From 8f375161d3f7ce992d20c0425b720116c0ad47ad Mon Sep 17 00:00:00 2001
From: alan le run <alan.lerun@gmail.com>
Date: Wed, 17 Jan 2024 10:16:41 +0100
Subject: [PATCH] tag aruco on the robot

---
 src/ezbot_descr_simul/CMakeLists.txt          |  10 ++
 src/ezbot_descr_simul/description/imu.xacro   |  98 ++++++++++++++++++
 .../description/robot.urdf.xacro              |   2 +-
 .../description/robot_core.xacro              |  12 ++-
 .../media/materials/scripts/aruco.material    |  14 +++
 .../media/materials/textures/aruco_id0.png    | Bin 0 -> 1648 bytes
 6 files changed, 133 insertions(+), 3 deletions(-)
 create mode 100644 src/ezbot_descr_simul/description/imu.xacro
 create mode 100644 src/ezbot_descr_simul/media/materials/scripts/aruco.material
 create mode 100644 src/ezbot_descr_simul/media/materials/textures/aruco_id0.png

diff --git a/src/ezbot_descr_simul/CMakeLists.txt b/src/ezbot_descr_simul/CMakeLists.txt
index f47adf0..65e6f86 100644
--- a/src/ezbot_descr_simul/CMakeLists.txt
+++ b/src/ezbot_descr_simul/CMakeLists.txt
@@ -37,4 +37,14 @@ install(
   DESTINATION share/${PROJECT_NAME}
 )
 
+install(
+  DIRECTORY media/
+  DESTINATION $ENV{HOME}/.gazebo/media/
+)
+
+
+install(DIRECTORY media/
+  DESTINATION share/${PROJECT_NAME}/media/
+)
+
 ament_package()
diff --git a/src/ezbot_descr_simul/description/imu.xacro b/src/ezbot_descr_simul/description/imu.xacro
new file mode 100644
index 0000000..c58cc02
--- /dev/null
+++ b/src/ezbot_descr_simul/description/imu.xacro
@@ -0,0 +1,98 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+    <joint name="imu_joint" type="fixed">
+        <parent link="chassis"/>
+        <child link="imu_link"/>
+        <origin xyz="0.055 0 0.175" rpy="0 0 0"/>
+    </joint>
+
+    <link name="imu_link">
+        <visual>
+            <geometry>
+                <box size="0.03 0.03 0.03"/>
+            </geometry>
+            <material name="black"/>
+        </visual>
+    </link>
+
+
+    <gazebo reference="imu_link">
+        <material>Gazebo/Black</material>
+
+        <gravity>true</gravity>
+        <sensor name="imu_sensor" type="imu">
+            <always_on>true</always_on>
+            <update_rate>100</update_rate>
+            <visualize>true</visualize>
+            <topic>__default_topic__</topic>
+            <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
+                <topicName>imu</topicName>
+                <bodyName>imu_link</bodyName>
+                <updateRateHZ>10.0</updateRateHZ>
+                <gaussianNoise>0.0</gaussianNoise>
+                <xyzOffset>0 0 0</xyzOffset>
+                <rpyOffset>0 0 0</rpyOffset>
+                <frameName>imu_link</frameName>
+                <initialOrientationAsReference>false</initialOrientationAsReference>
+            </plugin>
+            <pose>0 0 0 0 0 0</pose>
+            <imu>
+            <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>2e-4</stddev>
+                <bias_mean>0.0000075</bias_mean>
+                <bias_stddev>0.0000008</bias_stddev>
+              </noise>
+            </z>
+            </angular_velocity>
+            <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0.0</mean>
+                <stddev>1.7e-2</stddev>
+                <bias_mean>0.1</bias_mean>
+                <bias_stddev>0.001</bias_stddev>
+              </noise>
+            </z>
+            </linear_acceleration>
+            </imu>
+
+        </sensor>
+    </gazebo>
+
+</robot>
\ No newline at end of file
diff --git a/src/ezbot_descr_simul/description/robot.urdf.xacro b/src/ezbot_descr_simul/description/robot.urdf.xacro
index 9688cb7..c03007a 100644
--- a/src/ezbot_descr_simul/description/robot.urdf.xacro
+++ b/src/ezbot_descr_simul/description/robot.urdf.xacro
@@ -5,5 +5,5 @@
     <xacro:include filename="lidar.xacro"/>
     <xacro:include filename="gazebo_control.xacro" />
     <xacro:include filename="camera.xacro" />
-
+    <xacro:include filename="imu.xacro" />
 </robot>
\ No newline at end of file
diff --git a/src/ezbot_descr_simul/description/robot_core.xacro b/src/ezbot_descr_simul/description/robot_core.xacro
index 9b374bf..f4e96e2 100644
--- a/src/ezbot_descr_simul/description/robot_core.xacro
+++ b/src/ezbot_descr_simul/description/robot_core.xacro
@@ -86,8 +86,16 @@
         </xacro:inertial_box>
     </link>
 
-    <gazebo reference="bloc_aruco">
-        <material>aruco/material</material>
+    <gazebo reference="bloc_aruco" link="">
+        <visual>
+        <material>
+            <script>
+                <uri>$(find ezbot_descr_simul)/media/materials/scripts</uri>
+                <uri>$(find ezbot_descr_simul)/media/materials/textures</uri>
+                <name>arucoMat</name>
+            </script>
+        </material>
+        </visual>
     </gazebo>
     <!--bloc avant-->
 
diff --git a/src/ezbot_descr_simul/media/materials/scripts/aruco.material b/src/ezbot_descr_simul/media/materials/scripts/aruco.material
new file mode 100644
index 0000000..6b18c8f
--- /dev/null
+++ b/src/ezbot_descr_simul/media/materials/scripts/aruco.material
@@ -0,0 +1,14 @@
+material arucoMat
+{
+	receive_shaddows off
+	technique
+	{
+		pass
+		{
+			texture_unit
+			{
+				texture aruco_id0.png
+			}
+		}
+	}
+}
diff --git a/src/ezbot_descr_simul/media/materials/textures/aruco_id0.png b/src/ezbot_descr_simul/media/materials/textures/aruco_id0.png
new file mode 100644
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