Rover 2018 Model

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\""\

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

src/sb_gazebo/launch/elsax_control.launch

@@ -13,11 +13,6 @@
       right_centre_wheel_controller"
   />
 
-
-  <include file="$(find sb_gazebo)/launch/general_robot_control.launch">
-    <arg name="robot" value="elsax"/>
-  </include>
-
   <!-- This is for jfrost's depthcamera/kinect/zed plugin -->
   <node name="zed_transform" pkg="sb_pointcloud_processing" type="pcl_transform" output="screen">
     <rosparam param="output_frame"> "zed_pointcloud" </rosparam>

src/sb_gazebo/launch/igvc_qualification.launch

@@ -3,12 +3,12 @@
     <!-- Runs a rough approximation of the IGVC Basic Course in Gazebo -->    
 
     <!-- Start the world -->
-    <include file="$(find sb_gazebo)/launch/open_world.launch">
-        <arg name="world" value="igvc_qualification.world"/>
+    <include file="$(find sb_gazebo)/launch/load_world_and_robot.launch">
+        <arg name="world_name" value="igvc_qualification.world"/>
         <arg name="x_start_coordinate" value="0"/>
         <arg name="y_start_coordinate" value="-12"/>
         <arg name="initial_rotation" value="1.5707"/>
-        <arg name="robot" value="elsax"/>
+        <arg name="robot_name" value="elsax"/>
     </include>
 
 </launch>

src/sb_gazebo/launch/load_robot.launch

@@ -0,0 +1,41 @@
+<!--
+    This file launches a robot and it's associated controller
+-->
+<launch>
+    <!--
+        The name of the robot to load, this will be used to construct filepaths
+        for the files defining the robot
+    -->
+    <arg name="robot_name"/>
+
+    <!--
+        The initial position and rotation to spawn the robot at
+    -->
+    <arg name="x_start_coordinate"  default="0"/>
+    <arg name="y_start_coordinate"  default="0"/>
+    <arg name="initial_rotation"    default="0"/>
+
+    <!-- Setup controllers for robot -->
+    <include file="$(find sb_gazebo)/launch/$(arg robot_name)_control.launch"/>
+
+    <!-- 
+        - Convert the xacro representation of the robot to xml
+        - Load the xml representation of the robot to the paramater server
+    -->
+    <param name="robot_description"
+        command="
+        $(find xacro)/xacro --inorder 
+        '$(find sb_gazebo)/robots/$(arg robot_name).xacro'
+    "/>
+
+    <!-- Push robot_description to factory and spawn robot in gazebo -->
+    <node name="robot_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
+     args="
+        -urdf -param robot_description 
+        -model $(arg robot_name) 
+        -x $(arg x_start_coordinate) 
+        -y $(arg y_start_coordinate) 
+        -Y $(arg initial_rotation)
+    "/>
+
+</launch>

src/sb_gazebo/launch/load_world.launch

@@ -0,0 +1,15 @@
+<launch>      
+
+    <!-- Path to the folder containing the world that we want to launch -->
+    <arg name="world_name"/>
+
+    <!-- Start up the world -->
+    <include file="$(find sb_gazebo)/launch/gazebo_open_world.launch">       
+        <arg name="world_name" value="$(find sb_gazebo)/worlds/$(arg world_name)"/> 
+        <arg name="gui" value="true"/>
+        <!-- Remap the tf topic to another topic, so that we can test out things
+            that create tf's, like robot_pose_ekf -->
+        <arg name="tf_topic" value="gazebo_tf"/>
+    </include>  
+
+</launch>

src/sb_gazebo/launch/load_world_and_robot.launch

@@ -0,0 +1,28 @@
+<launch>      
+
+    <!-- 
+        Opens a give world from "sb_gazebo/worlds" and 
+        places a robot with a given name with ".xacro" and ".gazebo" files
+        in "sb_gazebo/robots" in it at a given x,y and with a given rotation
+    -->
+
+    <arg name="world_name"/>
+    <arg name="x_start_coordinate"/>
+    <arg name="y_start_coordinate"/>
+    <arg name="initial_rotation"/>
+    <arg name="robot_name"/>
+
+    <!-- Start up the world -->
+    <include file="$(find sb_gazebo)/launch/load_world.launch">       
+        <arg name="world_name" value="$(arg world_name)"/> 
+    </include>
+
+    <!-- Load the robot -->
+    <include file="$(find sb_gazebo)/launch/load_robot.launch">       
+        <arg name="x_start_coordinate" value="$(arg x_start_coordinate)"/>
+        <arg name="y_start_coordinate" value="$(arg y_start_coordinate)"/>
+        <arg name="initial_rotation" value="$(arg initial_rotation)"/>
+        <arg name="robot_name" value="$(arg robot_name)"/>
+    </include>
+
+</launch>

src/sb_gazebo/launch/rover_2018.launch

@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find sb_gazebo)/config/rover_2018_control.yaml" command="load"/>
+
+  <!-- load the controllers -->
+  <node name="controller_spawner"
+    pkg="controller_manager"
+    type="spawner" respawn="false"
+    output="screen" ns="/robot"
+    args="joint_state_controller
+      left_centre_wheel_controller
+      right_centre_wheel_controller"
+  />
+
+
+  <include file="$(find sb_gazebo)/launch/general_robot_control.launch">
+    <arg name="robot" value="rover_2018"/>
+  </include>
+
+</launch>

src/sb_gazebo/launch/rover_2018_control.launch

@@ -0,0 +1,16 @@
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find sb_gazebo)/config/rover_2018_control.yaml" command="load"/>
+
+  <!-- load the controllers -->
+  <node name="controller_spawner"
+    pkg="controller_manager"
+    type="spawner" respawn="false"
+    output="screen" ns="/"
+    args="
+        joint_state_controller
+      "
+  />
+
+</launch>

src/sb_gazebo/launch/rover_2018_test_course.launch

@@ -0,0 +1,14 @@
+<launch>
+
+    <!-- Runs a rough approximation of the IGVC Basic Course in Gazebo -->    
+
+    <!-- Start the world -->
+    <include file="$(find sb_gazebo)/launch/load_world_and_robot.launch">
+        <arg name="world_name" value="empty.world"/>
+        <arg name="x_start_coordinate" value="0"/>
+        <arg name="y_start_coordinate" value="0"/>
+        <arg name="initial_rotation" value="0"/>
+        <arg name="robot_name" value="rover_2018"/>
+    </include>
+
+</launch>

src/sb_gazebo/models/rover_2018/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>rover_2018</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>