From 8cddecd4f852d6a3a23c31c0eab3faac1b3e5b87 Mon Sep 17 00:00:00 2001 From: alan le run Date: Wed, 17 Jan 2024 15:29:48 +0100 Subject: [PATCH] added a global view camera --- .../launch/launch_sim.launch.py | 20 +- src/ezbot_static_camera/CMakeLists.txt | 40 ++++ src/ezbot_static_camera/LICENSE.md | 201 ++++++++++++++++++ src/ezbot_static_camera/README.md | 7 + .../description/camera_static.xacro | 50 +++++ .../description/inertial_macros.xacro | 40 ++++ .../description/robot.urdf.xacro | 7 + .../description/robot_core.xacro | 50 +++++ .../launch_sim.launch.cpython-310.pyc | Bin 0 -> 1020 bytes .../launch/joystick.launch.py | 45 ++++ .../launch/launch_sim.launch.py | 64 ++++++ src/ezbot_static_camera/launch/rsp.launch.py | 44 ++++ src/ezbot_static_camera/package.xml | 18 ++ src/ezbot_static_camera/worlds/empty.world | 13 ++ 14 files changed, 597 insertions(+), 2 deletions(-) create mode 100644 src/ezbot_static_camera/CMakeLists.txt create mode 100644 src/ezbot_static_camera/LICENSE.md create mode 100644 src/ezbot_static_camera/README.md create mode 100644 src/ezbot_static_camera/description/camera_static.xacro create mode 100644 src/ezbot_static_camera/description/inertial_macros.xacro create mode 100644 src/ezbot_static_camera/description/robot.urdf.xacro create mode 100644 src/ezbot_static_camera/description/robot_core.xacro create mode 100644 src/ezbot_static_camera/launch/__pycache__/launch_sim.launch.cpython-310.pyc create mode 100644 src/ezbot_static_camera/launch/joystick.launch.py create mode 100644 src/ezbot_static_camera/launch/launch_sim.launch.py create mode 100644 src/ezbot_static_camera/launch/rsp.launch.py create mode 100644 src/ezbot_static_camera/package.xml create mode 100644 src/ezbot_static_camera/worlds/empty.world diff --git a/src/ezbot_descr_simul/launch/launch_sim.launch.py b/src/ezbot_descr_simul/launch/launch_sim.launch.py index 017a5ff..299212c 100644 --- a/src/ezbot_descr_simul/launch/launch_sim.launch.py +++ b/src/ezbot_descr_simul/launch/launch_sim.launch.py @@ -29,6 +29,11 @@ def generate_launch_description(): )]), launch_arguments={'use_sim_time': 'true'}.items() ) + rsp2 = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('ezbot_static_camera'),'launch','rsp.launch.py' + )]), launch_arguments={'use_sim_time': 'true'}.items() + ) # Include the Gazebo launch file, provided by the gazebo_ros package gazebo = IncludeLaunchDescription( PythonLaunchDescriptionSource([os.path.join( @@ -45,6 +50,15 @@ def generate_launch_description(): '-z', '1.0' ], output='screen') + spawn_entity2 = Node(package='gazebo_ros', executable='spawn_entity.py', + namespace='camera_namespace', + name='Pascameracontroller', + arguments=['-topic', 'robot_description', + '-entity', 'camera', + '-x','1.0', + '-y','-1.0', + '-z', '1.0' ], + output='screen') #joystick = IncludeLaunchDescription( # PythonLaunchDescriptionSource([os.path.join( # get_package_share_directory(package_name),'launch','joystick.launch.py' @@ -59,6 +73,8 @@ def generate_launch_description(): default_value=[os.path.join(get_package_share_directory("ezbot_gazebo"), 'worlds', 'table2024Poteaux.world'), ''], description='SDF world file'), rsp, - gazebo, - spawn_entity + spawn_entity, + rsp2, + spawn_entity2, + gazebo ]) \ No newline at end of file diff --git a/src/ezbot_static_camera/CMakeLists.txt b/src/ezbot_static_camera/CMakeLists.txt new file mode 100644 index 0000000..a0491d9 --- /dev/null +++ b/src/ezbot_static_camera/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 3.5) +project(ezbot_static_camera) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY description launch worlds + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/src/ezbot_static_camera/LICENSE.md b/src/ezbot_static_camera/LICENSE.md new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/src/ezbot_static_camera/LICENSE.md @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/src/ezbot_static_camera/README.md b/src/ezbot_static_camera/README.md new file mode 100644 index 0000000..d2f2f88 --- /dev/null +++ b/src/ezbot_static_camera/README.md @@ -0,0 +1,7 @@ +## Robot Package Template + +This is a GitHub template. You can make your own copy by clicking the green "Use this template" button. + +It is recommended that you keep the repo/package name the same, but if you do change it, ensure you do a "Find all" using your IDE (or the built-in GitHub IDE by hitting the `.` key) and rename all instances of `my_bot` to whatever your project's name is. + +Note that each directory currently has at least one file in it to ensure that git tracks the files (and, consequently, that a fresh clone has direcctories present for CMake to find). These example files can be removed if required (and the directories can be removed if `CMakeLists.txt` is adjusted accordingly). \ No newline at end of file diff --git a/src/ezbot_static_camera/description/camera_static.xacro b/src/ezbot_static_camera/description/camera_static.xacro new file mode 100644 index 0000000..4422ff4 --- /dev/null +++ b/src/ezbot_static_camera/description/camera_static.xacro @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + true + false + + + + + Gazebo/Black + false + + 0 0 0 0 0 0 + true + 10 + + 1.089 + + R8G8B8 + 1280 + 1280 + + + 0.05 + 8.0 + + + + + camera_namespace + + camera_link_optical + + + + + \ No newline at end of file diff --git a/src/ezbot_static_camera/description/inertial_macros.xacro b/src/ezbot_static_camera/description/inertial_macros.xacro new file mode 100644 index 0000000..5cf1cac --- /dev/null +++ b/src/ezbot_static_camera/description/inertial_macros.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/ezbot_static_camera/description/robot.urdf.xacro b/src/ezbot_static_camera/description/robot.urdf.xacro new file mode 100644 index 0000000..99a7056 --- /dev/null +++ b/src/ezbot_static_camera/description/robot.urdf.xacro @@ -0,0 +1,7 @@ + + + + + + + \ No newline at end of file diff --git a/src/ezbot_static_camera/description/robot_core.xacro b/src/ezbot_static_camera/description/robot_core.xacro new file mode 100644 index 0000000..e02d9a9 --- /dev/null +++ b/src/ezbot_static_camera/description/robot_core.xacro @@ -0,0 +1,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + Gazebo/Orange + + + + + diff --git a/src/ezbot_static_camera/launch/__pycache__/launch_sim.launch.cpython-310.pyc b/src/ezbot_static_camera/launch/__pycache__/launch_sim.launch.cpython-310.pyc new file mode 100644 index 0000000000000000000000000000000000000000..4ad8f734eb0667f03846d6b5fefcea127d1c6e9a GIT binary patch literal 1020 zcmZuv&2H2%5Vjr1$)?%TA`VDxkvJ|=mlr??@pC{zRi)nc5~Z<~O-bU&cA&f3JuTP1 zL(7d9;9-2_#48|GWt?o;m5MEoKilK+e4j@ShY^DI^UG2kGK7A)#dagGcmqS9g5ikc z5>4DpN?ef%!47++SJ4UWFfILxO<0HhGN{5y*kM)A`| z*dFABldZ}GT&5?Ii_ATL-zb0p#yc3g2E*|Z8Dy{_7v42B{sOHqC)~U7atw%azrfe* z261*pmU!Ef2c2iwd#>=3m;i_ma>S$WnD6lTiY`49F7SdZyxdzkF@`6WRkP$=8q3O# z?tG|pGw$)Ync2A2AWl&wrl^FaMzxN~Uhj~kDsL-M8*QUJor`msD5>XrJ>Eo_KhjP5 zwNAjZFf#}{qH}g^WK(2zUrBgA;TxIf!Ex_s{SWiEE;aZ8A?gve!TP&wBrZkPn)JLB zcCg8U$<{Qj84Z+ER{3Bok=oKGHB(D3WKk5XB_+Vho+c^e_1J BCiMUS literal 0 HcmV?d00001 diff --git a/src/ezbot_static_camera/launch/joystick.launch.py b/src/ezbot_static_camera/launch/joystick.launch.py new file mode 100644 index 0000000..66e33e0 --- /dev/null +++ b/src/ezbot_static_camera/launch/joystick.launch.py @@ -0,0 +1,45 @@ + +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument + +import os +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + use_sim_time = LaunchConfiguration('use_sim_time') + + joy_params = os.path.join(get_package_share_directory('ezbot_static_camera'),'config','joystick.yaml') + + joy_node = Node( + package='joy', + executable='joy_node', + parameters=[joy_params, {'use_sim_time': use_sim_time}], + ) + + teleop_node = Node( + package='teleop_twist_joy', + executable='teleop_twist_joy', + name='teleop_twist_joy', + parameters=[joy_params, {'use_sim_time': use_sim_time}] + ) + + # twist_stamper = Node( + # package='twist_stamper', + # executable='twist_stamper', + # parameters=[{'use_sim_time': use_sim_time}], + # remappings=[('/cmd_vel_in','/diff_cont/cmd_vel_unstamped'), + # ('/cmd_vel_out','/diff_cont/cmd_vel')] + # ) + + + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='true', + description='Use sim time if true'), + joy_node, + teleop_node, + # twist_stamper + ]) \ No newline at end of file diff --git a/src/ezbot_static_camera/launch/launch_sim.launch.py b/src/ezbot_static_camera/launch/launch_sim.launch.py new file mode 100644 index 0000000..a577fe9 --- /dev/null +++ b/src/ezbot_static_camera/launch/launch_sim.launch.py @@ -0,0 +1,64 @@ +# copyright option3 ensma +import os + +from ament_index_python.packages import get_package_share_directory + + +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.actions import DeclareLaunchArgument +import launch_ros.actions +from launch.substitutions import LaunchConfiguration +from launch.launch_description_sources import PythonLaunchDescriptionSource + +from launch_ros.actions import Node + + + +def generate_launch_description(): + + + # Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled + # !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!! + + package_name='ezbot_static_camera' #<--- CHANGE ME + + rsp = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory(package_name),'launch','rsp.launch.py' + )]), launch_arguments={'use_sim_time': 'true'}.items() + ) + + # Include the Gazebo launch file, provided by the gazebo_ros package + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]), + launch_arguments={'verbose': 'true'}.items() + ) + + # Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot. + spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py', + arguments=['-topic', 'robot_description', + '-entity', 'EzBot', + '-x','1.0', + '-y','-1.0', + '-z', '1.0' ], + output='screen') + + #joystick = IncludeLaunchDescription( + # PythonLaunchDescriptionSource([os.path.join( + # get_package_share_directory(package_name),'launch','joystick.launch.py' + # )]), launch_arguments={'use_sim_time': 'true'}.items()) + + + # Launch them all! + return LaunchDescription([ + 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'), ''], + description='SDF world file'), + rsp, + gazebo, + spawn_entity + ]) \ No newline at end of file diff --git a/src/ezbot_static_camera/launch/rsp.launch.py b/src/ezbot_static_camera/launch/rsp.launch.py new file mode 100644 index 0000000..cf11c04 --- /dev/null +++ b/src/ezbot_static_camera/launch/rsp.launch.py @@ -0,0 +1,44 @@ +# Copyright 2023 Vincent Belpois +import os + +from ament_index_python.packages import get_package_share_directory + +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch_ros.actions import Node + +import xacro + + +def generate_launch_description(): + + # Check if we're told to use sim time + use_sim_time = LaunchConfiguration('use_sim_time') + + # Process the URDF file + pkg_path = os.path.join(get_package_share_directory('ezbot_static_camera')) + xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro') + robot_description_config = xacro.process_file(xacro_file) + + # Create a robot_state_publisher node + params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time} + node_robot_state_publisher = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='Pascameracontroller', + namespace='camera_namespace', + output='screen', + parameters=[params] + ) + + + # Launch! + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use sim time if true'), + + node_robot_state_publisher + ]) diff --git a/src/ezbot_static_camera/package.xml b/src/ezbot_static_camera/package.xml new file mode 100644 index 0000000..f377848 --- /dev/null +++ b/src/ezbot_static_camera/package.xml @@ -0,0 +1,18 @@ + + + + ezbot_static_camera + 0.0.0 + TODO: Package description + MY NAME + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/ezbot_static_camera/worlds/empty.world b/src/ezbot_static_camera/worlds/empty.world new file mode 100644 index 0000000..5321672 --- /dev/null +++ b/src/ezbot_static_camera/worlds/empty.world @@ -0,0 +1,13 @@ + + + + + + model://sun + + + + model://ground_plane + + +