Changed the apriltags and camera plugin

fixup! Adding new world

ca_description/urdf/create_apriltag.xacro

@@ -1,17 +1,15 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
-<xacro:macro name="create_apriltag">
+<xacro:macro name="create_apriltag" params="parent">
  <joint name="apriltag_joint" type="fixed">
-    <origin xyz="0 0 0.25" rpy="0 0 0" />
-    <parent link="base_link" />
+    <xacro:insert_block name='apriltag_origin' />
+    <parent link="${parent}" />
     <child link="apriltag_link" />
   </joint>
 
   <link name="apriltag_link">
-    <xacro:dummy_inertia/>
     <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
   	       <box size="0.5 0.5 0.01"/>
         </geometry>            
@@ -22,9 +20,9 @@
     <visual>
       <material>
         <script>
-          <uri>model://Camera_world/Apriltag3/materials/scripts/textures.material</uri>
-          <uri>model://Camera_world/Apriltag3/materials/textures/apriltag3.png</uri>
-          <name>Apriltag3</name>
+          <uri>model://camera_world/apriltag3/materials/scripts/textures.material</uri>
+          <uri>model://camera_world/apriltag3/materials/textures/apriltag3.png</uri>
+          <name>apriltag3</name>
         </script>-
         <ambient>1 1 1 1</ambient>
         <diffuse>1 1 1 1</diffuse>

ca_description/urdf/create_base.xacro

@@ -51,7 +51,12 @@
       <origin xyz="0 -0.04 0.13" rpy="0 0 0"/>
     </xacro:imu_sensor>
 
-    <xacro:create_apriltag/>
+    <!--Setting Apriltag Variables-->
+    <xacro:property name="apriltag_origin" >
+      <origin xyz="0 0 0.25" rpy="0 0 0" />
+    </xacro:property>
+
+    <xacro:create_apriltag parent="base_link"/>
 
     <xacro:create_wheel prefix="left" y_offset="${wheel_separation / 2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
     <xacro:create_wheel prefix="right" y_offset="${wheel_separation / -2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>

ca_gazebo/launch/create_camera_world.launch

@@ -3,30 +3,9 @@
   <param name="create1/amcl/initial_pose_y" value="4"/>
   <param name="create1/amcl/initial_pose_a" value="0"/>
 
-  <arg name="env" default="camera_world"/>
-
-  <arg name="paused" value="$(optenv PAUSED false)"/>
-  <arg name="gui" value="$(optenv GUI true)"/>
-  <arg name="debug" value="$(optenv DEBUG false)"/>
-  <env name="GAZEBO_MODEL_PATH" value="$(find ca_gazebo)/models"/>
-
-	<!-- Launch Gazebo world -->
-	<include file="$(find gazebo_ros)/launch/empty_world.launch">
-		<arg name="debug" value="$(arg debug)" />
-		<arg name="gui" value="$(arg gui)" />
-		<arg name="paused" value="$(arg paused)"/>
-		<arg name="use_sim_time" value="true"/>
-		<arg name="verbose" value="true"/>
-		<arg name="world_name" value="$(find ca_gazebo)/worlds/$(arg env).world"/>
-	</include>
-
-	<!-- Spawn robot/s -->
-	<include file="$(find ca_gazebo)/launch/spawn_multirobot.launch"/>
-
-  <!-- map_server -->
-  <include file="$(find ca_move_base)/launch/map_server.launch">
-	<arg name="env" value="$(arg env)"/>
+  <include file="$(find ca_gazebo)/launch/create_empty_world.launch">
+    <arg name="env" value="camera_world"/>
   </include>
-
+  
 </launch>
 

ca_gazebo/models/Camera_world/Apriltag1/materials/scripts/textures.material → ca_gazebo/models/camera_world/apriltag1/materials/scripts/textures.material

@@ -1,4 +1,4 @@
-material Apriltag1
+material apriltag1
 {
   technique
   {
@@ -11,4 +11,5 @@ material Apriltag1
       }
     }
   }
-}
+}
+

ca_gazebo/models/camera_world/apriltag1/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>SDF model for apriltag1</description>
+</model>

ca_gazebo/models/Camera_world/Apriltag2/model.sdf → ca_gazebo/models/camera_world/apriltag1/model.sdf

@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
-  <model name='Apriltag2'>
+  <model name='apriltag1'>
   <static>1</static>
     <link name="box">
       <pose frame=''>0 0 0 0 0 0</pose>
@@ -19,9 +19,9 @@
         </geometry>
         <material>
           <script>
-            <uri>model://Camera_world/Apriltag2/materials/scripts </uri>
-            <uri>model://Camera_world/Apriltag2/materials/textures </uri>
-            <name>Apriltag2</name>
+            <uri>model://camera_world/apriltag1/materials/scripts </uri>
+            <uri>model://camera_world/apriltag1/materials/textures </uri>
+            <name>apriltag1</name>
           </script>
           <ambient>1 1 1 1</ambient>
           <diffuse>1 1 1 1</diffuse>

ca_gazebo/models/Camera_world/Apriltag2/materials/scripts/textures.material → ca_gazebo/models/camera_world/apriltag2/materials/scripts/textures.material

@@ -1,4 +1,4 @@
-material Apriltag2
+material apriltag2
 {
   technique
   {
@@ -12,3 +12,4 @@ material Apriltag2
     }
   }
 }
+

ca_gazebo/models/camera_world/apriltag2/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag2</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>SDF model for apriltag2</description>
+</model>

ca_gazebo/models/Camera_world/Apriltag1/model.sdf → ca_gazebo/models/camera_world/apriltag2/model.sdf

@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <sdf version='1.6'>
-  <model name='Apriltag1'>
+  <model name='apriltag2'>
   <static>1</static>
     <link name="box">
       <pose frame=''>0 0 0 0 0 0</pose>
@@ -19,9 +19,9 @@
         </geometry>
         <material>
           <script>
-            <uri>model://Camera_world/Apriltag1/materials/scripts </uri>
-            <uri>model://Camera_world/Apriltag1/materials/textures </uri>
-            <name>Apriltag1</name>
+            <uri>model://camera_world/apriltag2/materials/scripts </uri>
+            <uri>model://camera_world/apriltag2/materials/textures </uri>
+            <name>apriltag2</name>
           </script>
           <ambient>1 1 1 1</ambient>
           <diffuse>1 1 1 1</diffuse>
@@ -31,4 +31,4 @@
       </visual>
     </link>
   </model>
-</sdf>
+</sdf>

ca_gazebo/models/Camera_world/Apriltag3/materials/scripts/textures.material → ca_gazebo/models/camera_world/apriltag3/materials/scripts/textures.material

@@ -1,4 +1,4 @@
-material Apriltag3
+material apriltag3
 {
   technique
   {
@@ -12,3 +12,4 @@ material Apriltag3
     }
   }
 }
+

ca_gazebo/models/camera_world/apriltag3/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag3</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>SDF model for apriltag3</description>
+</model>

ca_gazebo/models/camera_world/camera/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>camera</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>steven.desvars@ekumenlabs.com</email>
+    </author>
+    <description>SDF model for camera</description>
+</model>