diff --git a/rpi-pico/src/main.cpp b/rpi-pico/src/main.cpp index 2f67cd5..a7f390f 100644 --- 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 index 8a019e6..e323691 100644 --- a/src/ezbot_descr_simul/description/lidar.xacro +++ b/src/ezbot_descr_simul/description/lidar.xacro @@ -38,7 +38,7 @@ 0.055 0 0.03 0 0 0 - true + false 10 diff --git a/src/ezbot_descr_simul/description/robot_core.xacro b/src/ezbot_descr_simul/description/robot_core.xacro index ce30b0f..3c93e84 100644 --- a/src/ezbot_descr_simul/description/robot_core.xacro +++ b/src/ezbot_descr_simul/description/robot_core.xacro @@ -393,4 +393,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Purple + + diff --git a/src/ezbot_descr_simul/launch/launch_sim.launch.py b/src/ezbot_descr_simul/launch/launch_sim.launch.py index 1f782ef..6d1ed69 100644 --- 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 index 08d1de6..c495de1 100644 --- a/src/ezbot_descr_simul/package.xml +++ b/src/ezbot_descr_simul/package.xml @@ -14,6 +14,7 @@ stg_msgs cv_bridge image_transport + python3-opencv rclpy ament_lint_auto diff --git a/src/ezbot_gazebo/models/SolarPanel/materials/scripts/solarPanel.material b/src/ezbot_gazebo/models/SolarPanel/materials/scripts/solarPanel.material new file mode 100644 index 0000000..ab9a678 --- /dev/null +++ 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 new file mode 100644 index 0000000..09f8697 Binary files /dev/null and b/src/ezbot_gazebo/models/SolarPanel/materials/textures/texture.png differ diff --git a/src/ezbot_gazebo/models/SolarPanel/model.config b/src/ezbot_gazebo/models/SolarPanel/model.config new file mode 100644 index 0000000..88123a1 --- /dev/null +++ b/src/ezbot_gazebo/models/SolarPanel/model.config @@ -0,0 +1,11 @@ + + + SolarPanel + 1.0 + model.sdf + + Vincent Belpois + vincent.belpois@gmail.com + + solar panel for the table for the 2024 Coupe de France de Robotique and EuroBot + diff --git a/src/ezbot_gazebo/models/SolarPanel/model.sdf b/src/ezbot_gazebo/models/SolarPanel/model.sdf new file mode 100644 index 0000000..7c3483b --- /dev/null +++ b/src/ezbot_gazebo/models/SolarPanel/model.sdf @@ -0,0 +1,132 @@ + + + + + + + + + 0 + + + + supportSolarPanel.dae + 1 1 1 + + + + + + + + + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + + 0 0 0.055 0 0 3.141592 + + 0 0 0 0 0 0 + + + solarPanelTextured.dae + 1 1 1 + + + + 1 + + + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 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solar_panel_base_link + solar_panel + + 0 0 1 + + 0.005 + 0.001 + 0 + 0 + + + -1e+16 + 1e+16 + + + 0 0 0 0 -0 0 + + + world + solar_panel_base_link + + 2.03679 -0.274994 0.044632 0 -0 1.5708 + + + diff --git a/src/homemade_controller/src/homemade_controller.cpp b/src/homemade_controller/src/homemade_controller.cpp index e1cc930..139212f 100644 --- a/src/homemade_controller/src/homemade_controller.cpp +++ b/src/homemade_controller/src/homemade_controller.cpp @@ -69,10 +69,12 @@ class HomemadeController : public rclcpp::Node // send the speed orders to the pico // print the speed orders in the console for now RCLCPP_INFO(this->get_logger(), "I heard: '%f'", msg->linear.x); + RCLCPP_INFO(this->get_logger(), "I heard: '%f'", msg->linear.y); RCLCPP_INFO(this->get_logger(), "I heard: '%f'", msg->angular.z); linear_x = msg->linear.x; + std::vector angular_velocities = {0, 0, 0, 0}; - angular_velocities = fk.getWheelsAngularVelocities(msg->linear.x, 0, msg->angular.z); + angular_velocities = fk.getWheelsAngularVelocities(msg->linear.x, msg->linear.y, msg->angular.z); // comms_.set_motor_values((int) (1000 * msg->linear.x), (int) (1000 * msg->angular.z), 0 , 0); comms_.set_motor_values( (int) angular_velocities[0], (int) angular_velocities[1],