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garethellis0RobynCastro
garethellis0
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RobynCastro
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Rover 2018 Model (#369)
* Created the Initial Rover With Some Broken Physics * Updated Gazebo Resource Paths In Setup Scripts' * Moved Files Around To Make Gazebo Happy * Moved Rover To Models Folder * Fixed Inertia Matrices So The Robot No Longer Explodes * Moved Robots to robots FOlder * Changed Robot Paths In .xacro Files * Revamped Gazebo Launch File System * Removed unused launch file * Added some more dependecies to sb_gazebo package.xml * Added basic controllers for rover_2018 * Updating Rover Model To Be Xacro compatible * Added launch file for basic rover course' * Refactored Launch Files So load_robot.launch is more standalone * Moved world_path construction to load_world.launch * Very basic rover model * Revised Rover Model To Use Relative Positions * Added Tower And Camera To Rover 2018 Model * Switched x and y in rover_2018 model * Added Stereo Camera To rover_2018 * Removed Unused Sections of rover_2018_control.yaml * Addressed PR comments (mostly documentation) * Updated travis script to properly fail on non-zero exit codes * Fixed sb_gazebo package.xml
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‎setup_scripts/install_tools.sh

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# plugins, and resources. Make sure to preserve the path that already exists as well
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"export GAZEBO_MODEL_PATH=$DIR/../src/sb_gazebo/models:${GAZEBO_MODEL_PATH}"\
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"export GAZEBO_PLUGIN_PATH=$DIR/../src/sb_gazebo/lib:${GAZEBO_PLUGIN_PATH}"\
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"export GAZEBO_RESOURCE_PATH=$DIR/../src/sb_gazebo/models:${GAZEBO_RESOURCE_PATH}"\
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"export GAZEBO_RESOURCE_PATH=$DIR/../src/sb_gazebo/models:/usr/share/gazebo:/usr/share/gazebo-9:${GAZEBO_RESOURCE_PATH}"\
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# Aliases to make development easier
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"alias clion=\"clion & disown && exit\""\
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"alias rviz=\"rviz & disown && exit\""\

‎src/sb_gazebo/config/rover_2018_control.yaml

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robot:
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# Publish all joint states
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50

‎src/sb_gazebo/launch/elsax_control.launch

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right_centre_wheel_controller"
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/>
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<include file="$(find sb_gazebo)/launch/general_robot_control.launch">
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<arg name="robot" value="elsax"/>
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</include>
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<!-- This is for jfrost's depthcamera/kinect/zed plugin -->
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<node name="zed_transform" pkg="sb_pointcloud_processing" type="pcl_transform" output="screen">
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<rosparam param="output_frame"> "zed_pointcloud" </rosparam>

‎src/sb_gazebo/launch/general_robot_control.launch

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‎src/sb_gazebo/launch/igvc_qualification.launch

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<!-- Runs a rough approximation of the IGVC Basic Course in Gazebo -->
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<!-- Start the world -->
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<include file="$(find sb_gazebo)/launch/open_world.launch">
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<arg name="world" value="igvc_qualification.world"/>
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<include file="$(find sb_gazebo)/launch/load_world_and_robot.launch">
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<arg name="world_name" value="igvc_qualification.world"/>
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<arg name="x_start_coordinate" value="0"/>
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<arg name="y_start_coordinate" value="-12"/>
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<arg name="initial_rotation" value="1.5707"/>
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<arg name="robot" value="elsax"/>
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<arg name="robot_name" value="elsax"/>
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</include>
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</launch>

‎src/sb_gazebo/launch/load_robot.launch

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<!--
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This file launches a robot and it's associated controller
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-->
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<launch>
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<!--
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The name of the robot to load, this will be used to construct filepaths
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for the files defining the robot
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-->
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<arg name="robot_name"/>
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<!--
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The initial position and rotation to spawn the robot at
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-->
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<arg name="x_start_coordinate" default="0"/>
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<arg name="y_start_coordinate" default="0"/>
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<arg name="initial_rotation" default="0"/>
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<!-- Setup controllers for robot -->
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<include file="$(find sb_gazebo)/launch/$(arg robot_name)_control.launch"/>
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<!--
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- Convert the xacro representation of the robot to xml
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- Load the xml representation of the robot to the paramater server
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-->
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<param name="robot_description"
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command="
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$(find xacro)/xacro --inorder
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'$(find sb_gazebo)/robots/$(arg robot_name).xacro'
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"/>
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<!-- Push robot_description to factory and spawn robot in gazebo -->
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<node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
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args="
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-urdf -param robot_description
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-model $(arg robot_name)
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-x $(arg x_start_coordinate)
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-y $(arg y_start_coordinate)
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-Y $(arg initial_rotation)
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"/>
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</launch>

‎src/sb_gazebo/launch/load_world.launch

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<launch>
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<!-- Path to the folder containing the world that we want to launch -->
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<arg name="world_name"/>
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<!-- Start up the world -->
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<include file="$(find sb_gazebo)/launch/gazebo_open_world.launch">
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<arg name="world_name" value="$(find sb_gazebo)/worlds/$(arg world_name)"/>
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<arg name="gui" value="true"/>
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<!-- Remap the tf topic to another topic, so that we can test out things
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that create tf's, like robot_pose_ekf -->
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<arg name="tf_topic" value="gazebo_tf"/>
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</include>
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</launch>

‎src/sb_gazebo/launch/load_world_and_robot.launch

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<launch>
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<!--
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Opens a give world from "sb_gazebo/worlds" and
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places a robot with a given name with ".xacro" and ".gazebo" files
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in "sb_gazebo/robots" in it at a given x,y and with a given rotation
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-->
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<arg name="world_name"/>
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<arg name="x_start_coordinate"/>
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<arg name="y_start_coordinate"/>
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<arg name="initial_rotation"/>
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<arg name="robot_name"/>
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<!-- Start up the world -->
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<include file="$(find sb_gazebo)/launch/load_world.launch">
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<arg name="world_name" value="$(arg world_name)"/>
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</include>
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<!-- Load the robot -->
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<include file="$(find sb_gazebo)/launch/load_robot.launch">
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<arg name="x_start_coordinate" value="$(arg x_start_coordinate)"/>
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<arg name="y_start_coordinate" value="$(arg y_start_coordinate)"/>
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<arg name="initial_rotation" value="$(arg initial_rotation)"/>
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<arg name="robot_name" value="$(arg robot_name)"/>
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</include>
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</launch>

‎src/sb_gazebo/launch/open_world.launch

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‎src/sb_gazebo/launch/rover_2018.launch

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<launch>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(find sb_gazebo)/config/rover_2018_control.yaml" command="load"/>
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<!-- load the controllers -->
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<node name="controller_spawner"
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pkg="controller_manager"
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type="spawner" respawn="false"
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output="screen" ns="/robot"
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args="joint_state_controller
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left_centre_wheel_controller
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right_centre_wheel_controller"
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/>
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<include file="$(find sb_gazebo)/launch/general_robot_control.launch">
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<arg name="robot" value="rover_2018"/>
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</include>
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</launch>

‎src/sb_gazebo/launch/rover_2018_control.launch

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<launch>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(find sb_gazebo)/config/rover_2018_control.yaml" command="load"/>
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<!-- load the controllers -->
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<node name="controller_spawner"
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pkg="controller_manager"
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type="spawner" respawn="false"
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output="screen" ns="/"
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args="
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joint_state_controller
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"
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/>
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</launch>

‎src/sb_gazebo/launch/rover_2018_test_course.launch

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<launch>
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<!-- Runs a rough approximation of the IGVC Basic Course in Gazebo -->
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<!-- Start the world -->
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<include file="$(find sb_gazebo)/launch/load_world_and_robot.launch">
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<arg name="world_name" value="empty.world"/>
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<arg name="x_start_coordinate" value="0"/>
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<arg name="y_start_coordinate" value="0"/>
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<arg name="initial_rotation" value="0"/>
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<arg name="robot_name" value="rover_2018"/>
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</include>
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</launch>

‎src/sb_gazebo/models/rover_2018/model.config

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<?xml version="1.0" ?>
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<model>
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<name>rover_2018</name>
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<version>1.0</version>
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<sdf version="1.6">model.sdf</sdf>
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<author>
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<name></name>
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<email></email>
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</author>
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<description></description>
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</model>

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