diff --git a/README.md b/README.md index afcf047..749a2dc 100644 --- a/README.md +++ b/README.md @@ -3,6 +3,41 @@ This package contains the package for ROS integrated Choreonoid Tank model. -# Manual -The manual is set on . -Please visit there if you have an interests. +# Dependencies +- [choreonoid:master](https://github.com/choreonoid/choreonoid) +- [choreonoid_ros:dev/ros-control](https://github.com/RyodoTanaka/choreonoid_ros/tree/dev/ros-control) + The pull request is on : https://github.com/choreonoid/choreonoid_ros/pull/5 +- [rtf_test_plant:master](https://github.com/choreonoid/rtf-test-plant) + +# Install +```bash +mkdir /src -p +cd /src +git clone --recursive https://github.com/choreonoid/choreonoid.git +git clone --recursive -b dev/ros-control https://github.com/RyodoTanaka/choreonoid_ros.git +git clone --recursive https://github.com/choreonoid/rtf-test-plant.git +# Above 3 git clone commands will be replaced with vcs commands, after marging the PR for choreonoid_ros +git clone --recursive -b dev/launch-update https://github.com/RyodoTanaka/cnoid_tank_pkgs.git +cd +rosdep update +rosdep install -i -y -r --from-paths src +catkin config --cmake-args -DBUILD_SCENE_EFFECTS_PLUGIN=ON -DBUILD_WRS2018=ON -DBUILD_ROS_TANK=ON -DUSE_PYTHON3=OFF -DUSE_PYBIND11=ON -DBUILD_PYTHON_PLUGIN=ON -DBUILD_PYTHON_SIM_SCRIPT_PLUGIN=ON -DENABLE_PYTHON=ON -DBUILD_COLLISION_HANDLER_SAMPLE=ON -DBUILD_CONTACT_FORCE_EXTRACTION=ON -DBUILD_TRACKED_VEHICLE_SAMPLE=ON -DCMAKE_BUILD_TYPE=Release +catkin build +source devel/setup.bash +``` + +# Execute +## 1. Launch Choreonoid +```bash +cd +source devel/setup.bash +roslaunch cnoid_tank_bringup choreonoid.launch +``` + +## 2. Launch Rviz +After pushing the start button on choreonoid GUI, launch following. +```bash +cd +source devel/setup.bash +roslaunch cnoid_tank_bringup display.launch +``` diff --git a/cnoid_tank_bringup/launch/choreonoid.launch b/cnoid_tank_bringup/launch/choreonoid.launch new file mode 100644 index 0000000..e19ee10 --- /dev/null +++ b/cnoid_tank_bringup/launch/choreonoid.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/cnoid_tank_bringup/launch/config/display.rviz b/cnoid_tank_bringup/launch/config/display.rviz index 85b0cdd..24a1520 100644 --- a/cnoid_tank_bringup/launch/config/display.rviz +++ b/cnoid_tank_bringup/launch/config/display.rviz @@ -4,6 +4,8 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /Global Options1 + - /PointCloud1 - /TF1/Frames1 Splitter Ratio: 0.5 Tree Height: 343 @@ -57,6 +59,16 @@ Visualization Manager: Enabled: true Links: All Links Enabled: true + BELT_L: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + BELT_R: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true CHASSIS: Alpha: 1 Show Axes: false @@ -79,12 +91,10 @@ Visualization Manager: Alpha: 1 Show Axes: false Show Trail: false - Value: true TRACK_R: Alpha: 1 Show Axes: false Show Trail: false - Value: true TURRET_P: Alpha: 1 Show Axes: false @@ -180,8 +190,8 @@ Visualization Manager: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 3.8823349475860596 - Min Value: -0.06849011778831482 + Max Value: 2.167870283126831 + Min Value: -0.11658307909965515 Value: true Axis: Z Channel Name: intensity @@ -200,7 +210,7 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.02500000037252903 + Size (m): 0.014999999664723873 Style: Spheres Topic: /Tank/VLP_16/point_cloud Unreliable: false @@ -212,6 +222,10 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true + BELT_L: + Value: true + BELT_R: + Value: true CHASSIS: Value: true Kinect: @@ -255,20 +269,24 @@ Visualization Manager: base_footprint: base_link: CHASSIS: - TRACK_L: + BELT_L: WHEEL_L0: {} WHEEL_L1: {} WHEEL_L2: {} - TRACK_R: + BELT_R: WHEEL_R0: {} WHEEL_R1: {} WHEEL_R2: {} + TRACK_L: + {} + TRACK_R: + {} TURRET_Y: TURRET_P: Kinect_base: @@ -319,25 +337,25 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 6.386270046234131 + Distance: 6.663640022277832 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 1.3527833223342896 - Y: -0.5720024704933167 - Z: 1.1856696605682373 + X: 1.02006196975708 + Y: 0.2568424642086029 + Z: 0.8462594747543335 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.44979730248451233 + Pitch: 0.2697976529598236 Target Frame: Value: Orbit (rviz) - Yaw: 3.473592519760132 + Yaw: 3.5236003398895264 Saved: ~ Window Geometry: Displays: diff --git a/cnoid_tank_bringup/launch/display.launch b/cnoid_tank_bringup/launch/display.launch index 1e39a09..bcff91f 100644 --- a/cnoid_tank_bringup/launch/display.launch +++ b/cnoid_tank_bringup/launch/display.launch @@ -1,4 +1,3 @@ - - + diff --git a/cnoid_tank_bringup/launch/rtf_plant.launch b/cnoid_tank_bringup/launch/rtf_plant.launch deleted file mode 100644 index 735751b..0000000 --- a/cnoid_tank_bringup/launch/rtf_plant.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/cnoid_tank_bringup/project/Labo/Tank.cnoid b/cnoid_tank_bringup/project/Labo/Tank.cnoid new file mode 100644 index 0000000..b00ce58 --- /dev/null +++ b/cnoid_tank_bringup/project/Labo/Tank.cnoid @@ -0,0 +1,456 @@ +items: + id: 0 + name: "Root" + plugin: Base + class: RootItem + children: + - + id: 1 + name: "World" + plugin: Body + class: WorldItem + data: + collisionDetection: false + collisionDetector: AISTCollisionDetector + materialTableFile: "${SHARE}/default/materials.yaml" + children: + - + id: 2 + name: "Tank" + plugin: Body + class: BodyItem + is_checked: true + data: + file: "${SHARE}/cnoid_tank_bringup/model/Tank.body" + format: CHOREONOID-BODY + currentBaseLink: "CHASSIS" + rootPosition: [ 0, 0, 0.1 ] + rootAttitude: [ + 1, 0, 0, + 0, 1, 0, + 0, 0, 1 ] + jointDisplacements: [ 0, 0 ] + jointPositions: [ 0, 0 ] + initialRootPosition: [ 0, 0, 0.1 ] + initialRootAttitude: [ + 1, 0, 0, + 0, 1, 0, + 0, 0, 1 ] + initialJointPositions: [ 0, 0 ] + staticModel: false + collisionDetection: true + selfCollisionDetection: true + location_editable: true + scene_sensitive: true + zmp: [ 0, 0, 0 ] + children: + - + id: 3 + name: "BodyROS" + plugin: ROS + class: BodyROSItem + is_checked: true + data: + body_ros_version: 0 + joint_state_update_rate: 100 + - + id: 4 + name: "ROSControl" + plugin: ROS + class: ROSControlItem + is_checked: true + data: + name space: Tank + - + id: 5 + name: "WorldROS" + plugin: ROS + class: WorldROSItem + is_checked: true + data: + max_clock_publishing_rate: 100 + - + id: 6 + name: "Labo1" + plugin: Body + class: BodyItem + is_checked: true + data: + file: "${SHARE}/model/Labo1/Labo1.body" + format: CHOREONOID-BODY + rootPosition: [ 0, 0, 0 ] + rootAttitude: [ + 1, 0, 0, + 0, 1, 0, + 0, 0, 1 ] + jointDisplacements: [ 0 ] + jointPositions: [ 0 ] + initialRootPosition: [ 0, 0, 0 ] + initialRootAttitude: [ + 1, 0, 0, + 0, 1, 0, + 0, 0, 1 ] + initialJointPositions: [ 0 ] + staticModel: false + collisionDetection: true + selfCollisionDetection: false + location_editable: false + scene_sensitive: true + zmp: [ 0, 0, 0 ] + - + id: 7 + name: "AISTSimulator" + plugin: Body + class: AISTSimulatorItem + data: + timeStep: 0.001 + realtimeSync: true + recording: "full" + timeRangeMode: "Unlimited" + timeLength: 180 + allLinkPositionOutputMode: false + deviceStateOutput: true + controllerThreads: true + recordCollisionData: false + controllerOptions: "" + dynamicsMode: "Forward dynamics" + integrationMode: "Runge Kutta" + gravity: [ 0, 0, -9.80665 ] + staticFriction: 1 + dynamicFriction: 1 + cullingThresh: 0.005 + contactCullingDepth: 0.05 + errorCriterion: 0.001 + maxNumIterations: 1000 + contactCorrectionDepth: 0.0001 + contactCorrectionVelocityRatio: 1 + kinematicWalking: false + 2Dmode: false + oldAccelSensorMode: false + children: + - + id: 8 + name: "GLVisionSimulator" + plugin: Body + class: GLVisionSimulatorItem + data: + enabled: true + maxFrameRate: 1000 + maxLatency: 1 + recordVisionData: false + threadMode: Screen + bestEffort: false + allSceneObjects: false + rangeSensorPrecisionRatio: 2 + depthError: 0 + enableHeadLight: true + enableAdditionalLights: true + antiAliasing: false +views: + - + id: 0 + plugin: Base + class: ItemPropertyView + mounted: true + - + id: 1 + plugin: Base + class: ItemTreeView + mounted: true + state: + expanded: [ 1, 2, 3, 6 ] + - + id: 2 + plugin: Base + class: MessageView + mounted: true + - + id: 3 + plugin: Base + class: SceneView + mounted: true + state: + editMode: false + viewpointControlMode: thirdPerson + collisionLines: false + restrictCameraRoll: true + verticalAxis: Z + lightingMode: normal + cullingMode: enabled + defaultHeadLight: true + defaultHeadLightIntensity: 0.3 + headLightLightingFromBack: false + worldLight: true + worldLightIntensity: 0.3 + worldLightAmbient: 0.1 + additionalLights: true + fog: true + floorGrid: false + floorGridSpan: 10 + floorGridInterval: 0.5 + xzGridSpan: 10 + xzGridInterval: 0.5 + xzGrid: false + yzGridSpan: 10 + yzGridInterval: 0.5 + texture: true + lineWidth: 1 + pointSize: 1 + normalVisualization: false + normalLength: 0.01 + lightweightViewChange: false + coordinateAxes: true + fpsTestIteration: 1 + upsideDown: false + cameras: + - + camera: [ System, Perspective ] + isCurrent: true + fieldOfView: 0.698132 + near: 0.01 + far: 1000 + eye: [ -5.27004, -3.24124, 2.25618 ] + direction: [ 0.798337, 0.535452, -0.27559 ] + up: [ 0.228877, 0.15351, 0.961275 ] + - + camera: [ System, Orthographic ] + orthoHeight: 15.576 + near: 0.01 + far: 1000 + backgroundColor: [ 0.1, 0.1, 0.3 ] + gridColor: [ 0.9, 0.9, 0.9, 1 ] + xzgridColor: [ 0.9, 0.9, 0.9, 1 ] + yzgridColor: [ 0.9, 0.9, 0.9, 1 ] + isDedicatedItemCheckEnabled: false + - + id: 4 + name: "Scene 2" + plugin: Base + class: SceneView + mounted: true + state: + editMode: false + viewpointControlMode: thirdPerson + collisionLines: false + restrictCameraRoll: true + verticalAxis: Z + lightingMode: normal + cullingMode: enabled + defaultHeadLight: false + defaultHeadLightIntensity: 0.75 + headLightLightingFromBack: false + worldLight: true + worldLightIntensity: 0.3 + worldLightAmbient: 0.1 + additionalLights: true + fog: true + floorGrid: false + floorGridSpan: 10 + floorGridInterval: 0.5 + xzGridSpan: 10 + xzGridInterval: 0.5 + xzGrid: false + yzGridSpan: 10 + yzGridInterval: 0.5 + texture: true + lineWidth: 1 + pointSize: 1 + normalVisualization: false + normalLength: 0.01 + lightweightViewChange: false + coordinateAxes: false + fpsTestIteration: 1 + upsideDown: false + cameras: + - + camera: [ System, Perspective ] + fieldOfView: 0.698132 + near: 0.01 + far: 100 + eye: [ -5.51121, -3.69423, 4.25936 ] + direction: [ 0.72275, 0.496643, -0.480602 ] + up: [ 0.396099, 0.272183, 0.876939 ] + - + camera: [ System, Orthographic ] + orthoHeight: 20 + near: 0.01 + far: 100 + - + camera: [ Tank, Kinect ] + isCurrent: true + backgroundColor: [ 0.1, 0.1, 0.3 ] + gridColor: [ 0.9, 0.9, 0.9, 1 ] + xzgridColor: [ 0.9, 0.9, 0.9, 1 ] + yzgridColor: [ 0.9, 0.9, 0.9, 1 ] + isDedicatedItemCheckEnabled: false + - + id: 5 + plugin: Body + class: BodyLinkView + mounted: true + state: + showRotationMatrix: false + - + id: 6 + plugin: Body + class: JointDisplacementView + mounted: true + state: + show_selected_joints: false + show_joint_ids: false + show_joint_names: true + overlap_joint_names: false + show_sliders: true + show_dials: false + show_phases: true + - + id: 7 + name: "Links / Devices" + plugin: Body + class: LinkDeviceListView + mounted: true + state: + mode: list + element_type: link +toolbars: + "TimeBar": + minTime: 0 + maxTime: 38.49 + frameRate: 100 + playbackFrameRate: 50 + idleLoopDrivenMode: false + currentTime: 0 + speedScale: 1 + syncToOngoingUpdates: true + autoExpansion: true + "KinematicsBar": + forward_kinematics: true + inverse_kinematics: true + preset_kinematics: true + enablePositionDragger: true + penetrationBlock: false + collisionLinkHighlight: false + snapDistance: 0.025 + penetrationBlockDepth: 0.0005 + lazyCollisionDetectionMode: true + "LeggedBodyBar": + stanceWidth: 0.15 + "BodyMotionGenerationBar": + autoGenerationForNewBody: true + balancer: false + autoGeneration: false + timeScaleRatio: 1 + preInitialDuration: 1 + postFinalDuration: 1 + onlyTimeBarRange: false + makeNewBodyItem: true + stealthyStepMode: true + stealthyHeightRatioThresh: 2 + flatLiftingHeight: 0.005 + flatLandingHeight: 0.005 + impactReductionHeight: 0.005 + impactReductionTime: 0.04 + autoZmp: true + minZmpTransitionTime: 0.1 + zmpCenteringTimeThresh: 0.03 + zmpTimeMarginBeforeLiftingSpin: 0 + zmpMaxDistanceFromCenter: 0.02 + allLinkPositions: false + lipSyncMix: false + timeToStartBalancer: 0 + balancerIterations: 2 + plainBalancerMode: false + boundaryConditionType: position + boundarySmootherType: quintic + boundarySmootherTime: 0.5 + boundaryCmAdjustment: false + boundaryCmAdjustmentTime: 1 + waistHeightRelaxation: false + gravity: 9.8 + dynamicsTimeRatio: 1 +Body: + "BodyMotionEngine": + updateJointVelocities: false + "BodySelectionManager": + currentBodyItem: 2 + currentLink: "CHASSIS" + "EditableSceneBody": + editableSceneBodies: + - + bodyItem: 2 + showCenterOfMass: false + showPpcom: false + showZmp: false + - + bodyItem: 6 + showCenterOfMass: false + showPpcom: false + showZmp: false + "KinematicFaultChecker": + checkJointPositions: true + angleMargin: 0 + translationMargin: 0 + checkJointVelocities: true + velocityLimitRatio: 100 + targetJoints: all + checkSelfCollisions: true + onlyTimeBarRange: false + "SplineFilterDialog": + isInputFrameRateSpecified: false + inputFrameRate: 200 + isOutputFrameRateSpecified: false + outputFrameRate: 200 +Media: + "PulseAudioManager": + keepStreamConnection: false +viewAreas: + - + type: embedded + tabs: true + contents: + type: splitter + orientation: horizontal + sizes: [ 388, 1528 ] + children: + - + type: splitter + orientation: vertical + sizes: [ 479, 479 ] + children: + - + type: pane + views: [ 1 ] + - + type: pane + views: [ 0, 7 ] + current: 0 + - + type: splitter + orientation: vertical + sizes: [ 684, 274 ] + children: + - + type: splitter + orientation: horizontal + sizes: [ 762, 762 ] + children: + - + type: pane + views: [ 4, 5, 6 ] + current: 4 + - + type: pane + views: [ 3 ] + - + type: pane + views: [ 2 ] +layoutOfToolBars: + rows: + - + - { name: "SimulationBar", x: 0, priority: 1 } + - { name: "TimeBar", x: 0, priority: 0 } + - + - { name: "FileBar", x: 0, priority: 3 } + - { name: "BodyBar", x: 0, priority: 2 } + - { name: "KinematicsBar", x: 0, priority: 1 } + - { name: "SceneBar", x: 0, priority: 0 } diff --git a/cnoid_tank_bringup/project/RTFPlant/Tank.cnoid b/cnoid_tank_bringup/project/RTFPlant/Tank.cnoid index d37cb4f..d35908c 100644 --- a/cnoid_tank_bringup/project/RTFPlant/Tank.cnoid +++ b/cnoid_tank_bringup/project/RTFPlant/Tank.cnoid @@ -19,14 +19,14 @@ items: name: "1F" plugin: Base class: FolderItem - isChecked: true + is_checked: true children: - id: 3 name: "Floor" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/Floor.body" format: CHOREONOID-BODY @@ -53,7 +53,7 @@ items: name: "Columns" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/Columns.body" format: CHOREONOID-BODY @@ -80,7 +80,7 @@ items: name: "Catwalk" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/Catwalk.body" format: CHOREONOID-BODY @@ -107,7 +107,7 @@ items: name: "Handrails" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/Handrails.body" format: CHOREONOID-BODY @@ -134,7 +134,7 @@ items: name: "Ramp.body" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/Ramp.body" format: CHOREONOID-BODY @@ -161,7 +161,7 @@ items: name: "Platform" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/Platform.body" format: CHOREONOID-BODY @@ -188,7 +188,7 @@ items: name: "SteelPlae" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/SteelPlate.body" format: CHOREONOID-BODY @@ -215,7 +215,7 @@ items: name: "Grating" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/Grating.body" format: CHOREONOID-BODY @@ -242,7 +242,7 @@ items: name: "PipeL" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeL.body" format: CHOREONOID-BODY @@ -269,7 +269,7 @@ items: name: "ButtonBox" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/ButtonBox.body" format: CHOREONOID-BODY @@ -296,7 +296,7 @@ items: name: "SwitchBoard" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/SwitchBoard.body" format: CHOREONOID-BODY @@ -323,7 +323,7 @@ items: name: "TankA" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/TankA.body" format: CHOREONOID-BODY @@ -350,7 +350,7 @@ items: name: "TankPlatformStage" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/TankPlatformStage.body" format: CHOREONOID-BODY @@ -377,7 +377,7 @@ items: name: "TankPlatformStageHandrail" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/TankPlatformStageHandrails.body" format: CHOREONOID-BODY @@ -404,7 +404,7 @@ items: name: "TankPlatformStairs1" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/TankPlatformStairs.body" format: CHOREONOID-BODY @@ -431,7 +431,7 @@ items: name: "TankPlatformStairs1Handrails" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/TankPlatformStairsHandrails.body" format: CHOREONOID-BODY @@ -458,7 +458,7 @@ items: name: "TankPlatformStairs2" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/TankPlatformStairs.body" format: CHOREONOID-BODY @@ -485,7 +485,7 @@ items: name: "TankPlatformStairs2Handrails" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/TankPlatformStairsHandrails.body" format: CHOREONOID-BODY @@ -512,7 +512,7 @@ items: name: "PipeG" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeG.body" format: CHOREONOID-BODY @@ -539,7 +539,7 @@ items: name: "PipeB" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeB.body" format: CHOREONOID-BODY @@ -566,7 +566,7 @@ items: name: "FireHydrant" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/FireHydrant.body" format: CHOREONOID-BODY @@ -593,7 +593,7 @@ items: name: "TankB" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/TankB.body" format: CHOREONOID-BODY @@ -620,7 +620,7 @@ items: name: "Pump" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/Pump.body" format: CHOREONOID-BODY @@ -647,7 +647,7 @@ items: name: "PipeP1" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeP1.body" format: CHOREONOID-BODY @@ -674,7 +674,7 @@ items: name: "PipeP2" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeP2.body" format: CHOREONOID-BODY @@ -701,7 +701,7 @@ items: name: "PipePS" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipePS.body" format: CHOREONOID-BODY @@ -728,7 +728,7 @@ items: name: "PipeY" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeY.body" format: CHOREONOID-BODY @@ -755,7 +755,7 @@ items: name: "PipeBG1" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeBG1.body" format: CHOREONOID-BODY @@ -782,7 +782,7 @@ items: name: "PipeBG2" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeBG2.body" format: CHOREONOID-BODY @@ -811,7 +811,7 @@ items: name: "PipeBG3" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/1F/PipeBG3.body" format: CHOREONOID-BODY @@ -838,7 +838,7 @@ items: name: "2F" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/2F/2F.body" format: CHOREONOID-BODY @@ -865,7 +865,7 @@ items: name: "3F" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/3F/3F.body" format: CHOREONOID-BODY @@ -892,7 +892,7 @@ items: name: "4F" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/4F/4F.body" format: CHOREONOID-BODY @@ -919,7 +919,7 @@ items: name: "Chimney" plugin: Body class: BodyItem - isChecked: true + is_checked: true data: file: "${SHARE}/RTF-TestPlant/model/Chimney/Chimney.body" format: CHOREONOID-BODY @@ -946,7 +946,7 @@ items: name: "AISTSimulator" plugin: Body class: AISTSimulatorItem - isChecked: true + is_checked: true data: timeStep: 0.001 realtimeSync: true @@ -996,7 +996,7 @@ items: name: "WorldROS" plugin: ROS class: WorldROSItem - isChecked: true + is_checked: true data: max_clock_publishing_rate: 100 - @@ -1004,8 +1004,8 @@ items: name: "Tank" plugin: Body class: BodyItem - isChecked: true - data: + is_checked: true + data: file: "${SHARE}/cnoid_tank_bringup/model/Tank.body" format: CHOREONOID-BODY rootPosition: [ 14, 8, 0.106 ] @@ -1033,24 +1033,18 @@ items: name: "BodyROS" plugin: ROS class: BodyROSItem - isChecked: true + is_checked: true data: body_ros_version: 0 joint_state_update_rate: 100 - id: 42 name: "ROSControl" - plugin: Body - class: SimpleControllerItem - isChecked: true + plugin: ROS + class: ROSControlItem + is_checked: true data: - isNoDelayMode: false - controllerOptions: "" - controller: "choreonoid_ros_control" - baseDirectory: "Controller directory" - reloading: false - exportSymbols: false - isOldTargetVariableMode: false + name space: Tank views: - id: 0 @@ -1078,10 +1072,9 @@ views: editMode: false viewpointControlMode: thirdPerson collisionLines: false - polygonMode: fill restrictCameraRoll: true verticalAxis: Z - lightingMode: full + lightingMode: normal cullingMode: enabled defaultHeadLight: true defaultHeadLightIntensity: 0.75 @@ -1115,7 +1108,7 @@ views: fieldOfView: 0.698132 near: 0.01 far: 100 - eye: [ 18.5914, 11.5066, 1.4593 ] + eye: [ 18.0909, 11.1964, 1.36427 ] direction: [ -0.83916, -0.520027, -0.159318 ] up: [ -0.135423, -0.0839216, 0.987227 ] - @@ -1138,10 +1131,9 @@ views: editMode: false viewpointControlMode: thirdPerson collisionLines: false - polygonMode: fill restrictCameraRoll: true verticalAxis: Z - lightingMode: full + lightingMode: normal cullingMode: enabled defaultHeadLight: true defaultHeadLightIntensity: 0.75 @@ -1175,9 +1167,9 @@ views: fieldOfView: 0.698132 near: 0.01 far: 100 - eye: [ -2.00307, -1.42061, 0.458768 ] - direction: [ 0.714656, 0.695834, -0.0712805 ] - up: [ 0.051071, 0.0497259, 0.997456 ] + eye: [ 18.9866, 10.0161, 1.68008 ] + direction: [ -0.944282, -0.292579, -0.150764 ] + up: [ -0.14401, -0.0446203, 0.98857 ] - camera: [ System, Orthographic ] orthoHeight: 20 @@ -1210,54 +1202,13 @@ views: show_phases: true - id: 7 + name: "Links / Devices" plugin: Body - class: LinkSelectionView + class: LinkDeviceListView mounted: true state: - listingMode: "Link Tree" - currentBodyItem: 3 - bodyItems: - - - id: 3 - selectedLinks: [ 0 ] - - - id: 5 - selectedLinks: [ 4 ] - - - id: 6 - selectedLinks: [ 1 ] - - - id: 11 - selectedLinks: [ 1 ] - - - id: 25 - selectedLinks: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18 ] - - - id: 22 - selectedLinks: [ 0, 1, 2, 3, 4, 5, 6 ] - - - id: 26 - selectedLinks: [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 12 ] - - - id: 28 - selectedLinks: [ 0 ] - - - id: 27 - selectedLinks: [ 0 ] - - - id: 29 - selectedLinks: [ 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 ] - - - id: 32 - selectedLinks: [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 ] - - - id: 40 - selectedLinks: [ 0 ] - - - id: 8 - plugin: Python - class: PythonConsoleView - mounted: true + mode: list + element_type: link toolbars: "TimeBar": minTime: 0 @@ -1269,6 +1220,8 @@ toolbars: speedScale: 1 syncToOngoingUpdates: true autoExpansion: true + "LeggedBodyBar": + stanceWidth: 0.15 "KinematicsBar": forward_kinematics: true inverse_kinematics: true @@ -1279,10 +1232,6 @@ toolbars: snapDistance: 0.025 penetrationBlockDepth: 0.0005 lazyCollisionDetectionMode: true - "BodyBar": - current: 40 - "LeggedBodyBar": - stanceWidth: 0.15 "BodyMotionGenerationBar": autoGenerationForNewBody: true balancer: false @@ -1528,12 +1477,11 @@ viewAreas: - type: splitter orientation: vertical - sizes: [ 578, 392 ] + sizes: [ 591, 401 ] children: - type: pane views: [ 1 ] - current: 1 - type: pane views: [ 0, 7 ] @@ -1541,7 +1489,7 @@ viewAreas: - type: splitter orientation: vertical - sizes: [ 704, 266 ] + sizes: [ 720, 272 ] children: - type: splitter @@ -1555,11 +1503,9 @@ viewAreas: - type: pane views: [ 3 ] - current: 3 - type: pane - views: [ 2, 8 ] - current: 2 + views: [ 2 ] layoutOfToolBars: rows: - diff --git a/cnoid_tank_control/config/cnoid_tank_effort_control.yaml b/cnoid_tank_control/config/cnoid_tank_effort_control.yaml index 8b6e854..a9db6cf 100644 --- a/cnoid_tank_control/config/cnoid_tank_effort_control.yaml +++ b/cnoid_tank_control/config/cnoid_tank_effort_control.yaml @@ -6,10 +6,10 @@ Tank: - TURRET_P gains: TURRET_Y: - p: 1000 - i: 100 - d: 10 + p: 10000 + i: 1000 + d: 100 TURRET_P: - p: 1000 - i: 100 - d: 10 + p: 10000 + i: 1000 + d: 100 diff --git a/cnoid_tank_control/config/cnoid_tank_joint_state_control.yaml b/cnoid_tank_control/config/cnoid_tank_joint_state_control.yaml new file mode 100644 index 0000000..9cc726a --- /dev/null +++ b/cnoid_tank_control/config/cnoid_tank_joint_state_control.yaml @@ -0,0 +1,4 @@ +Tank: + joint_state_controller: + type: "joint_state_controller/JointStateController" + publish_rate: 100 diff --git a/cnoid_tank_control/config/cnoid_tank_position_control.yaml b/cnoid_tank_control/config/cnoid_tank_position_control.yaml index 8bb2097..2688181 100644 --- a/cnoid_tank_control/config/cnoid_tank_position_control.yaml +++ b/cnoid_tank_control/config/cnoid_tank_position_control.yaml @@ -13,32 +13,3 @@ Tank: p: 100 i: 10 d: 1 - base_controller: - type : "diff_drive_controller/DiffDriveController" - left_wheel : 'TRACK_L' - right_wheel : 'TRACK_R' - publish_rate: 50.0 - pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] - twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] - wheel_separation : 0.44 - wheel_radius : 0.45 - wheel_separation_multiplier: 1.0 - wheel_radius_multiplier : 1.0 - cmd_vel_timeout: 1.0 - enable_odom_tf: false - linear: - x: - has_velocity_limits : true - max_velocity : 4.0 - min_velocity : -4.0 # m/s - has_acceleration_limits: true - max_acceleration : 1.0 # m/s^2 - min_acceleration : -1.0 # m/s^2 - angular: - z: - has_velocity_limits : true - max_velocity : 6.28 # rad/s - min_velocity : -6.28 - has_acceleration_limits: true - max_acceleration : 1.57 # rad/s^2 - min_acceleration : -1.57 diff --git a/cnoid_tank_control/config/cnoid_tank_velocity_control.yaml b/cnoid_tank_control/config/cnoid_tank_velocity_control.yaml new file mode 100644 index 0000000..5632470 --- /dev/null +++ b/cnoid_tank_control/config/cnoid_tank_velocity_control.yaml @@ -0,0 +1,15 @@ +Tank: + turret_controller: + type: "velocity_controllers/JointTrajectoryController" + joints: + - TURRET_Y + - TURRET_P + gains: + TURRET_Y: + p: 10000 + i: 1000 + d: 100 + TURRET_P: + p: 10000 + i: 1000 + d: 100 diff --git a/cnoid_tank_control/launch/control.launch b/cnoid_tank_control/launch/control.launch index 59046ad..75d0864 100644 --- a/cnoid_tank_control/launch/control.launch +++ b/cnoid_tank_control/launch/control.launch @@ -10,11 +10,17 @@ - + + + + + + diff --git a/cnoid_tank_description/urdf/cnoid_tank_basic.urdf.xacro b/cnoid_tank_description/urdf/cnoid_tank_basic.urdf.xacro index a0568b2..529122d 100644 --- a/cnoid_tank_description/urdf/cnoid_tank_basic.urdf.xacro +++ b/cnoid_tank_description/urdf/cnoid_tank_basic.urdf.xacro @@ -16,8 +16,12 @@ - - + + + + + + diff --git a/cnoid_tank_description/urdf/track.urdf.xacro b/cnoid_tank_description/urdf/track.urdf.xacro index 2951145..6ad836d 100644 --- a/cnoid_tank_description/urdf/track.urdf.xacro +++ b/cnoid_tank_description/urdf/track.urdf.xacro @@ -4,7 +4,14 @@ - + + + + + + + + @@ -16,10 +23,10 @@ - + - + @@ -36,7 +43,7 @@ - + @@ -54,7 +61,7 @@ - + @@ -72,7 +79,7 @@ - + diff --git a/melodic.rosinstall b/dependencies.repos similarity index 71% rename from melodic.rosinstall rename to dependencies.repos index c03e7b8..5e927bf 100644 --- a/melodic.rosinstall +++ b/dependencies.repos @@ -6,10 +6,6 @@ local-name: choreonoid_ros uri: https://github.com/choreonoid/choreonoid_ros.git version: master -- git: - local-name: choreonoid_ros_control - uri: https://github.com/RyodoTanaka/choreonoid_ros_control.git - version: master - git: local-name: rtf-test-plant uri: https://github.com/choreonoid/rtf-test-plant.git