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merge 3d lidar + 3d cam
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@SimonR99
SimonR99 committed Jun 17, 2024
1 parent fe3f7a9 commit d3c0aa6
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Showing 14 changed files with 393 additions and 340 deletions.
2 changes: 1 addition & 1 deletion src/rove_bringup/launch/autonomy.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ def generate_launch_description():

slam3d = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(pkg_rove_slam, "launch", "slam3d.launch.py"),
os.path.join(pkg_rove_slam, "launch", "slam3d_full.launch.py"),
),
launch_arguments={
"use_sim_time": use_sim_time,
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129 changes: 111 additions & 18 deletions src/rove_description/config/basic.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@ Panels:
Property Tree Widget:
Expanded:
- /Global Options1
- /DepthCloud1/Auto Size1
Splitter Ratio: 0.5
Tree Height: 517
- Class: rviz_common/Selection
Expand All @@ -24,7 +25,7 @@ Panels:
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
SyncSource: LaserScan
Visualization Manager:
Class: ""
Displays:
Expand All @@ -51,6 +52,11 @@ Visualization Manager:
Show Axes: false
Show Trail: false
Value: true
camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
flipper_fl:
Alpha: 1
Show Axes: false
Expand Down Expand Up @@ -153,9 +159,9 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 100
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 1
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Selectable: true
Expand All @@ -179,6 +185,18 @@ Visualization Manager:
All Enabled: false
base_link:
Value: true
camera_link:
Value: true
flipper_fl:
Value: true
flipper_fr:
Value: true
flipper_rl:
Value: true
flipper_rr:
Value: true
map:
Value: true
odom:
Value: true
sensor_link:
Expand All @@ -205,7 +223,33 @@ Visualization Manager:
Show Axes: true
Show Names: false
Tree:
{}
map:
odom:
base_link:
flipper_fl:
{}
flipper_fr:
{}
flipper_rl:
{}
flipper_rr:
{}
sensor_link:
camera_link:
{}
track_l:
track_fl:
{}
track_rl:
{}
track_r:
track_fr:
{}
track_rr:
{}
velodyne_link:
velodyne_laser:
{}
Update Interval: 0
Value: true
- Alpha: 0.699999988079071
Expand Down Expand Up @@ -332,32 +376,81 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Class: rtabmap_rviz_plugins/MapCloud
Cloud decimation: 4
Cloud from scan: false
Cloud max depth (m): 4
Cloud min depth (m): 0
Cloud voxel size (m): 0.10000000149011612
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Color Transformer: RGB8
Download graph: false
Download map: false
Download namespace: rtabmap
Enabled: true
Filter ceiling (m): 10
Filter floor (m): 0
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: 3d map
Name: MapCloud
Node filtering angle (degrees): 30
Node filtering radius (m): 0
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Size (m): 0.10000000149011612
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /assembled_cloud
Value: /mapData
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Auto Size:
Auto Size Factor: 1
Value: true
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/DepthCloud
Color: 255; 255; 255
Color Image Topic: /zed/zed_node/rgb/image_rect_color
Color Transformer: RGB8
Color Transport Hint: raw
Decay Time: 0
Depth Map Topic: /zed/zed_node/depth/depth_registered
Depth Map Transport Hint: raw
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: DepthCloud
Occlusion Compensation:
Occlusion Time-Out: 30
Value: false
Position Transformer: XYZ
Queue Size: 5
Reliability Policy: Best effort
Selectable: true
Size (Pixels): 3
Style: Flat Squares
Topic Filter: true
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -404,25 +497,25 @@ Visualization Manager:
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 9.305854797363281
Distance: 11.600849151611328
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.6736313104629517
Y: -1.0152995586395264
Z: 2.0505826473236084
X: -1.209733486175537
Y: -1.5692439079284668
Z: 2.5361857414245605
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.600398600101471
Pitch: 0.9553995728492737
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 1.893579363822937
Yaw: 3.6536216735839844
Saved: ~
Window Geometry:
Displays:
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81 changes: 42 additions & 39 deletions src/rove_description/urdf/flipper.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -7,86 +7,89 @@
<xacro:property name="flipper_j_z" value="0.0889" />

<xacro:if value="${(suffix == 'fr')}">
<xacro:property name="mesh_rotation" value="0 0 ${pi}"/>
<xacro:property name="joint_origin" value="${flipper_j_x} ${-flipper_j_y} ${flipper_j_z}"/>
<xacro:property name="joint_axis" value="0 -1 0"/>
<xacro:property name="mesh_rotation" value="0 0 ${pi}" />
<xacro:property name="joint_origin"
value="${flipper_j_x} ${-flipper_j_y} ${flipper_j_z}" />
<xacro:property name="joint_axis" value="0 -1 0" />
</xacro:if>
<xacro:if value="${(suffix == 'fl')}">
<xacro:property name="mesh_rotation" value="0 ${pi} 0" />
<xacro:property name="joint_origin" value="${flipper_j_x} ${flipper_j_y} ${flipper_j_z}"/>
<xacro:property name="joint_axis" value="0 -1 0"/>
<xacro:property name="joint_origin"
value="${flipper_j_x} ${flipper_j_y} ${flipper_j_z}" />
<xacro:property name="joint_axis" value="0 -1 0" />
</xacro:if>
<xacro:if value="${(suffix == 'rr')}">
<xacro:property name="mesh_rotation" value="${pi} 0 0" />
<xacro:property name="joint_origin" value="${-flipper_j_x} ${-flipper_j_y} ${flipper_j_z}"/>
<xacro:property name="joint_axis" value="0 1 0"/>
<xacro:property name="joint_origin"
value="${-flipper_j_x} ${-flipper_j_y} ${flipper_j_z}" />
<xacro:property name="joint_axis" value="0 1 0" />
</xacro:if>
<xacro:if value="${(suffix == 'rl')}">
<xacro:property name="mesh_rotation" value="0 0 0" />
<xacro:property name="joint_origin" value="${-flipper_j_x} ${flipper_j_y} ${flipper_j_z}"/>
<xacro:property name="joint_axis" value="0 1 0"/>
<xacro:property name="joint_origin"
value="${-flipper_j_x} ${flipper_j_y} ${flipper_j_z}" />
<xacro:property name="joint_axis" value="0 1 0" />
</xacro:if>

<joint name="flipper_${suffix}_j" type="continuous">
<origin xyz="${joint_origin}" rpy="0 0 0"/>
<axis xyz="${joint_axis}"/>
<parent link="base_link"/>
<child link="flipper_${suffix}"/>
<limit effort="10.0" velocity="0.5"/>
<dynamics damping="50.0" friction="50"/>
<origin xyz="${joint_origin}" rpy="0 0 0" />
<axis xyz="${joint_axis}" />
<parent link="base_link" />
<child link="flipper_${suffix}" />
<limit effort="10.0" velocity="0.5" />
<dynamics damping="50.0" friction="50" />
</joint>




<link name="flipper_${suffix}">
<visual>
<origin xyz="0 0 0" rpy="${mesh_rotation}"/>
<origin xyz="0 0 0" rpy="${mesh_rotation}" />
<geometry>
<mesh filename="file://$(find rove_description)/meshes/flipper.stl"/>
<mesh filename="file://$(find rove_description)/meshes/flipper.stl" />
</geometry>
<material name="rubber_color"/>
<material name="rubber_color" />
</visual>

<collision>
<origin xyz="0 0 0" rpy="${mesh_rotation}"/>
<origin xyz="0 0 0" rpy="${mesh_rotation}" />
<geometry>
<mesh filename="file://$(find rove_description)/meshes/flipper.stl"/>
<mesh filename="file://$(find rove_description)/meshes/flipper.stl" />
</geometry>
<surface>
<friction>
<friction>
<ode>
<mu>0.65</mu>
<mu2>0.85</mu2>
</ode>
</friction>
<contact>
<ode/>
<ode />
</contact>
</surface>
</collision>
<max_contacts>20</max_contacts>

<!-- TODO PUT ACTUAL INERTIAL VALUES I DON'T KNOW WHAT THIS REPRESENTS NOW -->
<inertial>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<origin xyz="0 0 0.5" rpy="0 0 0" />
<mass value="1" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
<gazebo>
<plugin name='gz::sim::systems::TrackController' filename='gz-sim-track-controller-system'>
<link>flipper_${suffix}</link>
<min_velocity>-3.0</min_velocity>
<max_velocity>3.0</max_velocity>
<!--debug>1</debug-->
<plugin name='gz::sim::systems::TrackController'
filename='gz-sim-track-controller-system'>
<link>flipper_${suffix}</link>
<min_velocity>-3.0</min_velocity>
<max_velocity>3.0</max_velocity>
<!--debug>1</debug-->
</plugin>
</gazebo>
</xacro:macro>

<xacro:flipper suffix="fr"/>
<xacro:flipper suffix="fl"/>
<xacro:flipper suffix="rr"/>
<xacro:flipper suffix="rl"/>
</robot>
<xacro:flipper suffix="fr" />
<xacro:flipper suffix="fl" />
<xacro:flipper suffix="rr" />
<xacro:flipper suffix="rl" />

</robot>
2 changes: 1 addition & 1 deletion src/rove_description/urdf/rove.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
<inertial>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<mass value="80"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
</inertial>
</link>

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