diff --git a/setup_scripts/install_tools.sh b/setup_scripts/install_tools.sh index 21cd135c3..cc586febd 100755 --- a/setup_scripts/install_tools.sh +++ b/setup_scripts/install_tools.sh @@ -30,7 +30,7 @@ declare -a new_shell_config_lines=( # plugins, and resources. Make sure to preserve the path that already exists as well "export GAZEBO_MODEL_PATH=$DIR/../src/sb_gazebo/models:${GAZEBO_MODEL_PATH}"\ "export GAZEBO_PLUGIN_PATH=$DIR/../src/sb_gazebo/lib:${GAZEBO_PLUGIN_PATH}"\ - "export GAZEBO_RESOURCE_PATH=$DIR/../src/sb_gazebo/models:${GAZEBO_RESOURCE_PATH}"\ + "export GAZEBO_RESOURCE_PATH=$DIR/../src/sb_gazebo/models:/usr/share/gazebo:/usr/share/gazebo-9:${GAZEBO_RESOURCE_PATH}"\ # Aliases to make development easier "alias clion=\"clion & disown && exit\""\ "alias rviz=\"rviz & disown && exit\""\ diff --git a/src/sb_gazebo/config/rover_2018_control.yaml b/src/sb_gazebo/config/rover_2018_control.yaml new file mode 100755 index 000000000..4e22adfd4 --- /dev/null +++ b/src/sb_gazebo/config/rover_2018_control.yaml @@ -0,0 +1,5 @@ +robot: + # Publish all joint states + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/src/sb_gazebo/launch/elsax_control.launch b/src/sb_gazebo/launch/elsax_control.launch index 4ee8cb3e8..40efada85 100755 --- a/src/sb_gazebo/launch/elsax_control.launch +++ b/src/sb_gazebo/launch/elsax_control.launch @@ -13,11 +13,6 @@ right_centre_wheel_controller" /> - - - - - "zed_pointcloud" diff --git a/src/sb_gazebo/launch/general_robot_control.launch b/src/sb_gazebo/launch/general_robot_control.launch deleted file mode 100644 index ffaea48fd..000000000 --- a/src/sb_gazebo/launch/general_robot_control.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/src/sb_gazebo/launch/igvc_qualification.launch b/src/sb_gazebo/launch/igvc_qualification.launch index 4e3ee6771..76a19ebc6 100644 --- a/src/sb_gazebo/launch/igvc_qualification.launch +++ b/src/sb_gazebo/launch/igvc_qualification.launch @@ -3,12 +3,12 @@ - - + + - + diff --git a/src/sb_gazebo/launch/load_robot.launch b/src/sb_gazebo/launch/load_robot.launch new file mode 100644 index 000000000..a9b99ae0c --- /dev/null +++ b/src/sb_gazebo/launch/load_robot.launch @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/src/sb_gazebo/launch/load_world.launch b/src/sb_gazebo/launch/load_world.launch new file mode 100644 index 000000000..2db74a256 --- /dev/null +++ b/src/sb_gazebo/launch/load_world.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + diff --git a/src/sb_gazebo/launch/load_world_and_robot.launch b/src/sb_gazebo/launch/load_world_and_robot.launch new file mode 100644 index 000000000..52eac050c --- /dev/null +++ b/src/sb_gazebo/launch/load_world_and_robot.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/sb_gazebo/launch/open_world.launch b/src/sb_gazebo/launch/open_world.launch deleted file mode 100644 index 7addab3bf..000000000 --- a/src/sb_gazebo/launch/open_world.launch +++ /dev/null @@ -1,38 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/sb_gazebo/launch/rover_2018.launch b/src/sb_gazebo/launch/rover_2018.launch new file mode 100755 index 000000000..b79bf924d --- /dev/null +++ b/src/sb_gazebo/launch/rover_2018.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + diff --git a/src/sb_gazebo/launch/rover_2018_control.launch b/src/sb_gazebo/launch/rover_2018_control.launch new file mode 100755 index 000000000..270441b2f --- /dev/null +++ b/src/sb_gazebo/launch/rover_2018_control.launch @@ -0,0 +1,16 @@ + + + + + + + + + diff --git a/src/sb_gazebo/launch/rover_2018_test_course.launch b/src/sb_gazebo/launch/rover_2018_test_course.launch new file mode 100644 index 000000000..43e845de5 --- /dev/null +++ b/src/sb_gazebo/launch/rover_2018_test_course.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/src/sb_gazebo/models/rover_2018/model.config b/src/sb_gazebo/models/rover_2018/model.config new file mode 100644 index 000000000..990eaf1b0 --- /dev/null +++ b/src/sb_gazebo/models/rover_2018/model.config @@ -0,0 +1,11 @@ + + + rover_2018 + 1.0 + model.sdf + + + + + + diff --git a/src/sb_gazebo/models/rover_2018/model.sdf b/src/sb_gazebo/models/rover_2018/model.sdf new file mode 100644 index 000000000..f2188a5e0 --- /dev/null +++ b/src/sb_gazebo/models/rover_2018/model.sdf @@ -0,0 +1,2777 @@ + + + + + -0.495954 0.481744 0.172621 0 -0 0 + + 10 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 1.09569 1.7415 0.312322 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 1.09569 1.7415 0.312322 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + 0.120732 0.480291 0.210888 3.14159 -1.57 -3.14159 + + 0.0046174 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0992866 + 0.116478 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + 0.045335 0.475634 0.210685 3.14159 -1.57 -3.14159 + + 0.00110726 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0379471 + 0.191181 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + 0.120732 0.773902 0.074463 -0.422885 0 0 + + 0.00541225 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + 1 + + 0 0 0 0 -0 0 + + + 0.093481 0.512407 0.11302 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.093481 0.512407 0.11302 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + 0.120732 0.030921 0.003788 0.410827 -0 0 + + 0.00955178 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.093481 0.904318 0.11302 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.093481 0.904318 0.11302 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + 0.227534 0.930061 -0.012476 3.14159 -1.57 -3.14159 + + 0.00158531 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + 1 + + 0 0 0 0 -0 0 + + + 0.0665773 + 0.088915 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + 0.173471 0.937461 -0.010085 3.14159 -1.57 -3.14159 + + 0.00016166 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 1 + 0 + + 0 0 0 0 -0 0 + + + 0.0152481 + 0.138038 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + 0.227534 1.14505 -0.096467 -0.359364 0 0 + + 0.0019482 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.062968 0.419703 0.073703 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.062968 0.419703 0.073703 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + 0.227534 0.747337 -0.096816 0.366679 -0 0 + + 0.00190054 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.062968 0.40946 0.073703 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.062968 0.40946 0.073703 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + 0.231981 -0.300898 -0.152796 3.14159 -1.57 -3.14159 + + 1 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + 0.327595 0.588491 -0.15151 3.14159 -1.57 -3.14159 + + 1 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + 0.327595 1.29129 -0.152082 3.14159 -1.57 -3.14159 + + 1 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + 0.157404 -0.319861 -0.15619 3.14159 -1.57 -3.14159 + + 0.00016166 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0170673 + 0.138038 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + 0.266627 0.591116 -0.159992 3.14159 -1.57 -3.14159 + + 0.00016166 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0170673 + 0.138038 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + 0.283732 1.29534 -0.157563 3.14159 -1.57 -3.14159 + + 0.0001415 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0170673 + 0.120823 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + -1.11994 0.480291 0.2099 3.14159 -1.57 -3.14159 + + 0.0046174 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0992866 + 0.116478 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + -1.03751 0.475634 0.209823 3.14159 -1.57 -3.14159 + + 0.00110726 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0379471 + 0.191181 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + -1.11994 0.773902 0.074463 -0.422885 0 0 + + 0.00541225 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.093481 0.512407 0.11302 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.093481 0.512407 0.11302 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + -1.11994 0.030921 0.003788 0.410827 -0 0 + + 0.00955178 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.093481 0.904318 0.11302 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.093481 0.904318 0.11302 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + -1.22452 0.930061 -0.013632 3.14159 -1.57 -3.14159 + + 0.00158531 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0665773 + 0.088915 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + -1.16913 0.937461 -0.011154 3.14159 -1.57 -3.14159 + + 0.00016166 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0170673 + 0.138038 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + -1.22452 1.14505 -0.096467 -0.359364 0 0 + + 0.0019482 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.062968 0.419703 0.073703 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.062968 0.419703 0.073703 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + -1.22452 0.747337 -0.096816 0.366679 -0 0 + + 0.00190054 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.062968 0.40946 0.073703 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.062968 0.40946 0.073703 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + -1.23345 -0.300898 -0.153963 3.14159 -1.57 -3.14159 + + 1 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + -1.31728 0.588299 -0.152822 3.14159 -1.57 -3.14159 + + 1 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + -1.31997 1.29129 -0.1534 3.14159 -1.57 -3.14159 + + 1 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.122078 + 0.116478 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + -1.17844 -0.319861 -0.157254 3.14159 -1.57 -3.14159 + + 0.00016166 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0170673 + 0.138038 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + -1.26851 0.591116 -0.161214 3.14159 -1.57 -3.14159 + + 0.00016166 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0170673 + 0.138038 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + -1.26643 1.29534 -0.158797 3.14159 -1.57 -3.14159 + + 0.0001415 + + 0.01 + 0 + 0 + 0.01 + 0 + 0.01 + + 0 0 0 0 -0 0 + + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.0170673 + 0.120823 + + + + 1 + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + __default__ + + + 1 + 0 + + + + L_primary_rocker + L_primary_wheel_arm_forwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_primary_rocker + L_primary_wheel_arm_backwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_primary_rocker_hinge + L_primary_rocker + 0 0 0 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_primary_rocker_hinge + main_chassis + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_secondary_rocker_hinge + L_primary_wheel_arm_backwards + 0 0 0 0 -0 0 + + + + 0 + 0 + + + 0 + 0.2 + + + + + + L_secondary_rocker + L_secondary_wheel_arm_forward + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_secondary_rocker + L_secondary_wheel_arm_backwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_secondary_rocker_hinge + L_secondary_rocker + 0 0 0 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0 + + + 0 + 0 + + + + + + L_wheel_hinge_1 + L_primary_wheel_arm_forwards + 0 -0.4 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_wheel_hinge_1 + L_wheel_1 + 0 0 -0.02 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_wheel_hinge_2 + L_secondary_wheel_arm_forward + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_wheel_hinge_2 + L_wheel_2 + 0 0 0 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_wheel_hinge_3 + L_secondary_wheel_arm_backwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + L_wheel_hinge_3 + L_wheel_3 + 0 0 0 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_primary_rocker + R_primary_wheel_arm_forwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_primary_rocker + R_primary_wheel_arm_backwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_primary_rocker_hinge + R_primary_rocker + 0 0 0 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_primary_rocker_hinge + main_chassis + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_secondary_rocker_hinge + R_primary_wheel_arm_backwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_secondary_rocker + R_secondary_wheel_arm_forward + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_secondary_rocker + R_secondary_wheel_arm_backwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_secondary_rocker_hinge + R_secondary_rocker + 0 0 0 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_wheel_hinge_1 + R_primary_wheel_arm_forwards + 0 -0.4 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_wheel_hinge_1 + R_wheel_1 + 0 0 -0.02 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_wheel_hinge_2 + R_secondary_wheel_arm_forward + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_wheel_hinge_2 + R_wheel_2 + 0 0 0 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_wheel_hinge_3 + R_secondary_wheel_arm_backwards + 0 0 0 0 -0 0 + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + R_wheel_hinge_3 + R_wheel_3 + 0 0 0 0 -0 0 + + 0 0 1 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + main_chassis + L_primary_wheel_arm_forwards + 0 0 0 0 -0 0 + + 1 0 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + main_chassis + R_primary_wheel_arm_forwards + 0 0 0 0 -0 0 + + 1 0 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + 0 + 1 + + diff --git a/src/sb_gazebo/package.xml b/src/sb_gazebo/package.xml index 17350a3fa..7ed66deee 100755 --- a/src/sb_gazebo/package.xml +++ b/src/sb_gazebo/package.xml @@ -3,9 +3,7 @@ sb_gazebo 0.0.0 Package for running our gazebo simulations - - - + Example: --> Gareth Ellis @@ -43,11 +41,17 @@ gazebo_ros tf2_sensor_msgs + joint_state_controller + effort_controllers + position_controllers gazebo_ros tf2_sensor_msgs teleop_twist_keyboard rospy + joint_state_controller + effort_controllers + position_controllers diff --git a/src/sb_gazebo/urdf/elsa.gazebo b/src/sb_gazebo/robots/elsa.gazebo similarity index 100% rename from src/sb_gazebo/urdf/elsa.gazebo rename to src/sb_gazebo/robots/elsa.gazebo diff --git a/src/sb_gazebo/urdf/elsa.xacro b/src/sb_gazebo/robots/elsa.xacro similarity index 96% rename from src/sb_gazebo/urdf/elsa.xacro rename to src/sb_gazebo/robots/elsa.xacro index 2b3bb9e0c..9565c8836 100755 --- a/src/sb_gazebo/urdf/elsa.xacro +++ b/src/sb_gazebo/robots/elsa.xacro @@ -31,9 +31,9 @@ - - - + + + diff --git a/src/sb_gazebo/urdf/elsax.gazebo b/src/sb_gazebo/robots/elsax.gazebo similarity index 100% rename from src/sb_gazebo/urdf/elsax.gazebo rename to src/sb_gazebo/robots/elsax.gazebo diff --git a/src/sb_gazebo/urdf/elsax.xacro b/src/sb_gazebo/robots/elsax.xacro similarity index 96% rename from src/sb_gazebo/urdf/elsax.xacro rename to src/sb_gazebo/robots/elsax.xacro index 18a0933a3..601a6008a 100755 --- a/src/sb_gazebo/urdf/elsax.xacro +++ b/src/sb_gazebo/robots/elsax.xacro @@ -35,9 +35,9 @@ - - - + + + diff --git a/src/sb_gazebo/urdf/jfrost.gazebo b/src/sb_gazebo/robots/jfrost.gazebo similarity index 100% rename from src/sb_gazebo/urdf/jfrost.gazebo rename to src/sb_gazebo/robots/jfrost.gazebo diff --git a/src/sb_gazebo/urdf/jfrost.xacro b/src/sb_gazebo/robots/jfrost.xacro similarity index 96% rename from src/sb_gazebo/urdf/jfrost.xacro rename to src/sb_gazebo/robots/jfrost.xacro index d06426230..74ee31090 100755 --- a/src/sb_gazebo/urdf/jfrost.xacro +++ b/src/sb_gazebo/robots/jfrost.xacro @@ -32,9 +32,9 @@ - - - + + + @@ -192,4 +192,4 @@ - \ No newline at end of file + diff --git a/src/sb_gazebo/urdf/macros.xacro b/src/sb_gazebo/robots/macros.xacro similarity index 70% rename from src/sb_gazebo/urdf/macros.xacro rename to src/sb_gazebo/robots/macros.xacro index 70d8e5a51..72ba5975d 100755 --- a/src/sb_gazebo/urdf/macros.xacro +++ b/src/sb_gazebo/robots/macros.xacro @@ -4,6 +4,7 @@ --> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/sb_gazebo/urdf/materials.xacro b/src/sb_gazebo/robots/materials.xacro similarity index 100% rename from src/sb_gazebo/urdf/materials.xacro rename to src/sb_gazebo/robots/materials.xacro diff --git a/src/sb_gazebo/robots/rover_2018.gazebo b/src/sb_gazebo/robots/rover_2018.gazebo new file mode 100644 index 000000000..91b7db195 --- /dev/null +++ b/src/sb_gazebo/robots/rover_2018.gazebo @@ -0,0 +1,74 @@ + + + + + + + + /robot + + + + + + 1 + + 30.0 + true + + 1.91986 + + 640 + 480 + R8G8B8 + + + + + + 0.5 + 20 + + + + 0.2 + true + 1.0 + zed + /zed/camera/image_raw + /zed/depth/camera_info + /zed/depth/image_raw + + /zed/depth/camera_info + + + /zed/camera/point_cloud/uncorrected_cloud_do_not_use + + camera + 0.5 + + + + 0.00000001 + 0.00000001 + 0.00000001 + + 0.00000001 + 0.00000001 + + 0 + 0 + 0 + 0 + 0 + + + + + + diff --git a/src/sb_gazebo/robots/rover_2018.xacro b/src/sb_gazebo/robots/rover_2018.xacro new file mode 100644 index 000000000..d6e2d9fe2 --- /dev/null +++ b/src/sb_gazebo/robots/rover_2018.xacro @@ -0,0 +1,331 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + EffortJointInterface + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/travis_ci.sh b/travis_ci.sh index 0d6d96dd9..a5d84d28d 100755 --- a/travis_ci.sh +++ b/travis_ci.sh @@ -26,6 +26,13 @@ function travis_run() { let "TRAVIS_FOLD_COUNTER += 1" } +# If any command exits with a non-zero value (i.e. it throws an error) +# then this will cause travis to exit. Commands encapsulated between +# conditionals, for example, do not report their return codes. Instread, +# only the conditional, a command itself, gets polled, so if cmake or +# python throws an error, the information is lost. set -ev ensures that +# this does not happen +set -ev # Change to the directory this script is in cd $CURR_DIR