From 5bdfe70e17b641aaae45608c0bf379525a83f639 Mon Sep 17 00:00:00 2001 From: hariharan20 Date: Mon, 11 Dec 2023 00:39:22 +0000 Subject: [PATCH 1/3] Added Simulation Stack --- .github/workflows/ros-ci.yml | 0 .gitignore | 0 README.md | 0 dogtooth_base/CMakeLists.txt | 2 +- dogtooth_base/launch/dogtooth.launch.py | 6 +- dogtooth_control/CMakeLists.txt | 31 +++ dogtooth_control/config/controllers.yaml | 68 +++++ .../config/hardware_controllers.yaml | 0 dogtooth_control/config/view_dogtooth.rviz | 232 ++++++++++++++++++ .../description/dogtooth.ros2_control.xacro | 0 .../description/gazebo_control.xacro | 42 ++++ .../description/ros2_control.xacro | 48 ++++ dogtooth_control/package.xml | 18 ++ dogtooth_description/CMakeLists.txt | 2 +- .../description/dogtooth.urdf.xacro | 15 ++ .../description/dogtooth_hardware.urdf.xacro | 4 +- .../description/robot_core.xacro | 2 +- dogtooth_description/launch/rsp.launch.py | 41 ++++ dogtooth_gazebo/CMakeLists.txt | 31 +++ dogtooth_gazebo/config/gazebo_params.yaml | 3 + dogtooth_gazebo/config/view_dogtooth.rviz | 232 ++++++++++++++++++ dogtooth_gazebo/launch/launch_sim.launch.py | 60 +++++ dogtooth_gazebo/package.xml | 18 ++ 23 files changed, 847 insertions(+), 8 deletions(-) mode change 100644 => 100755 .github/workflows/ros-ci.yml mode change 100644 => 100755 .gitignore mode change 100644 => 100755 README.md create mode 100755 dogtooth_control/CMakeLists.txt create mode 100755 dogtooth_control/config/controllers.yaml rename dogtooth_base/config/controllers.yaml => dogtooth_control/config/hardware_controllers.yaml (100%) create mode 100755 dogtooth_control/config/view_dogtooth.rviz rename {dogtooth_base => dogtooth_control}/description/dogtooth.ros2_control.xacro (100%) create mode 100755 dogtooth_control/description/gazebo_control.xacro create mode 100755 dogtooth_control/description/ros2_control.xacro create mode 100755 dogtooth_control/package.xml create mode 100755 dogtooth_description/description/dogtooth.urdf.xacro rename dogtooth_base/description/dogtooth.urdf.xacro => dogtooth_description/description/dogtooth_hardware.urdf.xacro (76%) rename {dogtooth_base => dogtooth_description}/description/robot_core.xacro (99%) create mode 100755 dogtooth_description/launch/rsp.launch.py create mode 100755 dogtooth_gazebo/CMakeLists.txt create mode 100755 dogtooth_gazebo/config/gazebo_params.yaml create mode 100755 dogtooth_gazebo/config/view_dogtooth.rviz create mode 100755 dogtooth_gazebo/launch/launch_sim.launch.py create mode 100755 dogtooth_gazebo/package.xml diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml old mode 100644 new mode 100755 diff --git a/.gitignore b/.gitignore old mode 100644 new mode 100755 diff --git a/README.md b/README.md old mode 100644 new mode 100755 diff --git a/dogtooth_base/CMakeLists.txt b/dogtooth_base/CMakeLists.txt index e479b37..cc44f58 100755 --- a/dogtooth_base/CMakeLists.txt +++ b/dogtooth_base/CMakeLists.txt @@ -78,7 +78,7 @@ endif() # endif() install( - DIRECTORY config launch description + DIRECTORY launch DESTINATION share/${PROJECT_NAME} ) diff --git a/dogtooth_base/launch/dogtooth.launch.py b/dogtooth_base/launch/dogtooth.launch.py index 85bdbb1..dd26ec8 100755 --- a/dogtooth_base/launch/dogtooth.launch.py +++ b/dogtooth_base/launch/dogtooth.launch.py @@ -50,7 +50,7 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("dogtooth_base"), "description", "dogtooth.urdf.xacro"] + [FindPackageShare("dogtooth_description"), "description", "dogtooth_hardware.urdf.xacro"] ), " ", "use_mock_hardware:=", @@ -61,9 +61,9 @@ def generate_launch_description(): robot_controllers = PathJoinSubstitution( [ - FindPackageShare("dogtooth_base"), + FindPackageShare("dogtooth_control"), "config", - "controllers.yaml", + "hardware_controllers.yaml", ] ) # rviz_config_file = PathJoinSubstitution( diff --git a/dogtooth_control/CMakeLists.txt b/dogtooth_control/CMakeLists.txt new file mode 100755 index 0000000..d0ba53e --- /dev/null +++ b/dogtooth_control/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.8) +project(dogtooth_control) + +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 + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY description config + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/dogtooth_control/config/controllers.yaml b/dogtooth_control/config/controllers.yaml new file mode 100755 index 0000000..2d075f9 --- /dev/null +++ b/dogtooth_control/config/controllers.yaml @@ -0,0 +1,68 @@ +controller_manager: + ros__parameters: + update_rate: 50 + use_sim_time: true + + diff_cont: + type: diff_drive_controller/DiffDriveController + + joint_broad: + type: joint_state_broadcaster/JointStateBroadcaster + +diff_cont: + ros__parameters: + + publish_rate: 50.0 + + base_frame_id: base_link + + left_wheel_names: ['front_left_wheel_joint', 'back_left_wheel_joint'] + right_wheel_names: ['front_right_wheel_joint', 'back_right_wheel_joint'] + wheel_separation: 0.525 + wheel_radius: 0.14 + + use_stamped_vel: false + + # open_loop: false + + # wheels_per_side: x + # wheel_separation_multiplier: x + # left_wheel_radius_multiplier: x + # right_wheel_radius_multiplier: x + + # odom_frame_id: x + # pose_covariance_diagonal: x + # twist_covariance_diagonal: x + # open_loop: x + # enable_odom_tf: x + + # cmd_vel_timeout: x + # publish_limited_velocity: x + # velocity_rolling_window_size: x + + + # linear.x.has_velocity_limits: false + # linear.x.has_acceleration_limits: false + # linear.x.has_jerk_limits: false + # linear.x.max_velocity: NAN + # linear.x.min_velocity: NAN + # linear.x.max_acceleration: NAN + # linear.x.min_acceleration: NAN + # linear.x.max_jerk: NAN + # linear.x.min_jerk: NAN + + # angular.z.has_velocity_limits: false + # angular.z.has_acceleration_limits: false + # angular.z.has_jerk_limits: false + # angular.z.max_velocity: NAN + # angular.z.min_velocity: NAN + # angular.z.max_acceleration: NAN + # angular.z.min_acceleration: NAN + # angular.z.max_jerk: NAN + # angular.z.min_jerk: NAN + + + + +# joint_broad: +# ros__parameters: \ No newline at end of file diff --git a/dogtooth_base/config/controllers.yaml b/dogtooth_control/config/hardware_controllers.yaml similarity index 100% rename from dogtooth_base/config/controllers.yaml rename to dogtooth_control/config/hardware_controllers.yaml diff --git a/dogtooth_control/config/view_dogtooth.rviz b/dogtooth_control/config/view_dogtooth.rviz new file mode 100755 index 0000000..8cb6e9c --- /dev/null +++ b/dogtooth_control/config/view_dogtooth.rviz @@ -0,0 +1,232 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + back_left_wheel: + Value: true + back_right_wheel: + Value: true + base_link: + Value: true + chassis: + Value: true + front_left_wheel: + Value: true + front_right_wheel: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + back_left_wheel: + {} + back_right_wheel: + {} + chassis: + {} + front_left_wheel: + {} + front_right_wheel: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/Axes + Enabled: false + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.785315990447998 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.17855952680110931 + Y: -0.10517364740371704 + Z: 0.048061221837997437 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3352032005786896 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.9940375089645386 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bc0000003efc0100000002fb0000000800540069006d00650100000000000003bc0000027900fffffffb0000000800540069006d0065010000000000000450000000000000000000000260000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 956 + X: 426 + Y: 118 diff --git a/dogtooth_base/description/dogtooth.ros2_control.xacro b/dogtooth_control/description/dogtooth.ros2_control.xacro similarity index 100% rename from dogtooth_base/description/dogtooth.ros2_control.xacro rename to dogtooth_control/description/dogtooth.ros2_control.xacro diff --git a/dogtooth_control/description/gazebo_control.xacro b/dogtooth_control/description/gazebo_control.xacro new file mode 100755 index 0000000..5e1f719 --- /dev/null +++ b/dogtooth_control/description/gazebo_control.xacro @@ -0,0 +1,42 @@ + + + + + + + + 500 + 2 + + + front_left_wheel_joint + front_right_wheel_joint + + + back_left_wheel_joint + back_right_wheel_joint + + + 0.525 + 0.525 + + 0.279 + 0.279 + + + 100 + 5.0 + + + odom + base_link + + true + true + true + + + + + + diff --git a/dogtooth_control/description/ros2_control.xacro b/dogtooth_control/description/ros2_control.xacro new file mode 100755 index 0000000..21fc85d --- /dev/null +++ b/dogtooth_control/description/ros2_control.xacro @@ -0,0 +1,48 @@ + + + + + + gazebo_ros2_control/GazeboSystem + + + + -10 + 10 + + + + + + + -10 + 10 + + + + + + + -10 + 10 + + + + + + + -10 + 10 + + + + + + + + + $(find dogtooth_control)/config/controllers.yaml + + + + diff --git a/dogtooth_control/package.xml b/dogtooth_control/package.xml new file mode 100755 index 0000000..65ab196 --- /dev/null +++ b/dogtooth_control/package.xml @@ -0,0 +1,18 @@ + + + + dogtooth_control + 0.0.0 + Dogtooth controller package + ibrahim + MIT + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/dogtooth_description/CMakeLists.txt b/dogtooth_description/CMakeLists.txt index 77f80ff..c8bb6f7 100755 --- a/dogtooth_description/CMakeLists.txt +++ b/dogtooth_description/CMakeLists.txt @@ -24,7 +24,7 @@ if(BUILD_TESTING) endif() install( - DIRECTORY meshes + DIRECTORY description launch meshes DESTINATION share/${PROJECT_NAME} ) diff --git a/dogtooth_description/description/dogtooth.urdf.xacro b/dogtooth_description/description/dogtooth.urdf.xacro new file mode 100755 index 0000000..bee17c4 --- /dev/null +++ b/dogtooth_description/description/dogtooth.urdf.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/dogtooth_base/description/dogtooth.urdf.xacro b/dogtooth_description/description/dogtooth_hardware.urdf.xacro similarity index 76% rename from dogtooth_base/description/dogtooth.urdf.xacro rename to dogtooth_description/description/dogtooth_hardware.urdf.xacro index a7475ea..270835d 100755 --- a/dogtooth_base/description/dogtooth.urdf.xacro +++ b/dogtooth_description/description/dogtooth_hardware.urdf.xacro @@ -4,13 +4,13 @@ - + - + diff --git a/dogtooth_base/description/robot_core.xacro b/dogtooth_description/description/robot_core.xacro similarity index 99% rename from dogtooth_base/description/robot_core.xacro rename to dogtooth_description/description/robot_core.xacro index 131f7fc..7832c95 100755 --- a/dogtooth_base/description/robot_core.xacro +++ b/dogtooth_description/description/robot_core.xacro @@ -1,6 +1,6 @@ - + diff --git a/dogtooth_description/launch/rsp.launch.py b/dogtooth_description/launch/rsp.launch.py new file mode 100755 index 0000000..5c2982c --- /dev/null +++ b/dogtooth_description/launch/rsp.launch.py @@ -0,0 +1,41 @@ +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('dogtooth_description')) + xacro_file = os.path.join(pkg_path,'description','dogtooth.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', + 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/dogtooth_gazebo/CMakeLists.txt b/dogtooth_gazebo/CMakeLists.txt new file mode 100755 index 0000000..37a6544 --- /dev/null +++ b/dogtooth_gazebo/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.8) +project(dogtooth_gazebo) + +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 + # comment the line when a copyright and license is added to all source files + set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # comment the line when this package is in a git repo and when + # a copyright and license is added to all source files + set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY config launch + DESTINATION share/${PROJECT_NAME} +) + +ament_package() diff --git a/dogtooth_gazebo/config/gazebo_params.yaml b/dogtooth_gazebo/config/gazebo_params.yaml new file mode 100755 index 0000000..d7caf6d --- /dev/null +++ b/dogtooth_gazebo/config/gazebo_params.yaml @@ -0,0 +1,3 @@ +gazebo: + ros__parameters: + publish_rate: 400.0 \ No newline at end of file diff --git a/dogtooth_gazebo/config/view_dogtooth.rviz b/dogtooth_gazebo/config/view_dogtooth.rviz new file mode 100755 index 0000000..8cb6e9c --- /dev/null +++ b/dogtooth_gazebo/config/view_dogtooth.rviz @@ -0,0 +1,232 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /RobotModel1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + back_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + back_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + back_left_wheel: + Value: true + back_right_wheel: + Value: true + base_link: + Value: true + chassis: + Value: true + front_left_wheel: + Value: true + front_right_wheel: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + back_left_wheel: + {} + back_right_wheel: + {} + chassis: + {} + front_left_wheel: + {} + front_right_wheel: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/Axes + Enabled: false + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 3.785315990447998 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.17855952680110931 + Y: -0.10517364740371704 + Z: 0.048061221837997437 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.3352032005786896 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.9940375089645386 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 846 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003bc0000003efc0100000002fb0000000800540069006d00650100000000000003bc0000027900fffffffb0000000800540069006d0065010000000000000450000000000000000000000260000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 956 + X: 426 + Y: 118 diff --git a/dogtooth_gazebo/launch/launch_sim.launch.py b/dogtooth_gazebo/launch/launch_sim.launch.py new file mode 100755 index 0000000..e9f22a4 --- /dev/null +++ b/dogtooth_gazebo/launch/launch_sim.launch.py @@ -0,0 +1,60 @@ +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_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 !!! + + rsp = IncludeLaunchDescription( + PythonLaunchDescriptionSource([os.path.join( + get_package_share_directory('dogtooth_description'),'launch','rsp.launch.py' + )]), launch_arguments={'use_sim_time': 'true'}.items() + ) + + + gazebo_params_file = os.path.join(get_package_share_directory('dogtooth_gazebo'),'config','gazebo_params.yaml') + + # 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={'extra_gazebo_args': '--ros-args --params-file ' + gazebo_params_file}.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', 'dogtooth_gazebo'], + output='screen') + + + diff_drive_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["diff_cont"], + ) + + joint_broad_spawner = Node( + package="controller_manager", + executable="spawner", + arguments=["joint_broad"], + ) + + + # Launch them all! + return LaunchDescription([ + rsp, + gazebo, + spawn_entity, + diff_drive_spawner, + joint_broad_spawner + ]) diff --git a/dogtooth_gazebo/package.xml b/dogtooth_gazebo/package.xml new file mode 100755 index 0000000..a545f28 --- /dev/null +++ b/dogtooth_gazebo/package.xml @@ -0,0 +1,18 @@ + + + + dogtooth_gazebo + 0.0.0 + TODO: Package description + kasm-user + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + From a975984b2ca2c2da3f4c5fa152691374f1363338 Mon Sep 17 00:00:00 2001 From: hariharan20 Date: Mon, 11 Dec 2023 00:49:10 +0000 Subject: [PATCH 2/3] Fix --- dogtooth_control/CMakeLists.txt | 19 ++++++++++--------- dogtooth_gazebo/CMakeLists.txt | 20 +++++++++++--------- 2 files changed, 21 insertions(+), 18 deletions(-) diff --git a/dogtooth_control/CMakeLists.txt b/dogtooth_control/CMakeLists.txt index d0ba53e..09bf59f 100755 --- a/dogtooth_control/CMakeLists.txt +++ b/dogtooth_control/CMakeLists.txt @@ -12,15 +12,16 @@ find_package(ament_cmake REQUIRED) # find_package( REQUIRED) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() + # find_package(ament_lint_auto REQUIRED) + # # the following line skips the linter which checks for copyrights + # # comment the line when a copyright and license is added to all source files + # set(ament_cmake_copyright_FOUND TRUE) + # # the following line skips cpplint (only works in a git repo) + # # comment the line when this package is in a git repo and when + # # a copyright and license is added to all source files + # set(ament_cmake_cpplint_FOUND TRUE) + # ament_lint_auto_find_test_dependencies() + find_package(ament_cmake_gtest REQUIRED) endif() install( diff --git a/dogtooth_gazebo/CMakeLists.txt b/dogtooth_gazebo/CMakeLists.txt index 37a6544..fdadb76 100755 --- a/dogtooth_gazebo/CMakeLists.txt +++ b/dogtooth_gazebo/CMakeLists.txt @@ -12,15 +12,17 @@ find_package(ament_cmake REQUIRED) # find_package( REQUIRED) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() + # find_package(ament_lint_auto REQUIRED) + # # the following line skips the linter which checks for copyrights + # # comment the line when a copyright and license is added to all source files + # set(ament_cmake_copyright_FOUND TRUE) + # # the following line skips cpplint (only works in a git repo) + # # comment the line when this package is in a git repo and when + # # a copyright and license is added to all source files + # set(ament_cmake_cpplint_FOUND TRUE) + # ament_lint_auto_find_test_dependencies() + find_package(ament_cmake_gtest REQUIRED) + endif() install( From 1d5cfcf16297ed4046490f98c2f4aadfe1a92455 Mon Sep 17 00:00:00 2001 From: hariharan20 Date: Mon, 11 Dec 2023 00:55:16 +0000 Subject: [PATCH 3/3] fIX --- dogtooth_description/CMakeLists.txt | 19 ++++++++++--------- 1 file changed, 10 insertions(+), 9 deletions(-) diff --git a/dogtooth_description/CMakeLists.txt b/dogtooth_description/CMakeLists.txt index c8bb6f7..61d1d92 100755 --- a/dogtooth_description/CMakeLists.txt +++ b/dogtooth_description/CMakeLists.txt @@ -12,15 +12,16 @@ find_package(ament_cmake REQUIRED) # find_package( REQUIRED) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # the following line skips the linter which checks for copyrights - # comment the line when a copyright and license is added to all source files - set(ament_cmake_copyright_FOUND TRUE) - # the following line skips cpplint (only works in a git repo) - # comment the line when this package is in a git repo and when - # a copyright and license is added to all source files - set(ament_cmake_cpplint_FOUND TRUE) - ament_lint_auto_find_test_dependencies() + # find_package(ament_lint_auto REQUIRED) + # # the following line skips the linter which checks for copyrights + # # comment the line when a copyright and license is added to all source files + # set(ament_cmake_copyright_FOUND TRUE) + # # the following line skips cpplint (only works in a git repo) + # # comment the line when this package is in a git repo and when + # # a copyright and license is added to all source files + # set(ament_cmake_cpplint_FOUND TRUE) + # ament_lint_auto_find_test_dependencies() + find_package(ament_cmake_gtest REQUIRED) endif() install(