Merge branch 'ezBot-ROS_ws' of https://github.com/Ensmasteel/ezBot in…

…to ezBot-ROS_ws
Ensmasteel · Jan 29, 2024 · 082a906 · 082a906
2 parents cd23143 + 722cb62
commit 082a906
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Showing 16 changed files with 2,022 additions and 3 deletions.
diff --git a/rpi-pico/src/main.cpp b/rpi-pico/src/main.cpp
@@ -100,6 +100,16 @@ int runCommand(){
       Serial.print(arg3);
       Serial.print(" ");
       Serial.println(arg4);
+
+
+      //run the actual steppers
+      steppers[0]->setSpeed(arg1);
+      steppers[1]->setSpeed(arg2);
+      steppers[2]->setSpeed(arg3);
+      steppers[3]->setSpeed(arg4);
+
+
+
       break;
     default:
       Serial.print("Unknown command: ");
@@ -111,6 +121,14 @@ int runCommand(){
 
 
 void loop() {
+
+
+  //run speed each motor
+  for (int i = 0; i < 4; i++)
+  {
+      steppers[i]->runSpeed();
+  }
+
   while(Serial2.available() > 0){
     chr = Serial2.read();
 

diff --git a/src/ezbot_descr_simul/description/lidar.xacro b/src/ezbot_descr_simul/description/lidar.xacro
@@ -38,7 +38,7 @@
 
         <sensor name="laser" type="ray">
             <pose> 0.055 0 0.03 0 0 0 </pose>
-            <visualize>true</visualize>
+            <visualize>false</visualize>
             <update_rate>10</update_rate>
             <ray>
                 <scan>

diff --git a/src/ezbot_descr_simul/description/robot_core.xacro b/src/ezbot_descr_simul/description/robot_core.xacro
@@ -393,4 +393,32 @@
         </collision>
     </gazebo>
 
+    <link name="renverseur_de_panneaux">
+        <visual>
+            <origin xyz="0.055 0.11 0.10"/>
+            <geometry>
+                <box size="0.05 0.20 0.05"/>
+            </geometry>
+            <material name="orange"/>
+        </visual>
+        <collision>
+            <origin xyz="0.055 0.11 0.10"/>
+            <geometry>
+                <box size="0.05 0.20 0.05"/>
+            </geometry>
+        </collision>
+        <xacro:inertial_box mass="0.5" x="0.05" y="0.15" z="0.05">
+            <origin xyz="0.055 0 0.10" rpy="0 0 0"/>
+        </xacro:inertial_box>
+    </link>
+
+    <joint name= "renverseur_de_panneaux_joint" type="fixed">
+        <parent link="chassis"/>
+        <child link="renverseur_de_panneaux"/>
+    </joint>
+
+    <gazebo reference="renverseur_de_panneaux">
+        <material>Gazebo/Purple</material>
+    </gazebo>
+
 </robot>
diff --git a/src/ezbot_descr_simul/launch/launch_sim.launch.py b/src/ezbot_descr_simul/launch/launch_sim.launch.py
@@ -74,7 +74,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             'world',
             #default_value=[os.path.join('ezbot_gazebo','worlds','table2024.world'), ''],
-            default_value=[os.path.join(get_package_share_directory("ezbot_gazebo"), 'worlds', 'table2024Poteaux.world'), ''],
+            default_value=[os.path.join(get_package_share_directory("ezbot_gazebo"), 'worlds', 'table_with_panneaux.world'), ''],
             description='SDF world file'),
         rsp,
         spawn_entity,

diff --git a/src/ezbot_descr_simul/package.xml b/src/ezbot_descr_simul/package.xml
@@ -14,6 +14,7 @@
   <depend>stg_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
+  <depend>python3-opencv</depend>
   <depend>rclpy</depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/src/ezbot_gazebo/models/SolarPanel/materials/scripts/solarPanel.material b/src/ezbot_gazebo/models/SolarPanel/materials/scripts/solarPanel.material
@@ -0,0 +1,14 @@
+material solarPanelMat/Diffuse
+{
+	receive_shaddows off
+	technique
+	{
+		pass
+		{
+			texture_unit
+			{
+				texture texture.png
+			}
+		}
+	}
+}
diff --git a/src/ezbot_gazebo/models/SolarPanel/materials/textures/texture.png b/src/ezbot_gazebo/models/SolarPanel/materials/textures/texture.png
diff --git a/src/ezbot_gazebo/models/SolarPanel/model.config b/src/ezbot_gazebo/models/SolarPanel/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>SolarPanel</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Vincent Belpois</name>
+        <email>[email protected]</email>
+    </author>
+    <description>solar panel for the table for the 2024 Coupe de France de Robotique and EuroBot</description>
+</model>
diff --git a/src/ezbot_gazebo/models/SolarPanel/model.sdf b/src/ezbot_gazebo/models/SolarPanel/model.sdf
@@ -0,0 +1,132 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='SolarPanel'>
+
+
+
+    <link name="solar_panel_base_link">
+
+      <gravity>0</gravity>
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>supportSolarPanel.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+
+
+    <link name='solar_panel'>
+      <inertial>
+        <inertia>
+          <ixx>0.01</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.01</iyy>
+          <iyz>0</iyz>
+          <izz>0.01</izz>
+        </inertia>
+      </inertial>
+      <pose>0 0 0.055 0 0 3.141592</pose>
+      <visual name='visual'>
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>solarPanelTextured.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <material>
+          <lighting>1</lighting>
+          <script>
+            <uri>materials/scripts</uri>
+            <uri>materials/textures</uri>
+            <name>solarPanelMat/Diffuse</name>
+            <name>Gazebo/Grey</name>
+          </script>
+          <shader type='pixel'/>
+        </material>
+        <transparency>0</transparency>
+        <cast_shadows>1</cast_shadows>
+      </visual>
+      <collision name='collision'>
+        <laser_retro>0</laser_retro>
+        <max_contacts>10</max_contacts>
+        <pose>0 0 0 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>solarPanelTextured.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>1</mu>
+              <mu2>1</mu2>
+              <fdir1>0 0 0</fdir1>
+              <slip1>0</slip1>
+              <slip2>0</slip2>
+            </ode>
+            <torsional>
+              <coefficient>1</coefficient>
+              <patch_radius>0</patch_radius>
+              <surface_radius>0</surface_radius>
+              <use_patch_radius>1</use_patch_radius>
+              <ode>
+                <slip>0</slip>
+              </ode>
+            </torsional>
+          </friction>
+          <bounce>
+            <restitution_coefficient>0</restitution_coefficient>
+            <threshold>1e+06</threshold>
+          </bounce>
+          <contact>
+            <collide_without_contact>0</collide_without_contact>
+            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
+            <collide_bitmask>1</collide_bitmask>
+            <ode>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+              <max_vel>0.01</max_vel>
+              <min_depth>0.01</min_depth>
+            </ode>
+            <bullet>
+              <split_impulse>1</split_impulse>
+              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
+              <soft_cfm>0</soft_cfm>
+              <soft_erp>0.2</soft_erp>
+              <kp>1e+13</kp>
+              <kd>1</kd>
+            </bullet>
+          </contact>
+        </surface>
+      </collision>
+    </link>
+    <allow_auto_disable>1</allow_auto_disable>
+
+    <joint name="revolution" type="revolute">
+      <parent>solar_panel_base_link</parent>
+      <child>solar_panel</child>
+      <axis>
+        <xyz>0 0 1</xyz>
+         <dynamics>
+            <friction>0.005</friction>
+            <damping>0.001</damping>
+        </dynamics>
+      </axis>
+      <pose>0 0 0 0 -0 0</pose>
+    </joint>
+
+
+    <joint name ='fix' type='fixed'>
+      <parent>world</parent>
+      <child>solar_panel_base_link</child>
+    </joint>
+  </model>
+</sdf>
diff --git a/src/ezbot_gazebo/models/SolarPanel/solarPanel.blend b/src/ezbot_gazebo/models/SolarPanel/solarPanel.blend