/
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install/
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log/
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.colcon/
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*.log
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#!/usr/bin/env bash
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set -euo pipefail
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MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
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exec bash "$RUNTIME_ROOT/docker/docker_build_nav2.sh" "$(dirname "$MODULE_PATH")" "$(basename "$MODULE_PATH")" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}"
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#!/usr/bin/env bash
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set -euo pipefail
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MODULE_PATH="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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RUNTIME_ROOT="${AUTONOMY_STUDIO_RUNTIME_ROOT:-$HOME/autonomy-studio/runtime/nav2}"
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FOLDER_NAME="$(basename "$MODULE_PATH")"
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CONTAINER_NAME="${FOLDER_NAME#\[}"; CONTAINER_NAME="${CONTAINER_NAME/\]/-}"
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exec bash "$RUNTIME_ROOT/docker/docker_run_nav2.sh" "$CONTAINER_NAME" "$(dirname "$MODULE_PATH")" "$FOLDER_NAME" "${NAV2_DOCKER_IMAGE:-future-nav2-gazebo:humble}" "${ROS_DOMAIN_ID:-0}" "$@"
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cmake_minimum_required(VERSION 3.8)
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project(nav2_turtlebot_simulator)
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find_package(ament_cmake REQUIRED)
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install(DIRECTORY launch worlds DESTINATION share/${PROJECT_NAME})
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ament_package()
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import os
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import tempfile
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import xml.etree.ElementTree as ET
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, OpaqueFunction
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from launch.conditions import IfCondition
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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from launch_ros.actions import Node
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def create_flat_house_world(gazebo_dir):
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"""Create a texture-free copy of the house model while retaining its mesh hierarchy."""
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world_path = os.path.join(gazebo_dir, 'worlds', 'turtlebot3_house.world')
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model_path = os.path.join(gazebo_dir, 'models', 'turtlebot3_house', 'model.sdf')
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flat_models_dir = os.path.join(tempfile.gettempdir(), 'nav2_flat_models')
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flat_model_dir = os.path.join(flat_models_dir, 'turtlebot3_house_flat')
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os.makedirs(flat_model_dir, exist_ok=True)
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house_model_tree = ET.parse(model_path)
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house_model = house_model_tree.getroot()
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house_model.attrib['name'] = 'turtlebot3_house_flat'
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for visual in house_model.findall('.//visual'):
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material = visual.find('material')
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if material is None:
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material = ET.SubElement(visual, 'material')
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for script in material.findall('script'):
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material.remove(script)
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for name, value in (
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('ambient', '0.62 0.67 0.76 1'),
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('diffuse', '0.62 0.67 0.76 1'),
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('specular', '0.05 0.05 0.05 1'),
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):
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color = material.find(name)
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if color is None:
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color = ET.SubElement(material, name)
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color.text = value
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shadows = visual.find('cast_shadows')
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if shadows is None:
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shadows = ET.SubElement(visual, 'cast_shadows')
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shadows.text = 'false'
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# ElementTree serializes Gazebo's frame='' as frame="", which is invalid SDF.
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for element in house_model.iter():
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if element.attrib.get('frame') == '':
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del element.attrib['frame']
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house_model_tree.write(
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os.path.join(flat_model_dir, 'model.sdf'),
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encoding='utf-8',
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xml_declaration=True,
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)
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with open(os.path.join(flat_model_dir, 'model.config'), 'w', encoding='utf-8') as config:
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config.write(
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'<model><name>turtlebot3_house_flat</name>'
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'<version>1.0</version><sdf version="1.6">model.sdf</sdf></model>'
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)
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with open(world_path, 'r', encoding='utf-8') as source:
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flat_world = source.read().replace('model://turtlebot3_house', 'model://turtlebot3_house_flat')
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flat_world_path = os.path.join(tempfile.gettempdir(), 'nav2_turtlebot3_house_flat.world')
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with open(flat_world_path, 'w', encoding='utf-8') as destination:
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destination.write(flat_world)
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existing_model_path = os.environ.get('GAZEBO_MODEL_PATH', '')
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os.environ['GAZEBO_MODEL_PATH'] = os.pathsep.join(
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part for part in (flat_models_dir, existing_model_path) if part
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)
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return flat_world_path
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def launch_gazebo(context):
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gazebo_dir = get_package_share_directory('turtlebot3_gazebo')
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simulator_dir = get_package_share_directory('nav2_turtlebot_simulator')
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gazebo_ros_dir = get_package_share_directory('gazebo_ros')
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world = LaunchConfiguration('world').perform(context)
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render_mode = LaunchConfiguration('render_mode').perform(context).strip().lower()
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if render_mode not in {'flat', 'full'}:
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raise RuntimeError('render_mode must be either flat or full')
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if world == 'turtlebot3_house.world' and render_mode == 'flat':
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world_path = create_flat_house_world(gazebo_dir)
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else:
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world_path = os.path.join(
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simulator_dir if world == 'empty_world.world' else gazebo_dir,
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'worlds',
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world,
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)
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return [
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzserver.launch.py')),
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launch_arguments={
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'world': world_path,
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'extra_gazebo_args': '-slibgazebo_ros_state.so',
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}.items(),
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),
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Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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arguments=[
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'-entity', 'turtlebot3_burger_3d_lidar',
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'-file', os.path.join(gazebo_dir, 'models', 'turtlebot3_burger', 'model.sdf'),
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'-x', LaunchConfiguration('x_pose').perform(context),
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'-y', LaunchConfiguration('y_pose').perform(context),
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'-z', '0.01',
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],
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output='screen',
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),
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]
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def generate_launch_description():
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gazebo_ros_dir = get_package_share_directory('gazebo_ros')
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return LaunchDescription([
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DeclareLaunchArgument('gui', default_value='false'),
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DeclareLaunchArgument('world', default_value='turtlebot3_world.world'),
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DeclareLaunchArgument('render_mode', default_value='flat'),
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DeclareLaunchArgument('x_pose', default_value='-2.0'),
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DeclareLaunchArgument('y_pose', default_value='-0.5'),
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OpaqueFunction(function=launch_gazebo),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(gazebo_ros_dir, 'launch', 'gzclient.launch.py')),
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condition=IfCondition(LaunchConfiguration('gui')),
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),
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])
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<?xml version="1.0"?>
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<package format="3">
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<name>nav2_turtlebot_simulator</name>
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<version>1.0.0</version>
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<description>Headless Gazebo and TurtleBot3 Burger startup for the Nav2 lab.</description>
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<maintainer email="platform@autonomystudio.net">Autonomy Studio</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<exec_depend>gazebo_ros</exec_depend>
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<exec_depend>launch</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>turtlebot3_gazebo</exec_depend>
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<export><build_type>ament_cmake</build_type></export>
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</package>
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<?xml version="1.0"?>
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<sdf version="1.6">
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<world name="empty_world">
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<include><uri>model://ground_plane</uri></include>
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<include><uri>model://sun</uri></include>
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<physics type="ode">
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<real_time_update_rate>1000.0</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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</physics>
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</world>
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</sdf>
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package turtlebot3_gazebo
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.3.8 (2025-07-10)
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------------------
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* None
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2.3.6 (2025-06-19)
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------------------
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* None
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2.3.4 (2025-05-28)
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------------------
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* None
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2.3.0 (2025-02-17)
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------------------
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* Added multi-robot launch functionality
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* Updated robot mesh in Gazebo and RViz
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* Added launch file for TurtleBot3 Autorace 2020
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* Added plugins to the models of Autorace 2020
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* Contributors: Hyungyu Kim
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2.2.6 (2022-05-26)
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------------------
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* ROS 2 Humble Hawksbill supported
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* Contributors: Will Son
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2.2.5 (2021-08-25)
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------------------
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* Release for ROS 2 Rolling
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* Contributors: Will Son
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2.2.4 (2021-06-14)
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------------------
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* Release for ROS 2 Galactic
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* Separate world and robot models(#162)
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* Clean up unncessary files
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* Use turtlebot3_common mesh modeling
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* Independent turtlebot3_simulations package
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* Contributors: Joep Tool, Will Son
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2.2.3 (2021-04-12)
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------------------
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* Update required keyword arguments
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* Clear up exec_depend
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* Fix Waffle Pi wheel inertia
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* Contributors: ruffsl, Will Son
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2.2.2 (2021-02-24)
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------------------
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* Remove shared objects built in older version
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* Contributors: Will Son
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2.2.1 (2021-01-13)
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------------------
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* Eloquent Elusor EOL
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* Add missing imu joint in sdf
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* Append Gazebo model path
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* Portable fix, launch description revise
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* Ament lint applied
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* Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son
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2.2.0 (2020-06-29)
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------------------
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* TurtleBot3 Drive node implementation
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* Additional Gazebo maps added
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* argument tags in the sdf file replaced with remapping tags
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* Low polygon 3D modeling applied for simulation
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* Contributors: Ryan Shim, Mikael Arguedas, Will Son
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2.1.0 (2019-09-10)
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------------------
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* Added turtlebot3_house and related world, model files
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* Contributors: Ryan Shim
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2.0.1 (2019-09-05)
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------------------
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* Modified dependency packages
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* Modified launch directory
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* Added a launch file for robot state publisher
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* Contributors: Darby Lim, Pyo
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2.0.0 (2019-08-20)
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------------------
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* Supported ROS 2 Dashing Diademata
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* Updated the CHANGELOG and version to release binary packages
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* Contributors: Darby Lim, Pyo
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1.3.0 (2020-06-29)
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------------------
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* Turtlebot3 Autorace 2020 implemented
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* Remove the plugin_path from gazebo_ros export
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* Remove *nix path separator
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* Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen
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1.2.0 (2019-01-22)
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------------------
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* moved <scene> into <world> `#65 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/65>`_
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* modified ML stage
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* delete unused param
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* update algorithm and modified variable more clearly
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* Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo
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1.1.0 (2018-07-20)
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------------------
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* modified uri path
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* modified autorace
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* delete remap
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* Contributors: Darby Lim, Gilbert, Pyo
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1.0.2 (2018-06-01)
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------------------
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* added mission.launch modified model.sdf
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* deleted turtlebot3's gazebo plugins
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* modified autorace gazebo
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* merged pull request `#53 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/53>`_ `#52 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/52>`_ `#51 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/51>`_ `#50 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/50>`_ `#49 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/49>`_
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* Contributors: Gilbert, Darby Lim, Pyo
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1.0.1 (2018-05-30)
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|
------------------
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* resolving dependency issues:
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|
http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/
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* Contributors: Pyo
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1.0.0 (2018-05-29)
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------------------
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* added world for turtlebot3_autorace
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* added world for turtlebot3_machine_learning
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* merged pull request `#46 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/46>`_ from AuTURBO/develop
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add turtlebot3_autorace world'
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* merged pull request `#48 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/48>`_ `#47 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/47>`_ `#44 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/44>`_ `#42 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/42>`_ `#41 <https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/41>`_
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* Contributors: Darby Lim, Gilbert, hyunoklee, Pyo
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0.2.4 (2018-03-14)
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------------------
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* None
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|
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0.2.3 (2018-03-14)
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|
------------------
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* solved DuplicateVersionsException error
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* Contributors: Pyo
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|
|
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0.2.2 (2018-03-14)
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|
------------------
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* None
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|
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0.2.1 (2018-03-14)
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|
------------------
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||||||
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* added worlds for gazebo and turtlebot3
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* Contributors: Darby Lim
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||||||
|
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0.2.0 (2018-03-13)
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|
------------------
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* added slam with multiple tb3
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* added multi example
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* added turtlebot3_house
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||||||
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* modified cmake file
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||||||
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* modified spwn model name
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||||||
|
* modified multi slam param
|
||||||
|
* modified camera position
|
||||||
|
* modified folder name
|
||||||
|
* Contributors: Darby Lim
|
||||||
|
|
||||||
|
0.1.7 (2017-08-16)
|
||||||
|
------------------
|
||||||
|
* renamed missed the install rule (worlds -> models)
|
||||||
|
* Contributors: Darby Lim, Tully Foote
|
||||||
|
|
||||||
|
0.1.6 (2017-08-14)
|
||||||
|
------------------
|
||||||
|
* modified folder name and model path
|
||||||
|
* updated rviz and add static tf publisher for depth camera
|
||||||
|
* Contributors: Darby Lim
|
||||||
|
|
||||||
|
0.1.5 (2017-06-09)
|
||||||
|
------------------
|
||||||
|
* modified make files for dependencies
|
||||||
|
* updated turtlebot3 sim
|
||||||
|
* updated world config
|
||||||
|
* Contributors: Darby Lim
|
||||||
|
|
||||||
|
0.1.4 (2017-05-23)
|
||||||
|
------------------
|
||||||
|
* added as new meta-packages and version update (0.1.4)
|
||||||
|
* Contributors: Darby Lim, Pyo
|
||||||
@@ -0,0 +1,96 @@
|
|||||||
|
################################################################################
|
||||||
|
# Set minimum required version of cmake, project name and compile options
|
||||||
|
################################################################################
|
||||||
|
cmake_minimum_required(VERSION 3.5)
|
||||||
|
project(turtlebot3_gazebo)
|
||||||
|
|
||||||
|
if(NOT CMAKE_CXX_STANDARD)
|
||||||
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||||||
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if(MSVC)
|
||||||
|
add_compile_definitions(_USE_MATH_DEFINES)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Find ament packages and libraries for ament and system dependencies
|
||||||
|
################################################################################
|
||||||
|
find_package(ament_cmake REQUIRED)
|
||||||
|
find_package(gazebo REQUIRED)
|
||||||
|
find_package(gazebo_ros_pkgs REQUIRED)
|
||||||
|
find_package(geometry_msgs REQUIRED)
|
||||||
|
find_package(nav_msgs REQUIRED)
|
||||||
|
find_package(rclcpp REQUIRED)
|
||||||
|
find_package(sensor_msgs REQUIRED)
|
||||||
|
find_package(tf2 REQUIRED)
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Build
|
||||||
|
################################################################################
|
||||||
|
link_directories(
|
||||||
|
${GAZEBO_LIBRARY_DIRS}
|
||||||
|
)
|
||||||
|
|
||||||
|
include_directories(
|
||||||
|
include
|
||||||
|
${GAZEBO_INCLUDE_DIRS}
|
||||||
|
)
|
||||||
|
|
||||||
|
set(dependencies
|
||||||
|
"geometry_msgs"
|
||||||
|
"nav_msgs"
|
||||||
|
"rclcpp"
|
||||||
|
"sensor_msgs"
|
||||||
|
"tf2"
|
||||||
|
)
|
||||||
|
|
||||||
|
set(EXEC_NAME "turtlebot3_drive")
|
||||||
|
|
||||||
|
add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
|
||||||
|
ament_target_dependencies(${EXEC_NAME} ${dependencies})
|
||||||
|
|
||||||
|
add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
|
||||||
|
target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
|
||||||
|
|
||||||
|
add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
|
||||||
|
target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
|
||||||
|
|
||||||
|
add_library(obstacle1 SHARED src/obstacle1.cpp)
|
||||||
|
target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
|
||||||
|
|
||||||
|
add_library(obstacle2 SHARED src/obstacle2.cpp)
|
||||||
|
target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
|
||||||
|
|
||||||
|
add_library(obstacles SHARED src/obstacles.cpp)
|
||||||
|
target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Install
|
||||||
|
################################################################################
|
||||||
|
install(TARGETS ${EXEC_NAME}
|
||||||
|
DESTINATION lib/${PROJECT_NAME}
|
||||||
|
)
|
||||||
|
|
||||||
|
install(DIRECTORY launch models rviz worlds
|
||||||
|
DESTINATION share/${PROJECT_NAME}/
|
||||||
|
)
|
||||||
|
|
||||||
|
install(DIRECTORY include/
|
||||||
|
DESTINATION include/
|
||||||
|
)
|
||||||
|
|
||||||
|
################################################################################
|
||||||
|
# Macro for ament package
|
||||||
|
################################################################################
|
||||||
|
ament_export_include_directories(include)
|
||||||
|
ament_export_dependencies(gazebo_ros_pkgs)
|
||||||
|
ament_export_dependencies(geometry_msgs)
|
||||||
|
ament_export_dependencies(nav_msgs)
|
||||||
|
ament_export_dependencies(rclcpp)
|
||||||
|
ament_export_dependencies(sensor_msgs)
|
||||||
|
ament_export_dependencies(tf2)
|
||||||
|
ament_package()
|
||||||
@@ -0,0 +1,38 @@
|
|||||||
|
// Copyright 2012 Open Source Robotics Foundation
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
//
|
||||||
|
// Author: Ryan Shim
|
||||||
|
|
||||||
|
#ifndef TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
|
||||||
|
#define TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
|
||||||
|
|
||||||
|
#include <ignition/math.hh>
|
||||||
|
#include <gazebo/common/common.hh>
|
||||||
|
#include <gazebo/gazebo.hh>
|
||||||
|
#include <gazebo/physics/physics.hh>
|
||||||
|
|
||||||
|
namespace gazebo
|
||||||
|
{
|
||||||
|
class Obstacle1 : public ModelPlugin
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
physics::ModelPtr model;
|
||||||
|
event::ConnectionPtr updateConnection;
|
||||||
|
};
|
||||||
|
GZ_REGISTER_MODEL_PLUGIN(Obstacle1);
|
||||||
|
} // namespace gazebo
|
||||||
|
#endif // TURTLEBOT3_GAZEBO__OBSTACLE1_HPP_
|
||||||
@@ -0,0 +1,39 @@
|
|||||||
|
// Copyright 2012 Open Source Robotics Foundation
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
//
|
||||||
|
// Author: Ryan Shim
|
||||||
|
|
||||||
|
#ifndef TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
|
||||||
|
#define TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
|
||||||
|
|
||||||
|
#include <ignition/math.hh>
|
||||||
|
#include <gazebo/common/common.hh>
|
||||||
|
#include <gazebo/gazebo.hh>
|
||||||
|
#include <gazebo/physics/physics.hh>
|
||||||
|
|
||||||
|
namespace gazebo
|
||||||
|
{
|
||||||
|
class Obstacle2 : public ModelPlugin
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
Obstacle2() = default;
|
||||||
|
void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
physics::ModelPtr model;
|
||||||
|
event::ConnectionPtr updateConnection;
|
||||||
|
};
|
||||||
|
GZ_REGISTER_MODEL_PLUGIN(Obstacle2);
|
||||||
|
} // namespace gazebo
|
||||||
|
#endif // TURTLEBOT3_GAZEBO__OBSTACLE2_HPP_
|
||||||
@@ -0,0 +1,41 @@
|
|||||||
|
// Copyright 2012 Open Source Robotics Foundation
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
//
|
||||||
|
// Author: Ryan Shim
|
||||||
|
|
||||||
|
#ifndef TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
|
||||||
|
#define TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
|
||||||
|
|
||||||
|
#include <ignition/math.hh>
|
||||||
|
#include <gazebo/common/common.hh>
|
||||||
|
#include <gazebo/gazebo.hh>
|
||||||
|
#include <gazebo/physics/physics.hh>
|
||||||
|
|
||||||
|
#define PI 3.141592
|
||||||
|
|
||||||
|
namespace gazebo
|
||||||
|
{
|
||||||
|
class Obstacles : public ModelPlugin
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
Obstacles() = default;
|
||||||
|
void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) override;
|
||||||
|
|
||||||
|
private:
|
||||||
|
physics::ModelPtr model;
|
||||||
|
event::ConnectionPtr updateConnection;
|
||||||
|
};
|
||||||
|
GZ_REGISTER_MODEL_PLUGIN(Obstacles);
|
||||||
|
} // namespace gazebo
|
||||||
|
#endif // TURTLEBOT3_GAZEBO__OBSTACLES_HPP_
|
||||||
@@ -0,0 +1,45 @@
|
|||||||
|
// Copyright 2025 ROBOTIS CO., LTD.
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
//
|
||||||
|
// Author: Hyungyu Kim
|
||||||
|
|
||||||
|
#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
|
||||||
|
#define TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
|
||||||
|
|
||||||
|
#include <gazebo/gazebo.hh>
|
||||||
|
#include <gazebo/physics/physics.hh>
|
||||||
|
|
||||||
|
namespace gazebo
|
||||||
|
{
|
||||||
|
class TrafficBar : public ModelPlugin
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
TrafficBar();
|
||||||
|
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
|
||||||
|
void OnUpdate();
|
||||||
|
|
||||||
|
private:
|
||||||
|
double traffic_cycle;
|
||||||
|
int status;
|
||||||
|
|
||||||
|
common::Time last_time;
|
||||||
|
event::ConnectionPtr update_connection;
|
||||||
|
ignition::math::Pose3d down_pose;
|
||||||
|
ignition::math::Pose3d up_pose;
|
||||||
|
physics::ModelPtr model;
|
||||||
|
physics::WorldPtr world;
|
||||||
|
};
|
||||||
|
GZ_REGISTER_MODEL_PLUGIN(TrafficBar);
|
||||||
|
} // namespace gazebo
|
||||||
|
#endif // TURTLEBOT3_GAZEBO__TRAFFIC_BAR_PLUGIN_HPP_
|
||||||
@@ -0,0 +1,53 @@
|
|||||||
|
// Copyright 2025 ROBOTIS CO., LTD.
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
//
|
||||||
|
// Author: Hyungyu Kim
|
||||||
|
|
||||||
|
#ifndef TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
|
||||||
|
#define TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
|
||||||
|
|
||||||
|
#include <string>
|
||||||
|
#include <vector>
|
||||||
|
|
||||||
|
#include <gazebo/gazebo.hh>
|
||||||
|
#include <gazebo/physics/physics.hh>
|
||||||
|
|
||||||
|
namespace gazebo
|
||||||
|
{
|
||||||
|
class TrafficLight : public ModelPlugin
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
TrafficLight();
|
||||||
|
~TrafficLight();
|
||||||
|
|
||||||
|
void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) override;
|
||||||
|
void OnUpdate();
|
||||||
|
|
||||||
|
private:
|
||||||
|
double traffic_cycle;
|
||||||
|
int status;
|
||||||
|
std::vector<std::string> textures;
|
||||||
|
|
||||||
|
common::Time last_time;
|
||||||
|
event::ConnectionPtr update_connection;
|
||||||
|
gazebo::transport::NodePtr node;
|
||||||
|
gazebo::msgs::Visual msg;
|
||||||
|
gazebo::transport::PublisherPtr visPub;
|
||||||
|
physics::ModelPtr model;
|
||||||
|
physics::WorldPtr world;
|
||||||
|
};
|
||||||
|
GZ_REGISTER_MODEL_PLUGIN(TrafficLight);
|
||||||
|
} // namespace gazebo
|
||||||
|
|
||||||
|
#endif // TURTLEBOT3_GAZEBO__TRAFFIC_LIGHT_PLUGIN_HPP_
|
||||||
@@ -0,0 +1,70 @@
|
|||||||
|
// Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
//
|
||||||
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
// you may not use this file except in compliance with the License.
|
||||||
|
// You may obtain a copy of the License at
|
||||||
|
//
|
||||||
|
// http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
//
|
||||||
|
// Unless required by applicable law or agreed to in writing, software
|
||||||
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
// See the License for the specific language governing permissions and
|
||||||
|
// limitations under the License.
|
||||||
|
//
|
||||||
|
// Authors: Taehun Lim (Darby), Ryan Shim
|
||||||
|
|
||||||
|
#ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
|
||||||
|
#define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
|
||||||
|
|
||||||
|
#include <tf2/LinearMath/Matrix3x3.h>
|
||||||
|
#include <tf2/LinearMath/Quaternion.h>
|
||||||
|
#include <geometry_msgs/msg/twist.hpp>
|
||||||
|
#include <nav_msgs/msg/odometry.hpp>
|
||||||
|
#include <rclcpp/rclcpp.hpp>
|
||||||
|
#include <sensor_msgs/msg/laser_scan.hpp>
|
||||||
|
|
||||||
|
#define DEG2RAD (M_PI / 180.0)
|
||||||
|
#define RAD2DEG (180.0 / M_PI)
|
||||||
|
|
||||||
|
#define CENTER 0
|
||||||
|
#define LEFT 1
|
||||||
|
#define RIGHT 2
|
||||||
|
|
||||||
|
#define LINEAR_VELOCITY 0.3
|
||||||
|
#define ANGULAR_VELOCITY 1.5
|
||||||
|
|
||||||
|
#define GET_TB3_DIRECTION 0
|
||||||
|
#define TB3_DRIVE_FORWARD 1
|
||||||
|
#define TB3_RIGHT_TURN 2
|
||||||
|
#define TB3_LEFT_TURN 3
|
||||||
|
|
||||||
|
class Turtlebot3Drive : public rclcpp::Node
|
||||||
|
{
|
||||||
|
public:
|
||||||
|
Turtlebot3Drive();
|
||||||
|
~Turtlebot3Drive();
|
||||||
|
|
||||||
|
private:
|
||||||
|
// ROS topic publishers
|
||||||
|
rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_pub_;
|
||||||
|
|
||||||
|
// ROS topic subscribers
|
||||||
|
rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr scan_sub_;
|
||||||
|
rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
|
||||||
|
|
||||||
|
// Variables
|
||||||
|
double robot_pose_;
|
||||||
|
double prev_robot_pose_;
|
||||||
|
double scan_data_[3];
|
||||||
|
|
||||||
|
// ROS timer
|
||||||
|
rclcpp::TimerBase::SharedPtr update_timer_;
|
||||||
|
|
||||||
|
// Function prototypes
|
||||||
|
void update_callback();
|
||||||
|
void update_cmd_vel(double linear, double angular);
|
||||||
|
void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
|
||||||
|
void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg);
|
||||||
|
};
|
||||||
|
#endif // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_
|
||||||
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@@ -0,0 +1,80 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'empty_world.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': x_pose,
|
||||||
|
'y_pose': y_pose
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
|
||||||
|
# Add the commands to the launch description
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(robot_state_publisher_cmd)
|
||||||
|
ld.add_action(spawn_turtlebot_cmd)
|
||||||
|
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,137 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool, HyunGyu Kim
|
||||||
|
|
||||||
|
import os
|
||||||
|
import xml.etree.ElementTree as ET
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import GroupAction
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.actions import RegisterEventHandler
|
||||||
|
from launch.event_handlers import OnShutdown
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
from launch_ros.actions import PushRosNamespace
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
||||||
|
|
||||||
|
number_of_robots = 4
|
||||||
|
namespace = 'TB3'
|
||||||
|
pose = [[-2, -0.5], [0.5, -2], [2, 0.5], [-0.5, 2]]
|
||||||
|
model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
|
||||||
|
urdf_path = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'models',
|
||||||
|
model_folder,
|
||||||
|
'model.sdf'
|
||||||
|
)
|
||||||
|
save_path = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'models',
|
||||||
|
model_folder,
|
||||||
|
'tmp'
|
||||||
|
)
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='false')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'turtlebot3_world.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd_list = []
|
||||||
|
|
||||||
|
for count in range(number_of_robots):
|
||||||
|
robot_state_publisher_cmd_list.append(
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'use_sim_time': use_sim_time,
|
||||||
|
'frame_prefix': f'{namespace}_{count+1}'
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd_list = []
|
||||||
|
|
||||||
|
for count in range(number_of_robots):
|
||||||
|
tree = ET.parse(urdf_path)
|
||||||
|
root = tree.getroot()
|
||||||
|
for odom_frame_tag in root.iter('odometry_frame'):
|
||||||
|
odom_frame_tag.text = f'{namespace}_{count+1}/odom'
|
||||||
|
for base_frame_tag in root.iter('robot_base_frame'):
|
||||||
|
base_frame_tag.text = f'{namespace}_{count+1}/base_footprint'
|
||||||
|
for scan_frame_tag in root.iter('frame_name'):
|
||||||
|
scan_frame_tag.text = f'{namespace}_{count+1}/base_scan'
|
||||||
|
urdf_modified = ET.tostring(tree.getroot(), encoding='unicode')
|
||||||
|
urdf_modified = '<?xml version="1.0" ?>\n'+urdf_modified
|
||||||
|
with open(f'{save_path}{count+1}.sdf', 'w') as file:
|
||||||
|
file.write(urdf_modified)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd_list.append(
|
||||||
|
IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'multi_spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': str(pose[count][0]),
|
||||||
|
'y_pose': str(pose[count][1]),
|
||||||
|
'robot_name': f'{TURTLEBOT3_MODEL}_{count+1}',
|
||||||
|
'namespace': f'{namespace}_{count+1}',
|
||||||
|
'sdf_path': f'{save_path}{count+1}.sdf'
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
# Add the commands to the launch description
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(RegisterEventHandler(
|
||||||
|
OnShutdown(
|
||||||
|
on_shutdown=lambda event,
|
||||||
|
context: [os.remove(f'{save_path}{count+1}.sdf') for count in range(number_of_robots)]
|
||||||
|
)
|
||||||
|
))
|
||||||
|
for count, spawn_turtlebot_cmd in enumerate(spawn_turtlebot_cmd_list, start=1):
|
||||||
|
ld.add_action(GroupAction([PushRosNamespace(f'{namespace}_{count}'),
|
||||||
|
robot_state_publisher_cmd_list[count-1],
|
||||||
|
spawn_turtlebot_cmd]))
|
||||||
|
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,60 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
# Copyright 2019 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: HyunGyu Kim
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import DeclareLaunchArgument
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
||||||
|
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||||
|
robot_name = LaunchConfiguration('robot_name', default=TURTLEBOT3_MODEL)
|
||||||
|
namespace = LaunchConfiguration('namespace', default='')
|
||||||
|
sdf_path = LaunchConfiguration('sdf_path', default='')
|
||||||
|
|
||||||
|
declare_x_position_cmd = DeclareLaunchArgument(
|
||||||
|
'x_pose', default_value='0.0',
|
||||||
|
description='Specify namespace of the robot')
|
||||||
|
|
||||||
|
declare_y_position_cmd = DeclareLaunchArgument(
|
||||||
|
'y_pose', default_value='0.0',
|
||||||
|
description='Specify namespace of the robot')
|
||||||
|
start_gazebo_ros_spawner_cmd = Node(
|
||||||
|
package='gazebo_ros',
|
||||||
|
executable='spawn_entity.py',
|
||||||
|
arguments=[
|
||||||
|
'-entity', robot_name,
|
||||||
|
'-file', sdf_path,
|
||||||
|
'-x', x_pose,
|
||||||
|
'-y', y_pose,
|
||||||
|
'-z', '0.01',
|
||||||
|
'-robot_namespace', namespace
|
||||||
|
],
|
||||||
|
output='screen',
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
ld.add_action(declare_x_position_cmd)
|
||||||
|
ld.add_action(declare_y_position_cmd)
|
||||||
|
ld.add_action(start_gazebo_ros_spawner_cmd)
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,62 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Darby Lim
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import DeclareLaunchArgument
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
from launch.substitutions import PythonExpression
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf'
|
||||||
|
frame_prefix = LaunchConfiguration('frame_prefix', default='')
|
||||||
|
|
||||||
|
print('urdf_file_name : {}'.format(urdf_file_name))
|
||||||
|
|
||||||
|
urdf_path = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_description'),
|
||||||
|
'urdf',
|
||||||
|
urdf_file_name)
|
||||||
|
|
||||||
|
with open(urdf_path, 'r') as infp:
|
||||||
|
robot_desc = infp.read()
|
||||||
|
|
||||||
|
return LaunchDescription([
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'use_sim_time',
|
||||||
|
default_value='false',
|
||||||
|
description='Use simulation (Gazebo) clock if true'),
|
||||||
|
Node(
|
||||||
|
package='robot_state_publisher',
|
||||||
|
executable='robot_state_publisher',
|
||||||
|
name='robot_state_publisher',
|
||||||
|
output='screen',
|
||||||
|
parameters=[{
|
||||||
|
'use_sim_time': use_sim_time,
|
||||||
|
'robot_description': robot_desc,
|
||||||
|
'frame_prefix': PythonExpression(["'", frame_prefix, "/'"])
|
||||||
|
}],
|
||||||
|
),
|
||||||
|
])
|
||||||
@@ -0,0 +1,70 @@
|
|||||||
|
# Copyright 2019 Open Source Robotics Foundation, Inc.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import DeclareLaunchArgument
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
# Get the urdf file
|
||||||
|
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
|
||||||
|
model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL
|
||||||
|
urdf_path = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'models',
|
||||||
|
model_folder,
|
||||||
|
'model.sdf'
|
||||||
|
)
|
||||||
|
|
||||||
|
# Launch configuration variables specific to simulation
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||||
|
|
||||||
|
# Declare the launch arguments
|
||||||
|
declare_x_position_cmd = DeclareLaunchArgument(
|
||||||
|
'x_pose', default_value='0.0',
|
||||||
|
description='Specify namespace of the robot')
|
||||||
|
|
||||||
|
declare_y_position_cmd = DeclareLaunchArgument(
|
||||||
|
'y_pose', default_value='0.0',
|
||||||
|
description='Specify namespace of the robot')
|
||||||
|
|
||||||
|
start_gazebo_ros_spawner_cmd = Node(
|
||||||
|
package='gazebo_ros',
|
||||||
|
executable='spawn_entity.py',
|
||||||
|
arguments=[
|
||||||
|
'-entity', TURTLEBOT3_MODEL,
|
||||||
|
'-file', urdf_path,
|
||||||
|
'-x', x_pose,
|
||||||
|
'-y', y_pose,
|
||||||
|
'-z', '0.01'
|
||||||
|
],
|
||||||
|
output='screen',
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
|
||||||
|
# Declare the launch options
|
||||||
|
ld.add_action(declare_x_position_cmd)
|
||||||
|
ld.add_action(declare_y_position_cmd)
|
||||||
|
|
||||||
|
# Add any conditioned actions
|
||||||
|
ld.add_action(start_gazebo_ros_spawner_cmd)
|
||||||
|
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,77 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool, Hyungyu Kim
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='0.8')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='-1.747')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'turtlebot3_autorace_2020.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': x_pose,
|
||||||
|
'y_pose': y_pose
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(robot_state_publisher_cmd)
|
||||||
|
ld.add_action(spawn_turtlebot_cmd)
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,80 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'turtlebot3_dqn_stage1.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': x_pose,
|
||||||
|
'y_pose': y_pose
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
|
||||||
|
# Add the commands to the launch description
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(robot_state_publisher_cmd)
|
||||||
|
ld.add_action(spawn_turtlebot_cmd)
|
||||||
|
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,80 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'turtlebot3_dqn_stage2.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': x_pose,
|
||||||
|
'y_pose': y_pose
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
|
||||||
|
# Add the commands to the launch description
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(robot_state_publisher_cmd)
|
||||||
|
ld.add_action(spawn_turtlebot_cmd)
|
||||||
|
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,80 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'turtlebot3_dqn_stage3.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': x_pose,
|
||||||
|
'y_pose': y_pose
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
|
||||||
|
# Add the commands to the launch description
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(robot_state_publisher_cmd)
|
||||||
|
ld.add_action(spawn_turtlebot_cmd)
|
||||||
|
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,80 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='0.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='0.0')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'turtlebot3_dqn_stage4.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': x_pose,
|
||||||
|
'y_pose': y_pose
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
|
||||||
|
# Add the commands to the launch description
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(robot_state_publisher_cmd)
|
||||||
|
ld.add_action(spawn_turtlebot_cmd)
|
||||||
|
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,80 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='-2.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='-0.5')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'turtlebot3_house.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': x_pose,
|
||||||
|
'y_pose': y_pose
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
|
||||||
|
# Add the commands to the launch description
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(robot_state_publisher_cmd)
|
||||||
|
ld.add_action(spawn_turtlebot_cmd)
|
||||||
|
|
||||||
|
return ld
|
||||||
@@ -0,0 +1,80 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
#
|
||||||
|
# Copyright 2019 ROBOTIS CO., LTD.
|
||||||
|
#
|
||||||
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||||||
|
# you may not use this file except in compliance with the License.
|
||||||
|
# You may obtain a copy of the License at
|
||||||
|
#
|
||||||
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||||||
|
#
|
||||||
|
# Unless required by applicable law or agreed to in writing, software
|
||||||
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||||||
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||||
|
# See the License for the specific language governing permissions and
|
||||||
|
# limitations under the License.
|
||||||
|
#
|
||||||
|
# Authors: Joep Tool
|
||||||
|
|
||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
|
||||||
|
pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
|
||||||
|
|
||||||
|
use_sim_time = LaunchConfiguration('use_sim_time', default='true')
|
||||||
|
x_pose = LaunchConfiguration('x_pose', default='-2.0')
|
||||||
|
y_pose = LaunchConfiguration('y_pose', default='-0.5')
|
||||||
|
|
||||||
|
world = os.path.join(
|
||||||
|
get_package_share_directory('turtlebot3_gazebo'),
|
||||||
|
'worlds',
|
||||||
|
'turtlebot3_world.world'
|
||||||
|
)
|
||||||
|
|
||||||
|
gzserver_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'world': world}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
gzclient_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
|
||||||
|
)
|
||||||
|
)
|
||||||
|
|
||||||
|
robot_state_publisher_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'robot_state_publisher.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={'use_sim_time': use_sim_time}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
spawn_turtlebot_cmd = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource(
|
||||||
|
os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py')
|
||||||
|
),
|
||||||
|
launch_arguments={
|
||||||
|
'x_pose': x_pose,
|
||||||
|
'y_pose': y_pose
|
||||||
|
}.items()
|
||||||
|
)
|
||||||
|
|
||||||
|
ld = LaunchDescription()
|
||||||
|
|
||||||
|
# Add the commands to the launch description
|
||||||
|
ld.add_action(gzserver_cmd)
|
||||||
|
ld.add_action(gzclient_cmd)
|
||||||
|
ld.add_action(robot_state_publisher_cmd)
|
||||||
|
ld.add_action(spawn_turtlebot_cmd)
|
||||||
|
|
||||||
|
return ld
|
||||||
Binary file not shown.
|
After Width: | Height: | Size: 4.8 KiB |
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material checker
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture checker.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 2.7 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>checker</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Gilbert</name>
|
||||||
|
<email>kkjong@robotis.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="checker">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.02 1 1</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.02 1 1</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/checker/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/checker/materials/textures</uri>
|
||||||
|
<name>checker</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material course
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture course.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 24 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>course</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version="1.6">model.sdf</sdf>
|
||||||
|
<author>
|
||||||
|
<name>Gilbert</name>
|
||||||
|
<email>kkjong@robotis.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
A simple textured ground plane
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
|
|
||||||
@@ -0,0 +1,41 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="course">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="course_link">
|
||||||
|
<collision name="course_collision">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>4 4</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<friction>
|
||||||
|
<ode>
|
||||||
|
<mu>100</mu>
|
||||||
|
<mu2>50</mu2>
|
||||||
|
</ode>
|
||||||
|
</friction>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
<visual name="course_visual">
|
||||||
|
<cast_shadows>false</cast_shadows>
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>4 4</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/course/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/course/materials/textures</uri>
|
||||||
|
<name>course</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
|
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_bar
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_bar.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.0 KiB |
@@ -0,0 +1,18 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_bar</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
<name>Hyungyu Kim</name>
|
||||||
|
<email>kimhg@robotis.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,32 @@
|
|||||||
|
<?xml version='1.0'?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_bar">
|
||||||
|
<static>false</static>
|
||||||
|
<link name="traffic_bar">
|
||||||
|
<pose> 0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.3 0.02 0.05</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.3 0.02 0.05</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_bar/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_bar/materials/textures</uri>
|
||||||
|
<name>traffic_bar</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<plugin name="traffic_bar_plugin" filename="libtraffic_bar_plugin.so">
|
||||||
|
</plugin>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_construction
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_construction.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 76 KiB |
+16
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_construction</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_construction">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_construction/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_construction/materials/textures</uri>
|
||||||
|
<name>traffic_construction</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_intersection
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_intersection.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 66 KiB |
+16
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_intersection</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_intersection">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_intersection/materials/textures</uri>
|
||||||
|
<name>traffic_intersection</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_left
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_left.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 51 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_left</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_left">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>1.08 -0.838 0.125 0 -0 -1.57</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_left/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_left/materials/textures</uri>
|
||||||
|
<name>traffic_left</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+41
@@ -0,0 +1,41 @@
|
|||||||
|
material traffic_light_red
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_light_red.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
material traffic_light_green
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_light_green.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
material traffic_light_yellow
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_light_yellow.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.8 KiB |
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.8 KiB |
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.9 KiB |
BIN
Binary file not shown.
|
After Width: | Height: | Size: 5.0 KiB |
@@ -0,0 +1,13 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<model>
|
||||||
|
<name>traffic_light</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version="1.6">model.sdf</sdf>
|
||||||
|
<author>
|
||||||
|
<name>Ashekim</name>
|
||||||
|
<email>ashekim@robotis.com</email>
|
||||||
|
<name>Hyungyu Kim</name>
|
||||||
|
<email>kimhg@robotis.com</email>
|
||||||
|
</author>
|
||||||
|
<description>The traffic light.</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,32 @@
|
|||||||
|
<?xml version='1.0'?>
|
||||||
|
<sdf version='1.6'>
|
||||||
|
<model name='traffic_light'>
|
||||||
|
<link name='traffic_light'>
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name='collision'>
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name='visual'>
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_light/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_light/materials/textures</uri>
|
||||||
|
<name>traffic_light_red</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<plugin name="traffic_light_plugin" filename="libtraffic_light_plugin.so">
|
||||||
|
</plugin>
|
||||||
|
<static>1</static>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_noentry
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_noentry.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 47 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_noentry</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_noentry">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_noentry/materials/textures</uri>
|
||||||
|
<name>traffic_noentry</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_parking
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_parking.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 44 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_parking</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_parking">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_parking/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_parking/materials/textures</uri>
|
||||||
|
<name>traffic_parking</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_pl_left
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_pl_left.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 51 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_pl_left</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_pl_left">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_pl_left/materials/textures</uri>
|
||||||
|
<name>traffic_pl_left</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_right
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_right.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 47 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_right</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_right">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_right/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_right/materials/textures</uri>
|
||||||
|
<name>traffic_right</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_stop
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture traffic_stop.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 48 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_stop</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Gilbert</name>
|
||||||
|
<email>kkjong@robotis.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_stop">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_stop/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_stop/materials/textures</uri>
|
||||||
|
<name>traffic_stop</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
+14
@@ -0,0 +1,14 @@
|
|||||||
|
material traffic_tunnel
|
||||||
|
{
|
||||||
|
technique
|
||||||
|
{
|
||||||
|
pass
|
||||||
|
{
|
||||||
|
texture_unit
|
||||||
|
{
|
||||||
|
texture tunnel.png
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
BIN
Binary file not shown.
|
After Width: | Height: | Size: 61 KiB |
@@ -0,0 +1,16 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>traffic_tunnel</name>
|
||||||
|
<version>1.0</version>
|
||||||
|
<sdf version='1.6'>model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Hyunok Lee</name>
|
||||||
|
<email>hyunokhyunok@naver.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
Model with links of simple shapes and texture applied.
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,30 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<model name="traffic_tunnel">
|
||||||
|
<pose>0 0 0.125 0 0 0</pose>
|
||||||
|
<link name="box">
|
||||||
|
<pose>0 0 0 0 0 0</pose>
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.12 0.025 0.25</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<script>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/scripts</uri>
|
||||||
|
<uri>model://turtlebot3_autorace_2020/traffic_tunnel/materials/textures</uri>
|
||||||
|
<name>traffic_tunnel</name>
|
||||||
|
</script>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
@@ -0,0 +1,408 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.4">
|
||||||
|
<model name="turtlebot3_burger">
|
||||||
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||||
|
|
||||||
|
<link name="base_footprint"/>
|
||||||
|
|
||||||
|
<link name="base_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>7.2397393e-01</ixx>
|
||||||
|
<ixy>4.686399e-10</ixy>
|
||||||
|
<ixz>-1.09525703e-08</ixz>
|
||||||
|
<iyy>7.2397393e-01</iyy>
|
||||||
|
<iyz>2.8582649e-09</iyz>
|
||||||
|
<izz>6.53050163e-01</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>8.2573504e-01</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="base_collision">
|
||||||
|
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.140 0.140 0.140</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="base_visual">
|
||||||
|
<pose>-0.032 0 0 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="imu_link">
|
||||||
|
<sensor name="tb3_imu" type="imu">
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<update_rate>200</update_rate>
|
||||||
|
<imu>
|
||||||
|
<angular_velocity>
|
||||||
|
<x>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</x>
|
||||||
|
<y>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</y>
|
||||||
|
<z>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</z>
|
||||||
|
</angular_velocity>
|
||||||
|
<linear_acceleration>
|
||||||
|
<x>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</x>
|
||||||
|
<y>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</y>
|
||||||
|
<z>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</z>
|
||||||
|
</linear_acceleration>
|
||||||
|
</imu>
|
||||||
|
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=imu</remapping>
|
||||||
|
</ros>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="base_scan">
|
||||||
|
<inertial>
|
||||||
|
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.001</ixx>
|
||||||
|
<ixy>0.000</ixy>
|
||||||
|
<ixz>0.000</ixz>
|
||||||
|
<iyy>0.001</iyy>
|
||||||
|
<iyz>0.000</iyz>
|
||||||
|
<izz>0.001</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>0.114</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="lidar_sensor_collision">
|
||||||
|
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.0508</radius>
|
||||||
|
<length>0.055</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="lidar_sensor_visual">
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<sensor name="hls_lfcd_lds" type="ray">
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<update_rate>5</update_rate>
|
||||||
|
<ray>
|
||||||
|
<scan>
|
||||||
|
<horizontal>
|
||||||
|
<samples>360</samples>
|
||||||
|
<resolution>1.000000</resolution>
|
||||||
|
<min_angle>0.000000</min_angle>
|
||||||
|
<max_angle>6.280000</max_angle>
|
||||||
|
</horizontal>
|
||||||
|
</scan>
|
||||||
|
<range>
|
||||||
|
<min>0.120000</min>
|
||||||
|
<max>3.5</max>
|
||||||
|
<resolution>0.015000</resolution>
|
||||||
|
</range>
|
||||||
|
<noise>
|
||||||
|
<type>gaussian</type>
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>0.01</stddev>
|
||||||
|
</noise>
|
||||||
|
</ray>
|
||||||
|
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=scan</remapping>
|
||||||
|
</ros>
|
||||||
|
<output_type>sensor_msgs/LaserScan</output_type>
|
||||||
|
<frame_name>base_scan</frame_name>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="wheel_left_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>1.8158194e-03</ixx>
|
||||||
|
<ixy>-9.3392e-12</ixy>
|
||||||
|
<ixz>1.04909e-11</ixz>
|
||||||
|
<iyy>3.2922126e-03</iyy>
|
||||||
|
<iyz>5.75694e-11</iyz>
|
||||||
|
<izz>1.8158194e-03</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>2.8498940e-02</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="wheel_left_collision">
|
||||||
|
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.033</radius>
|
||||||
|
<length>0.018</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<!-- This friction pamareter don't contain reliable data!! -->
|
||||||
|
<friction>
|
||||||
|
<ode>
|
||||||
|
<mu>100000.0</mu>
|
||||||
|
<mu2>100000.0</mu2>
|
||||||
|
<fdir1>0 0 0</fdir1>
|
||||||
|
<slip1>0.0</slip1>
|
||||||
|
<slip2>0.0</slip2>
|
||||||
|
</ode>
|
||||||
|
</friction>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="wheel_left_visual">
|
||||||
|
<pose>0 0.08 0.023 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="wheel_right_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>1.8158194e-03</ixx>
|
||||||
|
<ixy>-9.3392e-12</ixy>
|
||||||
|
<ixz>1.04909e-11</ixz>
|
||||||
|
<iyy>3.2922126e-03</iyy>
|
||||||
|
<iyz>5.75694e-11</iyz>
|
||||||
|
<izz>1.8158194e-03</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>2.8498940e-02</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="wheel_right_collision">
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.033</radius>
|
||||||
|
<length>0.018</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<!-- This friction pamareter don't contain reliable data!! -->
|
||||||
|
<friction>
|
||||||
|
<ode>
|
||||||
|
<mu>100000.0</mu>
|
||||||
|
<mu2>100000.0</mu2>
|
||||||
|
<fdir1>0 0 0</fdir1>
|
||||||
|
<slip1>0.0</slip1>
|
||||||
|
<slip2>0.0</slip2>
|
||||||
|
</ode>
|
||||||
|
</friction>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="wheel_right_visual">
|
||||||
|
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name='caster_back_link'>
|
||||||
|
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||||
|
<inertial>
|
||||||
|
<mass>0.005</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.001</ixx>
|
||||||
|
<ixy>0.000</ixy>
|
||||||
|
<ixz>0.000</ixz>
|
||||||
|
<iyy>0.001</iyy>
|
||||||
|
<iyz>0.000</iyz>
|
||||||
|
<izz>0.001</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<collision name='collision'>
|
||||||
|
<geometry>
|
||||||
|
<sphere>
|
||||||
|
<radius>0.005000</radius>
|
||||||
|
</sphere>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<parent>base_footprint</parent>
|
||||||
|
<child>base_link</child>
|
||||||
|
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="wheel_left_joint" type="revolute">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>wheel_left_link</child>
|
||||||
|
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="wheel_right_joint" type="revolute">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>wheel_right_link</child>
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name='caster_back_joint' type='ball'>
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>caster_back_link</child>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="imu_joint" type="fixed">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>imu_link</child>
|
||||||
|
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="lidar_joint" type="fixed">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>base_scan</child>
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||||
|
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
</ros>
|
||||||
|
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
|
||||||
|
<!-- wheels -->
|
||||||
|
<left_joint>wheel_left_joint</left_joint>
|
||||||
|
<right_joint>wheel_right_joint</right_joint>
|
||||||
|
|
||||||
|
<!-- kinematics -->
|
||||||
|
<wheel_separation>0.160</wheel_separation>
|
||||||
|
<wheel_diameter>0.066</wheel_diameter>
|
||||||
|
|
||||||
|
<!-- limits -->
|
||||||
|
<max_wheel_torque>20</max_wheel_torque>
|
||||||
|
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||||
|
|
||||||
|
<command_topic>cmd_vel</command_topic>
|
||||||
|
|
||||||
|
<!-- output -->
|
||||||
|
<publish_odom>true</publish_odom>
|
||||||
|
<publish_odom_tf>true</publish_odom_tf>
|
||||||
|
<publish_wheel_tf>false</publish_wheel_tf>
|
||||||
|
|
||||||
|
<odometry_topic>odom</odometry_topic>
|
||||||
|
<odometry_frame>odom</odometry_frame>
|
||||||
|
<robot_base_frame>base_footprint</robot_base_frame>
|
||||||
|
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=joint_states</remapping>
|
||||||
|
</ros>
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
<joint_name>wheel_left_joint</joint_name>
|
||||||
|
<joint_name>wheel_right_joint</joint_name>
|
||||||
|
</plugin>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
@@ -0,0 +1,17 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
|
||||||
|
<model>
|
||||||
|
<name>TurtleBot3(Burger)</name>
|
||||||
|
<version>2.0</version>
|
||||||
|
<sdf version="1.4">model-1_4.sdf</sdf>
|
||||||
|
<sdf version="1.5">model.sdf</sdf>
|
||||||
|
|
||||||
|
<author>
|
||||||
|
<name>Taehun Lim(Darby)</name>
|
||||||
|
<email>thlim@robotis.com</email>
|
||||||
|
</author>
|
||||||
|
|
||||||
|
<description>
|
||||||
|
TurtleBot3 Burger
|
||||||
|
</description>
|
||||||
|
</model>
|
||||||
@@ -0,0 +1,467 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.5">
|
||||||
|
<model name="turtlebot3_burger">
|
||||||
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||||
|
|
||||||
|
<link name="base_footprint"/>
|
||||||
|
|
||||||
|
<link name="base_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>7.2397393e-01</ixx>
|
||||||
|
<ixy>4.686399e-10</ixy>
|
||||||
|
<ixz>-1.09525703e-08</ixz>
|
||||||
|
<iyy>7.2397393e-01</iyy>
|
||||||
|
<iyz>2.8582649e-09</iyz>
|
||||||
|
<izz>6.53050163e-01</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>8.2573504e-01</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="base_collision">
|
||||||
|
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.140 0.140 0.140</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="base_visual">
|
||||||
|
<pose>-0.032 0 0 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/bases/burger_base.stl</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>0.3 0.3 0.3 1.0</ambient>
|
||||||
|
<diffuse>0.3 0.3 0.3 1.0</diffuse>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="imu_link">
|
||||||
|
<sensor name="tb3_imu" type="imu">
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<update_rate>200</update_rate>
|
||||||
|
<imu>
|
||||||
|
<angular_velocity>
|
||||||
|
<x>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</x>
|
||||||
|
<y>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</y>
|
||||||
|
<z>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</z>
|
||||||
|
</angular_velocity>
|
||||||
|
<linear_acceleration>
|
||||||
|
<x>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</x>
|
||||||
|
<y>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</y>
|
||||||
|
<z>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</z>
|
||||||
|
</linear_acceleration>
|
||||||
|
</imu>
|
||||||
|
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=imu</remapping>
|
||||||
|
</ros>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="base_scan">
|
||||||
|
<inertial>
|
||||||
|
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.001</ixx>
|
||||||
|
<ixy>0.000</ixy>
|
||||||
|
<ixz>0.000</ixz>
|
||||||
|
<iyy>0.001</iyy>
|
||||||
|
<iyz>0.000</iyz>
|
||||||
|
<izz>0.001</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>0.114</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="lidar_sensor_collision">
|
||||||
|
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.0508</radius>
|
||||||
|
<length>0.055</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="lidar_sensor_visual">
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/sensors/lds.stl</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||||
|
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<sensor name="hls_lfcd_lds" type="ray">
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<update_rate>5</update_rate>
|
||||||
|
<ray>
|
||||||
|
<scan>
|
||||||
|
<horizontal>
|
||||||
|
<samples>360</samples>
|
||||||
|
<resolution>1.000000</resolution>
|
||||||
|
<min_angle>0.000000</min_angle>
|
||||||
|
<max_angle>6.280000</max_angle>
|
||||||
|
</horizontal>
|
||||||
|
</scan>
|
||||||
|
<range>
|
||||||
|
<min>0.120000</min>
|
||||||
|
<max>3.5</max>
|
||||||
|
<resolution>0.015000</resolution>
|
||||||
|
</range>
|
||||||
|
<noise>
|
||||||
|
<type>gaussian</type>
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>0.01</stddev>
|
||||||
|
</noise>
|
||||||
|
</ray>
|
||||||
|
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=scan</remapping>
|
||||||
|
</ros>
|
||||||
|
<output_type>sensor_msgs/LaserScan</output_type>
|
||||||
|
<frame_name>base_scan</frame_name>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="velodyne_link">
|
||||||
|
<pose>0 0 0.24 0 0 0</pose>
|
||||||
|
<inertial>
|
||||||
|
<mass>0.12</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.00012</ixx>
|
||||||
|
<iyy>0.00012</iyy>
|
||||||
|
<izz>0.00012</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<visual name="velodyne_visual">
|
||||||
|
<geometry><cylinder><radius>0.035</radius><length>0.055</length></cylinder></geometry>
|
||||||
|
<material><ambient>0.08 0.08 0.08 1</ambient><diffuse>0.12 0.12 0.12 1</diffuse></material>
|
||||||
|
</visual>
|
||||||
|
<collision name="velodyne_collision">
|
||||||
|
<geometry><cylinder><radius>0.035</radius><length>0.055</length></cylinder></geometry>
|
||||||
|
</collision>
|
||||||
|
<sensor name="velodyne_3d" type="ray">
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<visualize>false</visualize>
|
||||||
|
<update_rate>10</update_rate>
|
||||||
|
<ray>
|
||||||
|
<scan>
|
||||||
|
<horizontal><samples>720</samples><resolution>1</resolution><min_angle>-3.141593</min_angle><max_angle>3.141593</max_angle></horizontal>
|
||||||
|
<vertical><samples>16</samples><resolution>1</resolution><min_angle>-0.261799</min_angle><max_angle>0.261799</max_angle></vertical>
|
||||||
|
</scan>
|
||||||
|
<range><min>0.20</min><max>20.0</max><resolution>0.01</resolution></range>
|
||||||
|
<noise><type>gaussian</type><mean>0.0</mean><stddev>0.01</stddev></noise>
|
||||||
|
</ray>
|
||||||
|
<plugin name="velodyne_3d_ros" filename="libgazebo_ros_ray_sensor.so">
|
||||||
|
<ros><remapping>~/out:=raw/lidar</remapping></ros>
|
||||||
|
<output_type>sensor_msgs/PointCloud2</output_type>
|
||||||
|
<frame_name>velodyne_link</frame_name>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="wheel_left_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>1.8158194e-03</ixx>
|
||||||
|
<ixy>-9.3392e-12</ixy>
|
||||||
|
<ixz>1.04909e-11</ixz>
|
||||||
|
<iyy>3.2922126e-03</iyy>
|
||||||
|
<iyz>5.75694e-11</iyz>
|
||||||
|
<izz>1.8158194e-03</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>2.8498940e-02</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="wheel_left_collision">
|
||||||
|
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.033</radius>
|
||||||
|
<length>0.018</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<!-- This friction pamareter don't contain reliable data!! -->
|
||||||
|
<friction>
|
||||||
|
<ode>
|
||||||
|
<mu>100000.0</mu>
|
||||||
|
<mu2>100000.0</mu2>
|
||||||
|
<fdir1>0 0 0</fdir1>
|
||||||
|
<slip1>0.0</slip1>
|
||||||
|
<slip2>0.0</slip2>
|
||||||
|
</ode>
|
||||||
|
</friction>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="wheel_left_visual">
|
||||||
|
<pose>0 0.08 0.023 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/wheels/left_tire.stl</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||||
|
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="wheel_right_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>1.8158194e-03</ixx>
|
||||||
|
<ixy>-9.3392e-12</ixy>
|
||||||
|
<ixz>1.04909e-11</ixz>
|
||||||
|
<iyy>3.2922126e-03</iyy>
|
||||||
|
<iyz>5.75694e-11</iyz>
|
||||||
|
<izz>1.8158194e-03</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>2.8498940e-02</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="wheel_right_collision">
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.033</radius>
|
||||||
|
<length>0.018</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<!-- This friction pamareter don't contain reliable data!! -->
|
||||||
|
<friction>
|
||||||
|
<ode>
|
||||||
|
<mu>100000.0</mu>
|
||||||
|
<mu2>100000.0</mu2>
|
||||||
|
<fdir1>0 0 0</fdir1>
|
||||||
|
<slip1>0.0</slip1>
|
||||||
|
<slip2>0.0</slip2>
|
||||||
|
</ode>
|
||||||
|
</friction>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="wheel_right_visual">
|
||||||
|
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/wheels/right_tire.stl</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>0.2 0.2 0.2 1.0</ambient>
|
||||||
|
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name='caster_back_link'>
|
||||||
|
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||||
|
<inertial>
|
||||||
|
<mass>0.005</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.001</ixx>
|
||||||
|
<ixy>0.000</ixy>
|
||||||
|
<ixz>0.000</ixz>
|
||||||
|
<iyy>0.001</iyy>
|
||||||
|
<iyz>0.000</iyz>
|
||||||
|
<izz>0.001</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<collision name='collision'>
|
||||||
|
<geometry>
|
||||||
|
<sphere>
|
||||||
|
<radius>0.005000</radius>
|
||||||
|
</sphere>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<parent>base_footprint</parent>
|
||||||
|
<child>base_link</child>
|
||||||
|
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="wheel_left_joint" type="revolute">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>wheel_left_link</child>
|
||||||
|
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="wheel_right_joint" type="revolute">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>wheel_right_link</child>
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name='caster_back_joint' type='ball'>
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>caster_back_link</child>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="imu_joint" type="fixed">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>imu_link</child>
|
||||||
|
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="lidar_joint" type="fixed">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>base_scan</child>
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="velodyne_joint" type="fixed">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>velodyne_link</child>
|
||||||
|
<pose>0 0 0.24 0 0 0</pose>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||||
|
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
</ros>
|
||||||
|
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
|
||||||
|
<!-- wheels -->
|
||||||
|
<left_joint>wheel_left_joint</left_joint>
|
||||||
|
<right_joint>wheel_right_joint</right_joint>
|
||||||
|
|
||||||
|
<!-- kinematics -->
|
||||||
|
<wheel_separation>0.160</wheel_separation>
|
||||||
|
<wheel_diameter>0.066</wheel_diameter>
|
||||||
|
|
||||||
|
<!-- limits -->
|
||||||
|
<max_wheel_torque>20</max_wheel_torque>
|
||||||
|
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||||
|
|
||||||
|
<command_topic>cmd_vel</command_topic>
|
||||||
|
|
||||||
|
<!-- output -->
|
||||||
|
<publish_odom>true</publish_odom>
|
||||||
|
<publish_odom_tf>true</publish_odom_tf>
|
||||||
|
<publish_wheel_tf>false</publish_wheel_tf>
|
||||||
|
|
||||||
|
<odometry_topic>odom</odometry_topic>
|
||||||
|
<odometry_frame>odom</odometry_frame>
|
||||||
|
<robot_base_frame>base_footprint</robot_base_frame>
|
||||||
|
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=joint_states</remapping>
|
||||||
|
</ros>
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
<joint_name>wheel_left_joint</joint_name>
|
||||||
|
<joint_name>wheel_right_joint</joint_name>
|
||||||
|
</plugin>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
@@ -0,0 +1,408 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.4">
|
||||||
|
<model name="turtlebot3_burger">
|
||||||
|
<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
|
||||||
|
|
||||||
|
<link name="base_footprint"/>
|
||||||
|
|
||||||
|
<link name="base_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>7.2397393e-01</ixx>
|
||||||
|
<ixy>4.686399e-10</ixy>
|
||||||
|
<ixz>-1.09525703e-08</ixz>
|
||||||
|
<iyy>7.2397393e-01</iyy>
|
||||||
|
<iyz>2.8582649e-09</iyz>
|
||||||
|
<izz>6.53050163e-01</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>8.2573504e-01</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="base_collision">
|
||||||
|
<pose>-0.032 0 0.070 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<box>
|
||||||
|
<size>0.140 0.140 0.140</size>
|
||||||
|
</box>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="base_visual">
|
||||||
|
<pose>-0.032 0 0 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/burger_base.dae</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="imu_link">
|
||||||
|
<sensor name="tb3_imu" type="imu">
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<update_rate>200</update_rate>
|
||||||
|
<imu>
|
||||||
|
<angular_velocity>
|
||||||
|
<x>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</x>
|
||||||
|
<y>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</y>
|
||||||
|
<z>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>2e-4</stddev>
|
||||||
|
</noise>
|
||||||
|
</z>
|
||||||
|
</angular_velocity>
|
||||||
|
<linear_acceleration>
|
||||||
|
<x>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</x>
|
||||||
|
<y>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</y>
|
||||||
|
<z>
|
||||||
|
<noise type="gaussian">
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>1.7e-2</stddev>
|
||||||
|
</noise>
|
||||||
|
</z>
|
||||||
|
</linear_acceleration>
|
||||||
|
</imu>
|
||||||
|
<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=imu</remapping>
|
||||||
|
</ros>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="base_scan">
|
||||||
|
<inertial>
|
||||||
|
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.001</ixx>
|
||||||
|
<ixy>0.000</ixy>
|
||||||
|
<ixz>0.000</ixz>
|
||||||
|
<iyy>0.001</iyy>
|
||||||
|
<iyz>0.000</iyz>
|
||||||
|
<izz>0.001</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>0.114</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="lidar_sensor_collision">
|
||||||
|
<pose>-0.020 0 0.161 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.0508</radius>
|
||||||
|
<length>0.055</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="lidar_sensor_visual">
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/lds.dae</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<sensor name="hls_lfcd_lds" type="ray">
|
||||||
|
<always_on>true</always_on>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<update_rate>5</update_rate>
|
||||||
|
<ray>
|
||||||
|
<scan>
|
||||||
|
<horizontal>
|
||||||
|
<samples>360</samples>
|
||||||
|
<resolution>1.000000</resolution>
|
||||||
|
<min_angle>0.000000</min_angle>
|
||||||
|
<max_angle>6.280000</max_angle>
|
||||||
|
</horizontal>
|
||||||
|
</scan>
|
||||||
|
<range>
|
||||||
|
<min>0.120000</min>
|
||||||
|
<max>3.5</max>
|
||||||
|
<resolution>0.015000</resolution>
|
||||||
|
</range>
|
||||||
|
<noise>
|
||||||
|
<type>gaussian</type>
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>0.01</stddev>
|
||||||
|
</noise>
|
||||||
|
</ray>
|
||||||
|
<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=scan</remapping>
|
||||||
|
</ros>
|
||||||
|
<output_type>sensor_msgs/LaserScan</output_type>
|
||||||
|
<frame_name>base_scan</frame_name>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="wheel_left_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>1.8158194e-03</ixx>
|
||||||
|
<ixy>-9.3392e-12</ixy>
|
||||||
|
<ixz>1.04909e-11</ixz>
|
||||||
|
<iyy>3.2922126e-03</iyy>
|
||||||
|
<iyz>5.75694e-11</iyz>
|
||||||
|
<izz>1.8158194e-03</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>2.8498940e-02</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="wheel_left_collision">
|
||||||
|
<pose>0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.033</radius>
|
||||||
|
<length>0.018</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<!-- This friction pamareter don't contain reliable data!! -->
|
||||||
|
<friction>
|
||||||
|
<ode>
|
||||||
|
<mu>100000.0</mu>
|
||||||
|
<mu2>100000.0</mu2>
|
||||||
|
<fdir1>0 0 0</fdir1>
|
||||||
|
<slip1>0.0</slip1>
|
||||||
|
<slip2>0.0</slip2>
|
||||||
|
</ode>
|
||||||
|
</friction>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="wheel_left_visual">
|
||||||
|
<pose>0 0.08 0.023 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name="wheel_right_link">
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<inertia>
|
||||||
|
<ixx>1.8158194e-03</ixx>
|
||||||
|
<ixy>-9.3392e-12</ixy>
|
||||||
|
<ixz>1.04909e-11</ixz>
|
||||||
|
<iyy>3.2922126e-03</iyy>
|
||||||
|
<iyz>5.75694e-11</iyz>
|
||||||
|
<izz>1.8158194e-03</izz>
|
||||||
|
</inertia>
|
||||||
|
<mass>2.8498940e-02</mass>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
<collision name="wheel_right_collision">
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<cylinder>
|
||||||
|
<radius>0.033</radius>
|
||||||
|
<length>0.018</length>
|
||||||
|
</cylinder>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<!-- This friction pamareter don't contain reliable data!! -->
|
||||||
|
<friction>
|
||||||
|
<ode>
|
||||||
|
<mu>100000.0</mu>
|
||||||
|
<mu2>100000.0</mu2>
|
||||||
|
<fdir1>0 0 0</fdir1>
|
||||||
|
<slip1>0.0</slip1>
|
||||||
|
<slip2>0.0</slip2>
|
||||||
|
</ode>
|
||||||
|
</friction>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
|
||||||
|
<visual name="wheel_right_visual">
|
||||||
|
<pose>0.0 -0.08 0.023 0 0 0</pose>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<uri>model://turtlebot3_common/meshes/tire.dae</uri>
|
||||||
|
<scale>0.001 0.001 0.001</scale>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<link name='caster_back_link'>
|
||||||
|
<pose>-0.081 0 -0.004 -1.57 0 0</pose>
|
||||||
|
<inertial>
|
||||||
|
<mass>0.005</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.001</ixx>
|
||||||
|
<ixy>0.000</ixy>
|
||||||
|
<ixz>0.000</ixz>
|
||||||
|
<iyy>0.001</iyy>
|
||||||
|
<iyz>0.000</iyz>
|
||||||
|
<izz>0.001</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<collision name='collision'>
|
||||||
|
<geometry>
|
||||||
|
<sphere>
|
||||||
|
<radius>0.005000</radius>
|
||||||
|
</sphere>
|
||||||
|
</geometry>
|
||||||
|
<surface>
|
||||||
|
<contact>
|
||||||
|
<ode>
|
||||||
|
<soft_cfm>0</soft_cfm>
|
||||||
|
<soft_erp>0.2</soft_erp>
|
||||||
|
<kp>1e+5</kp>
|
||||||
|
<kd>1</kd>
|
||||||
|
<max_vel>0.01</max_vel>
|
||||||
|
<min_depth>0.001</min_depth>
|
||||||
|
</ode>
|
||||||
|
</contact>
|
||||||
|
</surface>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<parent>base_footprint</parent>
|
||||||
|
<child>base_link</child>
|
||||||
|
<pose>0.0 0.0 0.010 0 0 0</pose>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="wheel_left_joint" type="revolute">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>wheel_left_link</child>
|
||||||
|
<pose>0.0 0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="wheel_right_joint" type="revolute">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>wheel_right_link</child>
|
||||||
|
<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name='caster_back_joint' type='ball'>
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>caster_back_link</child>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="imu_joint" type="fixed">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>imu_link</child>
|
||||||
|
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="lidar_joint" type="fixed">
|
||||||
|
<parent>base_link</parent>
|
||||||
|
<child>base_scan</child>
|
||||||
|
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||||
|
<axis>
|
||||||
|
<xyz>0 0 1</xyz>
|
||||||
|
</axis>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||||
|
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
</ros>
|
||||||
|
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
|
||||||
|
<!-- wheels -->
|
||||||
|
<left_joint>wheel_left_joint</left_joint>
|
||||||
|
<right_joint>wheel_right_joint</right_joint>
|
||||||
|
|
||||||
|
<!-- kinematics -->
|
||||||
|
<wheel_separation>0.160</wheel_separation>
|
||||||
|
<wheel_diameter>0.066</wheel_diameter>
|
||||||
|
|
||||||
|
<!-- limits -->
|
||||||
|
<max_wheel_torque>20</max_wheel_torque>
|
||||||
|
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||||
|
|
||||||
|
<command_topic>cmd_vel</command_topic>
|
||||||
|
|
||||||
|
<!-- output -->
|
||||||
|
<publish_odom>true</publish_odom>
|
||||||
|
<publish_odom_tf>true</publish_odom_tf>
|
||||||
|
<publish_wheel_tf>false</publish_wheel_tf>
|
||||||
|
|
||||||
|
<odometry_topic>odom</odometry_topic>
|
||||||
|
<odometry_frame>odom</odometry_frame>
|
||||||
|
<robot_base_frame>base_footprint</robot_base_frame>
|
||||||
|
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||||
|
<ros>
|
||||||
|
<!-- <namespace>/tb3</namespace> -->
|
||||||
|
<remapping>~/out:=joint_states</remapping>
|
||||||
|
</ros>
|
||||||
|
<update_rate>30</update_rate>
|
||||||
|
<joint_name>wheel_left_joint</joint_name>
|
||||||
|
<joint_name>wheel_right_joint</joint_name>
|
||||||
|
</plugin>
|
||||||
|
</model>
|
||||||
|
</sdf>
|
||||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user