add auv descriptions (#11)

* add common descriptions * add taluy * update dependencies
itu-auv · Apr 20, 2024 · 202ef32 · 202ef32
1 parent 1e815a9
commit 202ef32
Show file tree

Hide file tree

Showing 18 changed files with 1,066 additions and 0 deletions.
diff --git a/auv_description/auv_common_descriptions/CMakeLists.txt b/auv_description/auv_common_descriptions/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.10.2)
+project(auv_common_descriptions)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY
+  urdf
+  meshes
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/auv_description/auv_common_descriptions/meshes/t200/propeller.dae b/auv_description/auv_common_descriptions/meshes/t200/propeller.dae
diff --git a/auv_description/auv_common_descriptions/meshes/t200/shell.dae b/auv_description/auv_common_descriptions/meshes/t200/shell.dae
diff --git a/auv_description/auv_common_descriptions/package.xml b/auv_description/auv_common_descriptions/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>auv_common_descriptions</name>
+  <version>0.1.0</version>
+  <description>Package for containing common xacro description files used for building robots in
+    URDF or Xacro.</description>
+
+  <maintainer email="senceryazici@gmail.com">Sencer Yazici</maintainer>
+  <author email="senceryazici@gmail.com">Sencer Yazici</author>
+
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>xacro</depend>
+
+  <export>
+
+  </export>
+</package>
diff --git a/auv_description/auv_common_descriptions/urdf/actuators.urdf.xacro b/auv_description/auv_common_descriptions/urdf/actuators.urdf.xacro
@@ -0,0 +1,3 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<xacro:include filename="$(find auv_common_descriptions)/urdf/actuators/t200.urdf.xacro" />
+</robot>
diff --git a/auv_description/auv_common_descriptions/urdf/actuators/t200.urdf.xacro b/auv_description/auv_common_descriptions/urdf/actuators/t200.urdf.xacro
@@ -0,0 +1,73 @@
+<?xml version="1.0"?>
+
+<robot name="t200_thruster" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="t200_thruster" params="name parent position:='0 0 0' orientation:='0 0 0'">
+    <link name="${name}_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 -${pi/2} ${-pi/2}" />
+        <geometry>
+          <mesh filename="package://auv_common_descriptions/meshes/t200/shell.dae"
+            scale="1 1 1" />
+        </geometry>
+      </visual>
+      <collision name="${name}_collision">
+        <origin xyz="0 0 0" rpy="0 -${pi/2} ${-pi/2}" />
+        <geometry>
+          <mesh filename="package://auv_common_descriptions/meshes/t200/shell.dae"
+            scale="1 1 1" />
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.5" />
+        <inertia ixx="0.008545" ixy="0.0" ixz="0.0" iyy="0.008545" iyz="0.0" izz="0.0144" />
+      </inertial>
+    </link>
+
+    <link name="${name}_propeller_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 ${pi/2} 0" />
+        <geometry>
+          <mesh filename="package://auv_common_descriptions/meshes/t200/propeller.dae"
+            scale="1.0 1.0 1.0" />
+        </geometry>
+      </visual>
+      <collision name="${name}_propeller_collision">
+        <origin xyz="0 0 0" rpy="0 ${pi/2} 0" />
+        <geometry>
+          <mesh filename="package://auv_common_descriptions/meshes/t200/propeller.dae"
+            scale="1 1 1" />
+        </geometry>
+      </collision>
+      <inertial>
+        <mass value="0.5" />
+        <inertia ixx="0.008545" ixy="0.0" ixz="0.0" iyy="0.008545" iyz="0.0" izz="0.0144" />
+      </inertial>
+    </link>
+
+    <joint name="${name}_chasis_joint" type="fixed">
+      <parent link="${parent}" />
+      <child link="${name}_link" />
+      <origin xyz="${position}" rpy="${orientation}" />
+      <axis rpy="0 0 0" xyz="0 0 1" />
+    </joint>
+
+    <joint name="${name}_propeller_joint" type="continuous">
+      <axis rpy="0 0 0" xyz="0 0 1" />
+      <parent link="${name}_link" />
+      <child link="${name}_propeller_link" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <limit effort="100" velocity="100" />
+      <dynamics friction="0.05" damping="0.05" />
+    </joint>
+
+    <gazebo reference="${name}_propeller_link">
+      <material>Gazebo/Orange</material>
+    </gazebo>
+
+    <gazebo reference="${name}_link">
+      <material>Gazebo/Orange</material>
+    </gazebo>
+
+  </xacro:macro>
+</robot>
diff --git a/auv_description/auv_common_descriptions/urdf/materials.urdf.xacro b/auv_description/auv_common_descriptions/urdf/materials.urdf.xacro
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<robot>
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0" />
+  </material>
+
+  <material name="gray">
+    <color rgba="0.7 0.7 0.7 1.0" />
+  </material>
+
+  <material name="dark_gray">
+    <color rgba="0.2 0.2 0.2 1.0" />
+  </material>
+
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0" />
+  </material>
+
+  <material name="yellow">
+    <color rgba="1.0 0.8 0.0 1.0" />
+  </material>
+</robot>
diff --git a/auv_description/auv_description/CMakeLists.txt b/auv_description/auv_description/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.10.2)
+project(auv_description)
+
+find_package(catkin REQUIRED COMPONENTS)
+
+catkin_package()
+
+install(DIRECTORY
+  launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/auv_description/auv_description/launch/start_state_publisher.launch b/auv_description/auv_description/launch/start_state_publisher.launch
@@ -0,0 +1,25 @@
+<launch>
+  <arg name="namespace" />
+  <arg name="use_gui" default="false" />
+
+  <arg name="model" default="$(find taluy_description)/urdf/auv.urdf.xacro" />
+
+  <param name="robot_description" command="xacro $(arg model)" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
+    <param name="tf_prefix" value="$(arg namespace)" type="string" />
+  </node>
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"
+    unless="$(arg use_gui)">
+    <param name="tf_prefix" value="$(arg namespace)" type="string" />
+  </node>
+
+  <!-- TODO: remove the joint_state_publisher_gui after debugging to reduce dependencies -->
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui"
+    type="joint_state_publisher_gui" if="$(arg use_gui)">
+    <param name="tf_prefix" value="$(arg namespace)" type="string" />
+  </node>
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find taluy_description)/rviz/default.rviz" />
+</launch>
diff --git a/auv_description/auv_description/package.xml b/auv_description/auv_description/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>auv_description</name>
+  <version>0.1.0</version>
+  <description>The meta-package containing all the description files for the auv robots.</description>
+
+  <maintainer email="senceryazici@gmail.com">Sencer Yazici</maintainer>
+  <author email="senceryazici@gmail.com">Sencer Yazici</author>
+
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>auv_common_descriptions</depend>
+  <depend>taluy_description</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>joint_state_publisher</depend>
+
+  <export>
+
+  </export>
+</package>
diff --git a/auv_description/taluy_description/CMakeLists.txt b/auv_description/taluy_description/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.10.2)
+project(taluy_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY
+  urdf
+  meshes
+  rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/auv_description/taluy_description/meshes/body/body.stl b/auv_description/taluy_description/meshes/body/body.stl
diff --git a/auv_description/taluy_description/package.xml b/auv_description/taluy_description/package.xml
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>taluy_description</name>
+  <version>0.1.0</version>
+  <description>The taluy_description package</description>
+
+  <maintainer email="senceryazici@gmail.com">Sencer Yazici</maintainer>
+  <author email="senceryazici@gmail.com">Sencer Yazici</author>
+
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>auv_common_descriptions</depend>
+
+  <export>
+
+  </export>
+</package>