From f6a5c394c8d400d566f08a6324d083087959d6a9 Mon Sep 17 00:00:00 2001 From: Kuwamai Date: Tue, 3 Dec 2024 10:54:03 +0900 Subject: [PATCH] =?UTF-8?q?Gazebo=E7=92=B0=E5=A2=83=E3=81=AB=E3=82=AB?= =?UTF-8?q?=E3=83=A1=E3=83=A9=E3=82=92=E8=BF=BD=E5=8A=A0=20(#83)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * カメラ追加 * use_sim_timeオプション追加 * カメラの画角調整 * 色検出サンプルの色しきい値調整 * 把持位置調整 * 現バージョンのデフォルト設定を反映 * ArUcoマーカ付きの立方体を追加 * ワールド、launchファイル追加 * use_cameraの有効化 * use_cameraを引数で切り替えられるように変更 * カメラスタンドのURDF修正 --- crane_plus_description/urdf/camera.urdf.xacro | 15 +- .../urdf/camera_stand.urdf.xacro | 61 ++++++-- .../urdf/crane_plus.gazebo.xacro | 51 +++++++ .../urdf/crane_plus.urdf.xacro | 2 + crane_plus_examples/README.md | 22 +++ .../launch/camera_example.launch.py | 16 ++ crane_plus_examples/launch/example.launch.py | 8 + crane_plus_examples/src/color_detection.cpp | 6 +- crane_plus_examples/src/pick_and_place_tf.cpp | 4 +- crane_plus_gazebo/CMakeLists.txt | 1 + crane_plus_gazebo/README.md | 18 +++ crane_plus_gazebo/gui/gui.config | 137 ++++++++++++++++-- .../crane_plus_with_aruco_cube.launch.py | 41 ++++++ .../launch/crane_plus_with_red_cube.launch.py | 41 ++++++ .../launch/crane_plus_with_table.launch.py | 56 +++++-- .../aruco_cube_0/meshes/aruco_cube_0.dae | 115 +++++++++++++++ .../aruco_cube_0/meshes/aruco_cube_0.png | Bin 0 -> 4044 bytes .../models/aruco_cube_0/model.config | 16 ++ .../models/aruco_cube_0/model.sdf | 38 +++++ crane_plus_gazebo/worlds/table.sdf | 16 +- .../worlds/table_with_aruco_cube.sdf | 50 +++++++ .../worlds/table_with_red_cube.sdf | 50 +++++++ 22 files changed, 712 insertions(+), 52 deletions(-) create mode 100644 crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py create mode 100644 crane_plus_gazebo/launch/crane_plus_with_red_cube.launch.py create mode 100644 crane_plus_gazebo/models/aruco_cube_0/meshes/aruco_cube_0.dae create mode 100644 crane_plus_gazebo/models/aruco_cube_0/meshes/aruco_cube_0.png create mode 100644 crane_plus_gazebo/models/aruco_cube_0/model.config create mode 100644 crane_plus_gazebo/models/aruco_cube_0/model.sdf create mode 100644 crane_plus_gazebo/worlds/table_with_aruco_cube.sdf create mode 100644 crane_plus_gazebo/worlds/table_with_red_cube.sdf diff --git a/crane_plus_description/urdf/camera.urdf.xacro b/crane_plus_description/urdf/camera.urdf.xacro index 8e467e3..1fd58bd 100644 --- a/crane_plus_description/urdf/camera.urdf.xacro +++ b/crane_plus_description/urdf/camera.urdf.xacro @@ -7,14 +7,23 @@ - + - + + + + + + + + + + - + diff --git a/crane_plus_description/urdf/camera_stand.urdf.xacro b/crane_plus_description/urdf/camera_stand.urdf.xacro index d5c3d86..e4db139 100644 --- a/crane_plus_description/urdf/camera_stand.urdf.xacro +++ b/crane_plus_description/urdf/camera_stand.urdf.xacro @@ -7,16 +7,23 @@ - + + + + + + + + - + @@ -31,11 +38,18 @@ + + + + + + + - - + + @@ -43,17 +57,24 @@ - + + + + + + + + - - + + @@ -61,17 +82,24 @@ - + + + + + + + + - - + + @@ -79,17 +107,24 @@ - + + + + + + + + - - + + diff --git a/crane_plus_description/urdf/crane_plus.gazebo.xacro b/crane_plus_description/urdf/crane_plus.gazebo.xacro index 3faf9dd..78a34a0 100644 --- a/crane_plus_description/urdf/crane_plus.gazebo.xacro +++ b/crane_plus_description/urdf/crane_plus.gazebo.xacro @@ -26,6 +26,8 @@ name_link_3 name_link_4 name_link_hand + use_camera + use_ignition config_package config_file_path "> @@ -72,5 +74,54 @@ + + + + ogre2 + + + + + + 0 0 0 ${radians(90)} ${radians(-90)} 0 + 10 + true + image_raw + camera_color_optical_frame + + + + + + ${camera_hfov} + + ${camera_width} + ${camera_height} + + + 0.1 + 10.0 + + + + ${camera_focal_length} + ${camera_focal_length} + ${(camera_width + 1) / 2} + ${(camera_height + 1) / 2} + 1.0 + + + ${camera_focal_length} + ${camera_focal_length} + ${(camera_width + 1) / 2} + ${(camera_height + 1) / 2} + 0 + 0 + + + + + + diff --git a/crane_plus_description/urdf/crane_plus.urdf.xacro b/crane_plus_description/urdf/crane_plus.urdf.xacro index 8855bd1..6741ac2 100644 --- a/crane_plus_description/urdf/crane_plus.urdf.xacro +++ b/crane_plus_description/urdf/crane_plus.urdf.xacro @@ -129,6 +129,8 @@ name_link_3="${NAME_LINK_3}" name_link_4="${NAME_LINK_4}" name_link_hand="${NAME_LINK_HAND}" + use_camera="$(arg use_camera)" + use_ignition="$(arg use_ignition)" config_package="$(arg gz_control_config_package)" config_file_path="$(arg gz_control_config_file_path)" /> diff --git a/crane_plus_examples/README.md b/crane_plus_examples/README.md index 872e7bd..6d25c56 100644 --- a/crane_plus_examples/README.md +++ b/crane_plus_examples/README.md @@ -53,6 +53,28 @@ $ ros2 launch crane_plus_examples demo.launch.py port_name:=/dev/ttyUSB0 use_cam $ ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py ``` +#### Webカメラ搭載モデルを使用する場合 + +Webカメラ搭載モデルの場合は、次のコマンドを実行してください。 + +```sh +$ ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py use_camera:=true +``` + +CRANE+ V2の前にArUcoマーカ付きのBoxを置いたシミュレータ環境を使用する場合は次のコマンドを実行します。 +[aruco\_detection](#aruco_detection)サンプルを実行する際に使用することを想定しています。 + +```sh +$ ros2 launch crane_plus_gazebo crane_plus_with_aruco_cube.launch.py use_camera:=true +``` + +CRANE+ V2の前に赤いBoxを置いたシミュレータ環境を使用する場合は次のコマンドを実行します。 +[color\_detection](#color_detection)サンプルを実行する際に使用すること想定しています。 + +```sh +$ ros2 launch crane_plus_gazebo crane_plus_with_red_cube.launch.py use_camera:=true +``` + ## サンプルプログラムを実行する 準備ができたらサンプルプログラムを実行します。 diff --git a/crane_plus_examples/launch/camera_example.launch.py b/crane_plus_examples/launch/camera_example.launch.py index 3bd94df..e0a7b1b 100644 --- a/crane_plus_examples/launch/camera_example.launch.py +++ b/crane_plus_examples/launch/camera_example.launch.py @@ -20,6 +20,7 @@ from launch.actions import DeclareLaunchArgument from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node +from launch_ros.actions import SetParameter import yaml @@ -46,7 +47,14 @@ def load_yaml(package_name, file_path): def generate_launch_description(): + declare_use_camera = DeclareLaunchArgument( + 'use_camera', + default_value='true', + description='Use camera.' + ) + description_loader = RobotDescriptionLoader() + description_loader.use_camera = LaunchConfiguration('use_camera') robot_description_semantic_config = load_file( 'crane_plus_moveit_config', 'config/crane_plus.srdf') @@ -61,6 +69,11 @@ def generate_launch_description(): '[color_detection]') ) + declare_use_sim_time = DeclareLaunchArgument( + 'use_sim_time', default_value='false', + description=('Set true when using the gazebo simulator.') + ) + picking_node = Node(name='pick_and_place_tf', package='crane_plus_examples', executable='pick_and_place_tf', @@ -75,6 +88,9 @@ def generate_launch_description(): output='screen') return LaunchDescription([ + declare_use_camera, + declare_use_sim_time, + SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')), detection_node, picking_node, declare_example_name diff --git a/crane_plus_examples/launch/example.launch.py b/crane_plus_examples/launch/example.launch.py index 01ea634..e5f9874 100644 --- a/crane_plus_examples/launch/example.launch.py +++ b/crane_plus_examples/launch/example.launch.py @@ -47,7 +47,14 @@ def load_yaml(package_name, file_path): def generate_launch_description(): + declare_use_camera = DeclareLaunchArgument( + 'use_camera', + default_value='false', + description='Use camera.' + ) + description_loader = RobotDescriptionLoader() + description_loader.use_camera = LaunchConfiguration('use_camera') robot_description_semantic_config = load_file( 'crane_plus_moveit_config', 'config/crane_plus.srdf') @@ -76,6 +83,7 @@ def generate_launch_description(): kinematics_yaml]) return LaunchDescription([ + declare_use_camera, declare_use_sim_time, SetParameter(name='use_sim_time', value=LaunchConfiguration('use_sim_time')), declare_example_name, diff --git a/crane_plus_examples/src/color_detection.cpp b/crane_plus_examples/src/color_detection.cpp index 73d9868..b6c46b6 100644 --- a/crane_plus_examples/src/color_detection.cpp +++ b/crane_plus_examples/src/color_detection.cpp @@ -65,10 +65,10 @@ class ImageSubscriber : public rclcpp::Node if (camera_info_) { // 赤い物体を検出するようにHSVの範囲を設定 // 周囲の明るさ等の動作環境に合わせて調整 - const int LOW_H_1 = 0, HIGH_H_1 = 20; - const int LOW_H_2 = 160, HIGH_H_2 = 179; + const int LOW_H_1 = 0, HIGH_H_1 = 10; + const int LOW_H_2 = 170, HIGH_H_2 = 179; const int LOW_S = 100, HIGH_S = 255; - const int LOW_V = 50, HIGH_V = 255; + const int LOW_V = 100, HIGH_V = 255; // ウェブカメラの画像を受け取る auto cv_img = cv_bridge::toCvShare(msg, msg->encoding); diff --git a/crane_plus_examples/src/pick_and_place_tf.cpp b/crane_plus_examples/src/pick_and_place_tf.cpp index 6a49915..d91bdbc 100644 --- a/crane_plus_examples/src/pick_and_place_tf.cpp +++ b/crane_plus_examples/src/pick_and_place_tf.cpp @@ -155,7 +155,7 @@ class PickAndPlaceTf : public rclcpp::Node const double GRIPPER_OFFSET = 0.13; double gripper_offset_x = GRIPPER_OFFSET * std::cos(theta_rad); double gripper_offset_y = GRIPPER_OFFSET * std::sin(theta_rad); - if (!control_arm(x - gripper_offset_x, y - gripper_offset_y, 0.05, 0, 90, theta_deg)) { + if (!control_arm(x - gripper_offset_x, y - gripper_offset_y, 0.04, 0, 90, theta_deg)) { // アーム動作に失敗した時はpick_and_placeを中断して待機姿勢に戻る control_arm(0.0, 0.0, 0.17, 0, 0, 0); return; @@ -168,7 +168,7 @@ class PickAndPlaceTf : public rclcpp::Node control_arm(0.0, 0.0, 0.17, 0, 90, 0); // 下ろす - control_arm(0.0, -0.15, 0.06, 0, 90, -90); + control_arm(0.0, -0.15, 0.05, 0, 90, -90); // ハンドを開く control_gripper(GRIPPER_OPEN); diff --git a/crane_plus_gazebo/CMakeLists.txt b/crane_plus_gazebo/CMakeLists.txt index 8709f0e..a139c35 100644 --- a/crane_plus_gazebo/CMakeLists.txt +++ b/crane_plus_gazebo/CMakeLists.txt @@ -7,6 +7,7 @@ install(DIRECTORY launch worlds gui + models DESTINATION share/${PROJECT_NAME}/ ) diff --git a/crane_plus_gazebo/README.md b/crane_plus_gazebo/README.md index 07a43ed..d76b9b2 100644 --- a/crane_plus_gazebo/README.md +++ b/crane_plus_gazebo/README.md @@ -15,4 +15,22 @@ CRANE+ V2 の[Gazebo](https://gazebosim.org/home) $ ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py ``` +カメラ付きモデルを使用する場合は下記コマンドを実行します。 + +```sh +$ ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py use_camera:=true +``` + +CRANE+ V2の前にArUcoマーカ付きのBoxを置いたシミュレータ環境を使用する場合は下記コマンドを実行します。 + +```sh +$ ros2 launch crane_plus_gazebo crane_plus_with_aruco_cube.launch.py +``` + +CRANE+ V2の前に赤いBoxを置いたシミュレータ環境を使用する場合は下記コマンドを実行します。 + +```sh +$ ros2 launch crane_plus_gazebo crane_plus_with_red_cube.launch.py +``` + ![crane_plus_ignition](https://rt-net.github.io/images/crane-plus/crane_plus_ignition.png) diff --git a/crane_plus_gazebo/gui/gui.config b/crane_plus_gazebo/gui/gui.config index 99ca7a8..2c82af0 100644 --- a/crane_plus_gazebo/gui/gui.config +++ b/crane_plus_gazebo/gui/gui.config @@ -28,7 +28,7 @@ - + 3D View false docked @@ -38,10 +38,86 @@ scene 0.4 0.4 0.4 0.8 0.8 0.8 - 0.4 0 1.4 0 0.4 3.14 + 0.7 0 1.5 0 0.4 3.14 + 50 - + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + false + 5 + 5 + floating + false + + + + + + false + 5 + 5 + floating + false + + + + World control @@ -61,10 +137,11 @@ true true true + true - + World stats @@ -85,12 +162,11 @@ true true true - - - - + + + false 0 0 @@ -102,9 +178,9 @@ - - - + + + false 250 0 @@ -116,18 +192,49 @@ + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + false + + false - 400 - 0 + 250 + 50 50 50 floating false - #666666 - + #777777 + + + + + + + false + 300 + 50 + 100 + 50 + floating + false + #777777 + diff --git a/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py b/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py new file mode 100644 index 0000000..077e9b4 --- /dev/null +++ b/crane_plus_gazebo/launch/crane_plus_with_aruco_cube.launch.py @@ -0,0 +1,41 @@ +# Copyright 2024 RT Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch_ros.actions import SetParameter +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + world_file = os.path.join( + get_package_share_directory('crane_plus_gazebo'), + 'worlds', + 'table_with_aruco_cube.sdf') + world_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + get_package_share_directory('crane_plus_gazebo'), + '/launch/crane_plus_with_table.launch.py']), + launch_arguments={ + 'world_name': world_file + }.items() + ) + + return LaunchDescription([ + SetParameter(name='use_sim_time', value=True), + world_launch + ]) diff --git a/crane_plus_gazebo/launch/crane_plus_with_red_cube.launch.py b/crane_plus_gazebo/launch/crane_plus_with_red_cube.launch.py new file mode 100644 index 0000000..8d7130a --- /dev/null +++ b/crane_plus_gazebo/launch/crane_plus_with_red_cube.launch.py @@ -0,0 +1,41 @@ +# Copyright 2024 RT Corporation +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch_ros.actions import SetParameter +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + world_file = os.path.join( + get_package_share_directory('crane_plus_gazebo'), + 'worlds', + 'table_with_red_cube.sdf') + world_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + get_package_share_directory('crane_plus_gazebo'), + '/launch/crane_plus_with_table.launch.py']), + launch_arguments={ + 'world_name': world_file + }.items() + ) + + return LaunchDescription([ + SetParameter(name='use_sim_time', value=True), + world_launch + ]) diff --git a/crane_plus_gazebo/launch/crane_plus_with_table.launch.py b/crane_plus_gazebo/launch/crane_plus_with_table.launch.py index 2d614d7..024cdbd 100644 --- a/crane_plus_gazebo/launch/crane_plus_with_table.launch.py +++ b/crane_plus_gazebo/launch/crane_plus_with_table.launch.py @@ -17,25 +17,43 @@ from ament_index_python.packages import get_package_share_directory from crane_plus_description.robot_description_loader import RobotDescriptionLoader from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument from launch.actions import ExecuteProcess from launch.actions import IncludeLaunchDescription +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from launch_ros.actions import SetParameter +from launch.substitutions import LaunchConfiguration def generate_launch_description(): + declare_use_camera = DeclareLaunchArgument( + 'use_camera', + default_value='false', + description='Use camera.' + ) + + declare_world_name = DeclareLaunchArgument( + 'world_name', + default_value=os.path.join( + get_package_share_directory('crane_plus_gazebo'), 'worlds', 'table.sdf'), + description='Set world name.' + ) + # PATHを追加で通さないとSTLファイルが読み込まれない - env = {'GZ_SIM_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'], - 'GZ_SIM_RESOURCE_PATH': os.path.dirname( - get_package_share_directory('crane_plus_description'))} - world_file = os.path.join( - get_package_share_directory('crane_plus_gazebo'), 'worlds', 'table.sdf') + env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'], + 'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname( + get_package_share_directory('crane_plus_description')) + ':' + + os.path.join(get_package_share_directory('crane_plus_gazebo'), 'models'), + } + gui_config = os.path.join( get_package_share_directory('crane_plus_gazebo'), 'gui', 'gui.config') # -r オプションで起動時にシミュレーションをスタートしないと、コントローラが起動しない - gz_sim = ExecuteProcess( - cmd=['gz sim -r', world_file, '--gui-config', gui_config], + ign_gazebo = ExecuteProcess( + cmd=['ign gazebo -r', LaunchConfiguration('world_name'), '--gui-config', gui_config], output='screen', additional_env=env, shell=True @@ -52,6 +70,7 @@ def generate_launch_description(): ) description_loader = RobotDescriptionLoader() + description_loader.use_camera = LaunchConfiguration('use_camera') description_loader.use_gazebo = 'true' description_loader.gz_control_config_package = 'crane_plus_control' description_loader.gz_control_config_file_path = 'config/crane_plus_controllers.yaml' @@ -61,9 +80,23 @@ def generate_launch_description(): PythonLaunchDescriptionSource([ get_package_share_directory('crane_plus_moveit_config'), '/launch/run_move_group.launch.py']), + condition=UnlessCondition(LaunchConfiguration('use_camera')), launch_arguments={'loaded_description': description}.items() ) + rviz_config_file = get_package_share_directory( + 'crane_plus_examples') + '/launch/camera_example.rviz' + move_group_camera = IncludeLaunchDescription( + PythonLaunchDescriptionSource([ + get_package_share_directory('crane_plus_moveit_config'), + '/launch/run_move_group.launch.py']), + condition=IfCondition(LaunchConfiguration('use_camera')), + launch_arguments={ + 'loaded_description': description, + 'rviz_config_file': rviz_config_file + }.items() + ) + spawn_joint_state_controller = ExecuteProcess( cmd=['ros2 run controller_manager spawner joint_state_broadcaster'], shell=True, @@ -85,15 +118,20 @@ def generate_launch_description(): bridge = Node( package='ros_gz_bridge', executable='parameter_bridge', - arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'], + arguments=['/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock', + 'image_raw@sensor_msgs/msg/Image[ignition.msgs.Image', + 'camera_info@sensor_msgs/msg/CameraInfo[ignition.msgs.CameraInfo'], output='screen' ) return LaunchDescription([ SetParameter(name='use_sim_time', value=True), - gz_sim, + declare_use_camera, + declare_world_name, + ign_gazebo, gazebo_spawn_entity, move_group, + move_group_camera, spawn_joint_state_controller, spawn_arm_controller, spawn_gripper_controller, diff --git a/crane_plus_gazebo/models/aruco_cube_0/meshes/aruco_cube_0.dae b/crane_plus_gazebo/models/aruco_cube_0/meshes/aruco_cube_0.dae new file mode 100644 index 0000000..099e173 --- /dev/null +++ b/crane_plus_gazebo/models/aruco_cube_0/meshes/aruco_cube_0.dae @@ -0,0 +1,115 @@ + + + + + Blender User + Blender 4.3.0 commit date:2024-11-19, commit time:08:52, hash:2b18cad88b13 + + 2024-11-27T02:32:31 + 2024-11-27T02:32:31 + + Z_UP + + + + + + + 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