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Merged
merged 10 commits into from
May 9, 2023
Merged

Support bumper sensors in Gazebo #99

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4c9c410
fix: wheels tf pub
sasilva1998 Oct 2, 2022
5a4e1ee
feat: minimal gazebo example
sasilva1998 Oct 2, 2022
4afb25a
feat: minimal sensor config
sasilva1998 Oct 3, 2022
a993843
feat: bumper sensor tested
sasilva1998 Oct 3, 2022
1a640ec
feat: ir sensor tested
sasilva1998 Oct 3, 2022
3de6560
chore: world dep
sasilva1998 Oct 3, 2022
00971bd
chore: formatting
sasilva1998 Oct 3, 2022
d0c9315
docs: simulation example
sasilva1998 Oct 3, 2022
b6c7902
revert: simulation docs
sasilva1998 Oct 9, 2022
665fe13
chore: erasing changes
sasilva1998 Oct 9, 2022
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349 changes: 189 additions & 160 deletions README.md
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104 changes: 104 additions & 0 deletions create_description/meshes/bumper_1.dae
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104 changes: 104 additions & 0 deletions create_description/meshes/bumper_2.dae
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5 changes: 3 additions & 2 deletions create_description/urdf/create_1.urdf.xacro
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@@ -1,9 +1,10 @@
<?xml version="1.0" ?>
<robot name="create_1" xmlns:xacro="http://ros.org/wiki/xacro">
<robot name="create_1"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find create_description)/urdf/create_base.urdf.xacro" />
<xacro:include filename="$(find create_description)/urdf/create_1_gazebo.urdf.xacro" />

<xacro:create_base wheel_separation="0.26" base_diameter="0.3302">
<xacro:create_base wheel_separation="0.26" base_diameter="0.3302" version="1">
<mesh filename="package://create_description/meshes/create_1.dae" />
</xacro:create_base>
</robot>
5 changes: 3 additions & 2 deletions create_description/urdf/create_2.urdf.xacro
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@@ -1,9 +1,10 @@
<?xml version="1.0" ?>
<robot name="create_2" xmlns:xacro="http://ros.org/wiki/xacro">
<robot name="create_2"
xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find create_description)/urdf/create_base.urdf.xacro" />
<xacro:include filename="$(find create_description)/urdf/create_2_gazebo.urdf.xacro" />

<xacro:create_base wheel_separation="0.235" base_diameter="0.3485">
<xacro:create_base wheel_separation="0.235" base_diameter="0.3485" version="2">
<mesh filename="package://create_description/meshes/create_2.dae" />
</xacro:create_base>
</robot>
225 changes: 127 additions & 98 deletions create_description/urdf/create_base.urdf.xacro
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Expand Up @@ -4,115 +4,115 @@

<xacro:macro name="create_wheel" params="prefix y_offset wheel_radius wheel_width">
<link name="${prefix}_wheel_link">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}" />
</geometry>
</visual>
<visual>
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}" />
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}" />
</geometry>
</collision>
<collision>
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}" />
</geometry>
</collision>
</link>

<joint name="${prefix}_wheel_joint" type="continuous">
<joint name="${prefix}_wheel_joint" type="continuous">
<origin xyz="0 ${y_offset} 0.015" rpy="0 0 0" />
<parent link="base_link" />
<child link="${prefix}_wheel_link" />
<axis xyz="0 1 0" />
</joint>
</xacro:macro>

<xacro:macro name="create_base" params="diffdrive_update_rate:=40 wheel_separation wheel_radius:=0.036 wheel_width:=0.024 wheel_torque:=1.0 wheel_accel:=1.8 mass_kg:=3.5 base_diameter *mesh">
<xacro:macro name="create_base" params="diffdrive_update_rate:=40 wheel_separation wheel_radius:=0.036 wheel_width:=0.024 wheel_torque:=1.0 wheel_accel:=1.8 mass_kg:=3.5 base_diameter version *mesh">
<xacro:include filename="$(find create_description)/urdf/create_base_gazebo.urdf.xacro" />

<link name="base_footprint">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="Green" />
</visual>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
<material name="Green" />
</visual>

<collision>
<origin xyz="0 0 0.017" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
<collision>
<origin xyz="0 0 0.017" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</collision>
</link>

<link name="base_link">
<inertial>
<mass value="2" />
<origin xyz="0 0 0.0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.5" />
</inertial>
<inertial>
<mass value="2" />
<origin xyz="0 0 0.0" />
<inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.5" />
</inertial>

<visual>
<origin xyz=" 0 0 0.0308" rpy="0 0 0" />
<geometry>
<xacro:insert_block name="mesh" />
</geometry>
</visual>
<visual>
<origin xyz=" 0 0 0.0308" rpy="0 0 0" />
<geometry>
<xacro:insert_block name="mesh" />
</geometry>
</visual>

<collision>
<origin xyz="0.0 0.0 0.0308" rpy="0 0 0" />
<geometry>
<cylinder length="0.0611632" radius="0.16495" />
</geometry>
</collision>
<collision>
<origin xyz="0.0 0.0 0.0308" rpy="0 0 0" />
<geometry>
<cylinder length="0.0611632" radius="0.16495" />
</geometry>
</collision>
</link>

<link name="wall_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>

<link name="left_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>

<link name="right_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>

<link name="leftfront_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
</inertial>
</link>

<link name="rightfront_cliff_sensor_link">
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<inertial>
<mass value="0.01" />
<origin xyz="0 0 0" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
</link>

<joint name="base_footprint_joint" type="fixed">
Expand Down Expand Up @@ -154,12 +154,39 @@
<xacro:create_wheel prefix="left" y_offset="${wheel_separation / 2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
<xacro:create_wheel prefix="right" y_offset="${wheel_separation / -2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>

<!-- bumper sensor link -->
<link name="bumper_link">
<collision name="bumper_link_collision">
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://create_description/meshes/bumper_${version}.dae"/>
</geometry>
</collision>
</link>

<joint name="bumper_joint" type="fixed">
<origin xyz="-0.0025 0 0" rpy="0 0 0" />
<parent link="base_link" />
<child link="bumper_link" />
<axis xyz="0 0 0" />
</joint>

<!-- omni_ir sensor link -->
<link name="omni_ir_link">
</link>

<joint name="omni_ir_joint" type="fixed">
<origin xyz="${base_diameter/2 - 0.025} 0 0.0775" rpy="0 0 0" />
<parent link="base_link" />
<child link="omni_ir_link" />
<axis xyz="0 0 0" />
</joint>

<!--<link name="rear_wheel_link">
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0"
iyy="0.0001" iyz="0.0" izz="0.0001" />
<inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
</inertial>

<visual>
Expand All @@ -184,25 +211,25 @@
</joint>-->

<link name="front_wheel_link">
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>
<inertial>
<origin xyz="0 0 0" />
<mass value="0.01" />
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
</inertial>

<visual>
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
<geometry>
<sphere radius="0.018" />
</geometry>
</visual>
<visual>
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
<geometry>
<sphere radius="0.018" />
</geometry>
</visual>

<collision>
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
<geometry>
<sphere radius="0.018" />
</geometry>
</collision>
<collision>
<origin xyz="0 0 0" rpy="0 ${PI/2} ${PI/2}" />
<geometry>
<sphere radius="0.018" />
</geometry>
</collision>
</link>

<!-- fixed because there's no transmission -->
Expand All @@ -220,17 +247,19 @@
<child link="gyro_link" />
</joint>
<link name="gyro_link">
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001" />
</inertial>
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.0001" />
</inertial>
</link>

<!-- Simulation sensors -->
<xacro:sim_create_base/>
<xacro:sim_create_wall_sensor/>
<xacro:sim_create_cliff_sensors/>
<xacro:sim_imu/>
<xacro:sim_bumper/>
<xacro:sim_ir/>
</xacro:macro>
</robot>
58 changes: 58 additions & 0 deletions create_description/urdf/create_base_gazebo.urdf.xacro
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Expand Up @@ -15,6 +15,7 @@
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_footprint</robotBaseFrame>
<publishWheelJointState>true</publishWheelJointState>
</plugin>

<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
Expand Down Expand Up @@ -81,6 +82,63 @@
</gazebo>
</xacro:macro>

<xacro:macro name="sim_bumper">
<gazebo reference="bumper_link">
<sensor name="sim_bumper" type="contact">
<alwaysOn>true</alwaysOn>
<updateRate>1000.0</updateRate>
<material>Gazebo/Red</material>
<contact>
<collision>base_footprint_fixed_joint_lump__bumper_link_collision_collision_2</collision>
</contact>
<plugin name="gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
<bumperTopicName>bumper</bumperTopicName>
<frameName>bumper_link</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>

<xacro:macro name="sim_ir">
<gazebo reference="omni_ir_link">
<sensor type="ray" name="TeraRanger">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>50</update_rate>
<ray>
<scan>
<horizontal>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>${-0.14835*2}</min_angle>
<max_angle>${0.14835*2}</max_angle>
</horizontal>
<vertical>
<samples>10</samples>
<resolution>1</resolution>
<min_angle>-0.05</min_angle>
<max_angle>0.05</max_angle>
</vertical>
</scan>
<range>
<min>0.01</min>
<max>2</max>
<resolution>0.02</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_range.so" name="gazebo_ros_range">
<gaussianNoise>0.005</gaussianNoise>
<alwaysOn>true</alwaysOn>
<updateRate>50</updateRate>
<topicName>omni_ir</topicName>
<frameName>omni_ir_link</frameName>
<radiation>INFRARED</radiation>
<fov>${0.14835*2}</fov>
</plugin>
</sensor>
</gazebo>
</xacro:macro>

<xacro:macro name="sim_create_wall_sensor">
<gazebo reference="wall_sensor_link">
<sensor type="ray" name="wall_sensor">
Expand Down
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