From 68fa9ebd6ae3e1dd408488bee34a702671e676a7 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Thu, 31 Jan 2019 22:44:44 -0800 Subject: [PATCH 01/24] Created the Initial Rover With Some Broken Physics --- src/sb_gazebo/urdf/rover_2018.sdf | 2744 +++++++++++++++++++++++++++++ 1 file changed, 2744 insertions(+) create mode 100644 src/sb_gazebo/urdf/rover_2018.sdf diff --git a/src/sb_gazebo/urdf/rover_2018.sdf b/src/sb_gazebo/urdf/rover_2018.sdf new file mode 100644 index 000000000..488bff64e --- /dev/null +++ b/src/sb_gazebo/urdf/rover_2018.sdf @@ -0,0 +1,2744 @@ + + + + + -0.495954 0.481744 0.172621 0 -0 0 + + 10 + + 0.155433 + 0 + 0 + 0.0644567 + 0 + 0.210206 + + 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 + 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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 + + From 3d996e8ec1a4aecedbfe8a676c5ba875c8b65896 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 10:25:08 -0800 Subject: [PATCH 02/24] Updated Gazebo Resource Paths In Setup Scripts' --- setup_scripts/install_tools.sh | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/setup_scripts/install_tools.sh b/setup_scripts/install_tools.sh index 59f46e0d0..a7ecf678a 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\""\ From eb1498147b463f5b1df1f3ffdda5c5ac448f5ff4 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 10:46:12 -0800 Subject: [PATCH 03/24] Moved Files Around To Make Gazebo Happy --- src/sb_gazebo/urdf/rover_2018/model.config | 11 + src/sb_gazebo/urdf/rover_2018/model.sdf | 2744 ++++++++++++++++++++ 2 files changed, 2755 insertions(+) create mode 100644 src/sb_gazebo/urdf/rover_2018/model.config create mode 100644 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+ + + + 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 + + From 9255b7a8916282d552c713af63d1a877d18cefed Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 10:46:52 -0800 Subject: [PATCH 04/24] Moved Rover To Models Folder --- .../{urdf => models}/rover_2018/model.config | 0 .../{urdf => models}/rover_2018/model.sdf | 0 src/sb_gazebo/urdf/rover_2018.sdf | 2744 ----------------- 3 files changed, 2744 deletions(-) rename src/sb_gazebo/{urdf => models}/rover_2018/model.config (100%) rename src/sb_gazebo/{urdf => models}/rover_2018/model.sdf (100%) delete mode 100644 src/sb_gazebo/urdf/rover_2018.sdf diff --git a/src/sb_gazebo/urdf/rover_2018/model.config b/src/sb_gazebo/models/rover_2018/model.config similarity index 100% rename from src/sb_gazebo/urdf/rover_2018/model.config rename to src/sb_gazebo/models/rover_2018/model.config diff --git a/src/sb_gazebo/urdf/rover_2018/model.sdf b/src/sb_gazebo/models/rover_2018/model.sdf similarity index 100% rename from src/sb_gazebo/urdf/rover_2018/model.sdf rename to src/sb_gazebo/models/rover_2018/model.sdf diff --git a/src/sb_gazebo/urdf/rover_2018.sdf b/src/sb_gazebo/urdf/rover_2018.sdf deleted file mode 100644 index 488bff64e..000000000 --- a/src/sb_gazebo/urdf/rover_2018.sdf +++ /dev/null @@ -1,2744 +0,0 @@ - - - - - -0.495954 0.481744 0.172621 0 -0 0 - - 10 - - 0.155433 - 0 - 0 - 0.0644567 - 0 - 0.210206 - - 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 - - - - - - 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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 - - From 4a961f3b1dbbac303f0fb9f9546c6cb66d1ab3bc Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 11:03:36 -0800 Subject: [PATCH 05/24] Fixed Inertia Matrices So The Robot No Longer Explodes --- src/sb_gazebo/models/rover_2018/model.sdf | 211 +++++++++++++--------- 1 file changed, 122 insertions(+), 89 deletions(-) diff --git a/src/sb_gazebo/models/rover_2018/model.sdf b/src/sb_gazebo/models/rover_2018/model.sdf index 488bff64e..f2188a5e0 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0 0 0 -0 0 0 0 + 0 0 0 0 0 -0 0 @@ -1525,17 +1551,18 @@ 0.00190054 - 2.741e-05 + 0.01 0 0 - 1.49e-06 + 0.01 0 - 2.718e-05 + 0.01 0 0 0 0 -0 0 0 0 + 0 0 0 0 0 -0 0 @@ -1621,17 +1648,18 @@ 1 - 3.119e-05 + 0.01 0 0 - 3.119e-05 + 0.01 0 - 4.655e-05 + 0.01 0 0 0 0 -0 0 0 0 + 0 0 0 0 0 -0 0 @@ -1719,17 +1747,18 @@ 1 - 3.119e-05 + 0.01 0 0 - 3.119e-05 + 0.01 0 - 4.655e-05 + 0.01 0 0 0 0 -0 0 0 0 + 0 0 0 0 0 -0 0 @@ -1817,17 +1846,18 @@ 1 - 3.119e-05 + 0.01 0 0 - 3.119e-05 + 0.01 0 - 4.655e-05 + 0.01 0 0 0 0 -0 0 0 0 + 0 0 0 0 0 -0 0 @@ -1915,17 +1945,18 @@ 0.00016166 - 2.7e-07 + 0.01 0 0 - 2.7e-07 + 0.01 0 - 2e-08 + 0.01 0 0 0 0 -0 0 0 0 + 0 0 0 0 0 -0 0 @@ -1957,17 +1988,18 @@ 0.00016166 - 2.7e-07 + 0.01 0 0 - 2.7e-07 + 0.01 0 - 2e-08 + 0.01 0 0 0 0 -0 0 0 0 + 0 0 0 0 0 -0 0 @@ -1999,17 +2031,18 @@ 0.0001415 - 1.8e-07 + 0.01 0 0 - 1.8e-07 + 0.01 0 - 2e-08 + 0.01 0 0 0 0 -0 0 0 0 + 0 0 0 0 0 -0 0 From 3d409a12adb84441f6d9a62b369b13814e8f1599 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 16:45:10 -0800 Subject: [PATCH 06/24] Moved Robots to robots FOlder --- src/sb_gazebo/{urdf => robots}/elsa.gazebo | 0 src/sb_gazebo/{urdf => robots}/elsa.xacro | 0 src/sb_gazebo/{urdf => robots}/elsax.gazebo | 0 src/sb_gazebo/{urdf => robots}/elsax.xacro | 0 src/sb_gazebo/{urdf => robots}/jfrost.gazebo | 0 src/sb_gazebo/{urdf => robots}/jfrost.xacro | 0 src/sb_gazebo/{urdf => robots}/macros.xacro | 0 .../{urdf => robots}/materials.xacro | 0 src/sb_gazebo/robots/rover_2018.gazebo | 53 + src/sb_gazebo/robots/rover_2018.xacro | 2784 +++++++++++++++++ 10 files changed, 2837 insertions(+) rename src/sb_gazebo/{urdf => robots}/elsa.gazebo (100%) rename src/sb_gazebo/{urdf => robots}/elsa.xacro (100%) rename src/sb_gazebo/{urdf => robots}/elsax.gazebo (100%) rename src/sb_gazebo/{urdf => robots}/elsax.xacro (100%) rename src/sb_gazebo/{urdf => robots}/jfrost.gazebo (100%) rename src/sb_gazebo/{urdf => robots}/jfrost.xacro (100%) rename src/sb_gazebo/{urdf => robots}/macros.xacro (100%) rename src/sb_gazebo/{urdf => robots}/materials.xacro (100%) create mode 100644 src/sb_gazebo/robots/rover_2018.gazebo create mode 100644 src/sb_gazebo/robots/rover_2018.xacro 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 100% rename from src/sb_gazebo/urdf/elsa.xacro rename to src/sb_gazebo/robots/elsa.xacro 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 100% rename from src/sb_gazebo/urdf/elsax.xacro rename to src/sb_gazebo/robots/elsax.xacro 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 100% rename from src/sb_gazebo/urdf/jfrost.xacro rename to src/sb_gazebo/robots/jfrost.xacro diff --git a/src/sb_gazebo/urdf/macros.xacro b/src/sb_gazebo/robots/macros.xacro similarity index 100% rename from src/sb_gazebo/urdf/macros.xacro rename to src/sb_gazebo/robots/macros.xacro 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..62a887522 --- /dev/null +++ b/src/sb_gazebo/robots/rover_2018.gazebo @@ -0,0 +1,53 @@ + + + + + + + + /robot + + + + + + + + + true + 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From 44d1b0b25849014eae482960d888f8b788230a9d Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 16:47:21 -0800 Subject: [PATCH 07/24] Changed Robot Paths In .xacro Files --- src/sb_gazebo/robots/elsa.xacro | 6 +++--- src/sb_gazebo/robots/elsax.xacro | 6 +++--- src/sb_gazebo/robots/jfrost.xacro | 8 ++++---- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/src/sb_gazebo/robots/elsa.xacro b/src/sb_gazebo/robots/elsa.xacro index 2b3bb9e0c..9565c8836 100755 --- a/src/sb_gazebo/robots/elsa.xacro +++ b/src/sb_gazebo/robots/elsa.xacro @@ -31,9 +31,9 @@ - - - + + + diff --git a/src/sb_gazebo/robots/elsax.xacro b/src/sb_gazebo/robots/elsax.xacro index 18a0933a3..601a6008a 100755 --- a/src/sb_gazebo/robots/elsax.xacro +++ b/src/sb_gazebo/robots/elsax.xacro @@ -35,9 +35,9 @@ - - - + + + diff --git a/src/sb_gazebo/robots/jfrost.xacro b/src/sb_gazebo/robots/jfrost.xacro index d06426230..74ee31090 100755 --- a/src/sb_gazebo/robots/jfrost.xacro +++ b/src/sb_gazebo/robots/jfrost.xacro @@ -32,9 +32,9 @@ - - - + + + @@ -192,4 +192,4 @@ - \ No newline at end of file + From ffde4f577b3cdaec73a461d8cbe84759b3f9407f Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 16:50:36 -0800 Subject: [PATCH 08/24] Revamped Gazebo Launch File System --- src/sb_gazebo/launch/elsax_control.launch | 5 --- .../launch/igvc_qualification.launch | 6 +-- src/sb_gazebo/launch/load_robot.launch | 45 +++++++++++++++++++ src/sb_gazebo/launch/load_world.launch | 15 +++++++ .../launch/load_world_and_robot.launch | 37 +++++++++++++++ src/sb_gazebo/launch/open_world.launch | 38 ---------------- src/sb_gazebo/launch/rover_2018.launch | 21 +++++++++ .../launch/rover_2018_control.launch | 18 ++++++++ 8 files changed, 139 insertions(+), 46 deletions(-) create mode 100644 src/sb_gazebo/launch/load_robot.launch create mode 100644 src/sb_gazebo/launch/load_world.launch create mode 100644 src/sb_gazebo/launch/load_world_and_robot.launch delete mode 100644 src/sb_gazebo/launch/open_world.launch create mode 100755 src/sb_gazebo/launch/rover_2018.launch create mode 100755 src/sb_gazebo/launch/rover_2018_control.launch diff --git a/src/sb_gazebo/launch/elsax_control.launch b/src/sb_gazebo/launch/elsax_control.launch index 5c7fa044a..8180c34a9 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/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..f5146cca1 --- /dev/null +++ b/src/sb_gazebo/launch/load_robot.launch @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/src/sb_gazebo/launch/load_world.launch b/src/sb_gazebo/launch/load_world.launch new file mode 100644 index 000000000..9ae5220ed --- /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..f157eed7f --- /dev/null +++ b/src/sb_gazebo/launch/load_world_and_robot.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + 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..3ff98b36d --- /dev/null +++ b/src/sb_gazebo/launch/rover_2018_control.launch @@ -0,0 +1,18 @@ + + + + + + + + + From 15a57b54f82e47390c5e048648afd73bbe17e32e Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 16:51:32 -0800 Subject: [PATCH 09/24] Removed unused launch file --- .../launch/general_robot_control.launch | 18 ------------------ 1 file changed, 18 deletions(-) delete mode 100644 src/sb_gazebo/launch/general_robot_control.launch 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 @@ - - - - - - - - - - - - - - - From 5232500a4d923bbdf3922907684eae3a5b500d72 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 16:59:22 -0800 Subject: [PATCH 10/24] Added some more dependecies to sb_gazebo package.xml --- src/sb_gazebo/package.xml | 10 +++++++--- 1 file changed, 7 insertions(+), 3 deletions(-) diff --git a/src/sb_gazebo/package.xml b/src/sb_gazebo/package.xml index 17350a3fa..55c36ca7f 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_controlers gazebo_ros tf2_sensor_msgs teleop_twist_keyboard rospy + joint_state_controller + effort_controllers + position_controlers From eae901580c264d093f1e9ebcc31749533bbff543 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 17:00:30 -0800 Subject: [PATCH 11/24] Added basic controllers for rover_2018 --- src/sb_gazebo/config/rover_2018_control.yaml | 15 +++++++++++++++ 1 file changed, 15 insertions(+) create mode 100755 src/sb_gazebo/config/rover_2018_control.yaml 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..db936a176 --- /dev/null +++ b/src/sb_gazebo/config/rover_2018_control.yaml @@ -0,0 +1,15 @@ +robot: + # Publish all joint states + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + + # Wheel Controllers + L_wheel_1_controller: + type: effort_controllers/JointEffortController + joint: L_wheel_hinge_1_JOINT_2 + pid: {p: 100.0, i: 0.1, d: 10.0} + R_wheel_1_controller: + type: effort_controllers/JointEffortController + joint: R_wheel_hinge_1_JOINT_2 + pid: {p: 100.0, i: 0.1, d: 10.0} From 024365f2dfd515d3ee6c2cbcc1fd17febaa2d475 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Fri, 1 Feb 2019 17:39:29 -0800 Subject: [PATCH 12/24] Updating Rover Model To Be Xacro compatible --- src/sb_gazebo/robots/rover_2018.xacro | 1600 +++++++++++++------------ 1 file changed, 840 insertions(+), 760 deletions(-) diff --git a/src/sb_gazebo/robots/rover_2018.xacro b/src/sb_gazebo/robots/rover_2018.xacro index 6bddbe0d0..da0b9aba9 100644 --- a/src/sb_gazebo/robots/rover_2018.xacro +++ b/src/sb_gazebo/robots/rover_2018.xacro @@ -10,18 +10,26 @@ --> + + + + + + + + -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 @@ -30,11 +38,11 @@ 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 - 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 0 0 0 -0 0 - - 0 - 0 - 0 - - 0 0 0 0 -0 0 - - - - - 1 - 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EffortJointInterface + + + + + + + From 1c975594f8959f652116448be98c7e3fa48eb2a0 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Sat, 2 Feb 2019 14:12:34 -0800 Subject: [PATCH 17/24] Revised Rover Model To Use Relative Positions --- src/sb_gazebo/robots/rover_2018.xacro | 70 +++++++++++++++++++-------- 1 file changed, 49 insertions(+), 21 deletions(-) diff --git a/src/sb_gazebo/robots/rover_2018.xacro b/src/sb_gazebo/robots/rover_2018.xacro index 376f35f23..d3dcf0b7a 100644 --- a/src/sb_gazebo/robots/rover_2018.xacro +++ b/src/sb_gazebo/robots/rover_2018.xacro @@ -27,21 +27,23 @@ - - - + + + - - - + + + - - - + + + @@ -65,15 +67,21 @@ /> - + + + + + + + + + - + - + From 1accbde061d8dc0eb1673949de91e8fcf92ff597 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Sat, 9 Feb 2019 09:15:48 -0800 Subject: [PATCH 18/24] Added Tower And Camera To Rover 2018 Model --- src/sb_gazebo/robots/rover_2018.xacro | 102 ++++++++++++++++++++++++-- 1 file changed, 94 insertions(+), 8 deletions(-) diff --git a/src/sb_gazebo/robots/rover_2018.xacro b/src/sb_gazebo/robots/rover_2018.xacro index d3dcf0b7a..d8a48e692 100644 --- a/src/sb_gazebo/robots/rover_2018.xacro +++ b/src/sb_gazebo/robots/rover_2018.xacro @@ -1,9 +1,13 @@ + @@ -20,9 +24,9 @@ - - - + + + @@ -45,17 +49,40 @@ + + + + + + + + + + + + + + - + @@ -191,4 +224,57 @@ + + + + + + + + + + + + + + + From 8784dc2776d2d88559ef124119e5648ca310c6a9 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Sat, 9 Feb 2019 11:45:34 -0800 Subject: [PATCH 19/24] Switched x and y in rover_2018 model --- src/sb_gazebo/robots/rover_2018.xacro | 85 +++++++++++++++------------ 1 file changed, 46 insertions(+), 39 deletions(-) diff --git a/src/sb_gazebo/robots/rover_2018.xacro b/src/sb_gazebo/robots/rover_2018.xacro index d8a48e692..3f6cd3592 100644 --- a/src/sb_gazebo/robots/rover_2018.xacro +++ b/src/sb_gazebo/robots/rover_2018.xacro @@ -12,8 +12,8 @@ + - @@ -23,41 +23,44 @@ - - - + + + - - - + + + - - + - - + + - + - - + + - + @@ -117,15 +124,15 @@ z_pos="0" radius="${primary_rocker_radius}" length="${primary_rocker_length}" - roll="0" + roll="${pi/2}" pitch="${pi/2}" yaw="0" mass="1" material_name="grey" /> - - + + @@ -147,15 +154,15 @@ radius="${primary_rocker_arm_radius}" length="${primary_rocker_arm_length}" roll="0" - pitch="${primary_rocker_arm_pitch*y_reflect}" - yaw="${pi/2}" + pitch="${primary_rocker_arm_pitch*x_reflect}" + yaw="0" mass="1" material_name="grey" /> - - + + @@ -177,7 +184,7 @@ z_pos="0" radius="${primary_wheel_axle_radius}" length="${primary_wheel_axle_length}" - roll="0" + roll="${pi/2}" pitch="${pi/2}" yaw="0" mass="0.05" @@ -185,12 +192,12 @@ /> - - + + - + - + EffortJointInterface @@ -212,7 +219,7 @@ z_pos="0" radius="${primary_wheel_radius}" length="${primary_wheel_length}" - roll="0" + roll="${pi/2}" pitch="${pi/2}" yaw="0" mass="1" @@ -220,16 +227,16 @@ /> - - + + Date: Sat, 9 Feb 2019 11:49:56 -0800 Subject: [PATCH 20/24] Added Stereo Camera To rover_2018 --- src/sb_gazebo/robots/rover_2018.gazebo | 51 ++++++++++++++++++++++++++ 1 file changed, 51 insertions(+) diff --git a/src/sb_gazebo/robots/rover_2018.gazebo b/src/sb_gazebo/robots/rover_2018.gazebo index fd0a4727c..54464dd55 100644 --- a/src/sb_gazebo/robots/rover_2018.gazebo +++ b/src/sb_gazebo/robots/rover_2018.gazebo @@ -11,4 +11,55 @@ + + + 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 + + + + + From 7bf1f4eed684d50b46f640904e4738ed9bf6aa7a Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Sat, 9 Feb 2019 11:57:29 -0800 Subject: [PATCH 21/24] Removed Unused Sections of rover_2018_control.yaml --- src/sb_gazebo/config/rover_2018_control.yaml | 10 ---------- 1 file changed, 10 deletions(-) diff --git a/src/sb_gazebo/config/rover_2018_control.yaml b/src/sb_gazebo/config/rover_2018_control.yaml index db936a176..4e22adfd4 100755 --- a/src/sb_gazebo/config/rover_2018_control.yaml +++ b/src/sb_gazebo/config/rover_2018_control.yaml @@ -3,13 +3,3 @@ robot: joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 - - # Wheel Controllers - L_wheel_1_controller: - type: effort_controllers/JointEffortController - joint: L_wheel_hinge_1_JOINT_2 - pid: {p: 100.0, i: 0.1, d: 10.0} - R_wheel_1_controller: - type: effort_controllers/JointEffortController - joint: R_wheel_hinge_1_JOINT_2 - pid: {p: 100.0, i: 0.1, d: 10.0} From eb7bc37d9e501716a94fd73e26eecc3626544112 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Wed, 13 Feb 2019 06:35:24 -0800 Subject: [PATCH 22/24] Addressed PR comments (mostly documentation) --- src/sb_gazebo/robots/macros.xacro | 4 +- src/sb_gazebo/robots/rover_2018.gazebo | 9 ++ src/sb_gazebo/robots/rover_2018.xacro | 110 +++++++++++++++++-------- 3 files changed, 88 insertions(+), 35 deletions(-) diff --git a/src/sb_gazebo/robots/macros.xacro b/src/sb_gazebo/robots/macros.xacro index f5c80b309..72ba5975d 100755 --- a/src/sb_gazebo/robots/macros.xacro +++ b/src/sb_gazebo/robots/macros.xacro @@ -12,7 +12,7 @@ /> - + - + 1 + 30.0 true @@ -47,11 +48,19 @@ camera 0.5 + + + 0.00000001 0.00000001 0.00000001 + 0.00000001 0.00000001 + 0 0 0 diff --git a/src/sb_gazebo/robots/rover_2018.xacro b/src/sb_gazebo/robots/rover_2018.xacro index 3f6cd3592..d6e2d9fe2 100644 --- a/src/sb_gazebo/robots/rover_2018.xacro +++ b/src/sb_gazebo/robots/rover_2018.xacro @@ -23,7 +23,9 @@ + + @@ -96,11 +98,19 @@ material_name="grey" /> - + + - + - + - - + + - - - - + + + + + - - - - + + + + - - - - + + + + + - - - - + + + + - - - - + + + + + - - - - + + + + From bf0a657ffec05e77c316454d117f960986df6899 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Sat, 23 Feb 2019 10:18:38 -0800 Subject: [PATCH 23/24] Updated travis script to properly fail on non-zero exit codes --- travis_ci.sh | 7 +++++++ 1 file changed, 7 insertions(+) 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 From 2681774d7796826e54375e1f0babaf6caa4842d2 Mon Sep 17 00:00:00 2001 From: Gareth Ellis Date: Sat, 23 Feb 2019 10:59:55 -0800 Subject: [PATCH 24/24] Fixed sb_gazebo package.xml --- src/sb_gazebo/package.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/sb_gazebo/package.xml b/src/sb_gazebo/package.xml index 55c36ca7f..7ed66deee 100755 --- a/src/sb_gazebo/package.xml +++ b/src/sb_gazebo/package.xml @@ -43,7 +43,7 @@ tf2_sensor_msgs joint_state_controller effort_controllers - position_controlers + position_controllers gazebo_ros tf2_sensor_msgs @@ -51,7 +51,7 @@ rospy joint_state_controller effort_controllers - position_controlers + position_controllers