diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/.gitignore index 2b3bcef0..5a7699cc 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/.gitignore +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/.gitignore @@ -1 +1 @@ -nifti_robot.sdf.urdf \ No newline at end of file +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/CMakeLists.txt index 3389a0a6..54c6cc12 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/CMakeLists.txt +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/CMakeLists.txt @@ -21,9 +21,12 @@ install(TARGETS laser_rotate_plugin flipper_control_plugin LIBRARY DESTINATION lib RUNTIME DESTINATION bin) -install(DIRECTORY launch meshes textures urdf +install(DIRECTORY config launch meshes textures urdf worlds DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) install(FILES model.sdf model.config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(PROGRAMS scripts/print_robot_urdf scripts/yaml_to_xacro_args + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.sh b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.sh deleted file mode 100644 index 3a2d560d..00000000 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.sh +++ /dev/null @@ -1,13 +0,0 @@ -config="big_collision_box_height:=0.5 big_collision_box_on_top:=1 big_collision_box_width:=0.5 big_collision_box_x:=-0.1 - has_differential:=0 has_flipper_touch_sensors:=0 - has_jetson:=1 has_mobilicom:=1 has_new_realsense:=0 has_omnicam:=1 has_omnicam_sensor_mount:=1 has_realsense:=0 - has_realsense_d435:=1 has_realsense_t265:=0 has_rear_sensor_item:=1 has_top_box:=1 jetson_shift_x:=0.515 - jetson_shift_y:=0.17 jetson_version:=2 jetson_yaw:=0.0 laser_pitch:=0.0 mobilicom_antenna_l_rotation:=-0.5 - mobilicom_antenna_l_tilt:=1.0 mobilicom_antenna_r_rotation:=0.0 mobilicom_antenna_r_tilt:=1.5758 - mobilicom_antennas_length:=0.17 mobilicom_has_antenna_box:=0 mobilicom_is_lite:=1 - mobilicom_parent_link:=rear_sensor_item mobilicom_pitch:=4.0 mobilicom_roll:=1.5758 mobilicom_shift_x:=0.0 - mobilicom_shift_y:=0.01 mobilicom_shift_z:=0.2 mobilicom_yaw:=3.14152 ptuxthermo_x_offset:=0.2 - ptuxthermo_y_offset:=0.18 realsense_holder_version:=5 realsense_parent_link:=omnicam_sensor_mount - realsense_roll:=0.0 realsense_shift_x:=0.0 realsense_shift_y:=0.0 realsense_shift_z:=0.0 realsense_tilt:=-1.15 - realsense_upside_down:=0 realsense_width:=640 realsense_yaw:=0.62831853 t265_parent_link:=rear_sensor_item - top_box_j_x:=0.472" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml new file mode 100644 index 00000000..18777307 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml @@ -0,0 +1,68 @@ +revision: 2014 # 2014 for TRADR robot, 2021 for upgraded robot + +big_collision_box_on_top: False +big_collision_box_height: 0.5 +big_collision_box_width: 0.5 +big_collision_box_x: -0.1 + +flipper_inflation_ratio: 1.0 +flipper_inward_enlargement: 0.0 + +has_flipper_touch_sensors: False +has_omnicam: True +has_omnicam_sensor_mount: True +has_omnicam_vras: False +has_sick_lidar: True +has_ouster_lidar: False +has_mote_deployer: False + +num_cliff_sensors: 0 + +has_rear_sensor_item: True +rear_sensor_item_height: 0.35 + +has_top_box: True +top_box_j_x: 0.472 + +has_jetson: True +jetson_shift_x: 0.515 +jetson_shift_y: 0.17 +jetson_version: 2 +jetson_yaw: 0.0 + +laser_pitch: 0.0 + +has_mobilicom: True +mobilicom_antenna_l_rotation: -0.5 +mobilicom_antenna_l_tilt: 1.0 +mobilicom_antenna_r_rotation: 0.0 +mobilicom_antenna_r_tilt: 1.5758 +mobilicom_antennas_length: 0.17 +mobilicom_has_antenna_box: 0 +mobilicom_is_lite: True +mobilicom_parent_link: rear_sensor_item +mobilicom_pitch: 4.0 +mobilicom_roll: 1.5758 +mobilicom_shift_x: 0.0 +mobilicom_shift_y: 0.01 +mobilicom_shift_z: 0.2 +mobilicom_yaw: 3.14152 + +ptuxthermo_x_offset: 0.2 +ptuxthermo_y_offset: 0.18 + +has_new_realsense: False +has_realsense: False +has_realsense_d435: True +realsense_holder_version: 5 +realsense_parent_link: omnicam_sensor_mount +realsense_roll: 0.0 +realsense_shift_x: 0.0 +realsense_shift_y: 0.0 +realsense_shift_z: 0.0 +realsense_tilt: -1.15 +realsense_upside_down: False +realsense_yaw: 0.62831853 + +has_realsense_t265: False +t265_parent_link: rear_sensor_item \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/sdf.sh b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/sdf.sh deleted file mode 100644 index 4e022952..00000000 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/sdf.sh +++ /dev/null @@ -1,3 +0,0 @@ -config="${config} rendering_target:=sdf flipper_inflation_ratio:=1.0 flipper_inward_enlargement:=0.0 - realsense_tf_from_urdf:=1 simulate_sick_lidar:=1 simulate_omnicam:=1 simulate_imu:=1 - simulate_realsense_d435:=1 big_collision_box_on_top:=0" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/sdf.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/sdf.yaml new file mode 100644 index 00000000..03f8463c --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/sdf.yaml @@ -0,0 +1,11 @@ +rendering_target: sdf + +has_differential: False + +realsense_width: 640 +realsense_tf_from_urdf: True + +simulate_sick_lidar: True +simulate_omnicam: True +simulate_imu: True +simulate_realsense_d435: True \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/teleop_config.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/teleop_config.yaml new file mode 100644 index 00000000..308eb6aa --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/teleop_config.yaml @@ -0,0 +1,4 @@ +scale_angular: 0.3 +scale_angular_turbo: 0.5 +scale_front_flippers: 1.0 +scale_rear_flippers: 1.0 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/urdf.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/urdf.yaml new file mode 100644 index 00000000..a5f06fba --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/urdf.yaml @@ -0,0 +1,8 @@ +rendering_target: urdf + +big_collision_box_on_top: True + +flipper_inflation_ratio: 1.3 +flipper_inward_enlargement: 0.037 + +mobilicom_has_antenna_box: True \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb new file mode 100644 index 00000000..c4544cbf --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb @@ -0,0 +1,138 @@ +def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF, _max_velocity=0.4, _max_acceleration=3) + numTrackWheels = 8 + numFlipperWheels = 5 + + tracks = ["left", "right"] + flippers = ["front_left", "front_right", "rear_left", "rear_right"] + + flippersOfTrack = Hash.new + flippersOfTrack["left"] = ["front_left", "rear_left"] + flippersOfTrack["right"] = ["front_right", "rear_right"] + + # configuration of diffdrive + wheelSeparation = 0.397 + wheelRadiuses = [0.089, 0.074, 0.059, 0.044, 0.029] + + # configuration of wheel slip + slipCompliance = 0.0485 + wheelNormalForce = 10.545 + + diffdriveJoints = [] + for i in 0...numFlipperWheels + diffdriveJoints[i] = "" + end + wheelSlip = "" + + for track in tracks + for wheel in 1..numTrackWheels + diffdriveJoints[0] += "<#{track}_joint>#{track}_track_wheel#{wheel}_j\n" + wheelSlip += <<-HEREDOC + + #{slipCompliance} + 0 + #{wheelNormalForce} + #{wheelRadiuses[0]} + + HEREDOC + end + for flipper in flippersOfTrack[track] + for wheel in 1..numFlipperWheels + diffdriveJoints[wheel-1] += "<#{track}_joint>#{flipper}_flipper_wheel#{wheel}_j\n" + wheelSlip += <<-HEREDOC + + #{slipCompliance} + 0 + #{wheelNormalForce} + #{wheelRadiuses[wheel-1]} + + HEREDOC + end + end + end + + diffDrive = "" + for wheel in 0...numFlipperWheels + # we only want odometry from the first diffdrive + no_odom = "" + if wheel > 0 + no_odom = "unused_odom\n" + end + diffDrive += <<-HEREDOC + + #{diffdriveJoints[wheel]} + #{wheelSeparation} + #{wheelRadiuses[wheel]} + /model/#{_name}/cmd_vel_relay + -#{_max_velocity} + #{_max_velocity} + -#{_max_acceleration} + #{_max_acceleration} + #{no_odom} + + HEREDOC + end + + <<-HEREDOC + + #{_name} + false + #{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw} + #{_worldName} + true + + + #{_name} + #{_modelURI} + + #{diffDrive} + + + true + true + false + false + #{$enableGroundTruth} + true + true + 1 + + + + linear_battery + 12.694 + 12.694 + -3.1424 + 78.4 + 78.4 + 0.061523 + 1.9499 + 4.95 + true + + + + /model/#{_name}/gas_detected + 10 + gas + + + + #{wheelSlip} + + #{_additionalSDF} + + + + HEREDOC +end + +def _rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/description.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/description.launch index 3ecaf5ad..7d4869dc 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/description.launch +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/description.launch @@ -1,6 +1,8 @@ - + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/example.ign index 2c3fd996..f18ea605 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/example.ign +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/example.ign @@ -7,7 +7,8 @@ <% #require_relative 'spawner' - load File.join(File.dirname(__FILE__), "spawner.rb") + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") # Modify these as needed $enableGroundTruth = true @@ -21,7 +22,7 @@ end # This assumes that this launch file is in a directory below the model - modelURI = File.expand_path("../", File.dirname(__FILE__)) + modelURI = File.expand_path(_base_dir, File.dirname(__FILE__)) $worldName = 'example' worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") @@ -39,9 +40,17 @@ +<% if local_variables.include?(:ros) and ros %> roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> +<% end %> + +<% if local_variables.include?(:teleop) and teleop %> + + roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 teleop.launch + +<% end %> @@ -171,7 +180,10 @@ filename="libignition-launch-gazebo-factory.so"> <%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0) %> -<%= rosExecutables(robotName, $worldName) %> + +<% if local_variables.include?(:ros) and ros %> + <%= rosExecutables(robotName, $worldName) %> +<% end %> diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/flipper_control.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/flipper_control.launch new file mode 100644 index 00000000..ea6935fc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/flipper_control.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb index 86877d8c..0c431236 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/spawner.rb @@ -1,365 +1,9 @@ -def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) - <<-HEREDOC - - #{_name} - false - #{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw} - #{_worldName} - true - - - #{_name} - #{_modelURI} - - - left_track_wheel1_j - left_track_wheel2_j - left_track_wheel3_j - left_track_wheel4_j - left_track_wheel5_j - left_track_wheel6_j - left_track_wheel7_j - left_track_wheel8_j - front_left_flipper_wheel1_j - rear_left_flipper_wheel1_j - right_track_wheel1_j - right_track_wheel2_j - right_track_wheel3_j - right_track_wheel4_j - right_track_wheel5_j - right_track_wheel6_j - right_track_wheel7_j - right_track_wheel8_j - front_right_flipper_wheel1_j - rear_right_flipper_wheel1_j - 0.397 - 0.089 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - front_left_flipper_wheel2_j - rear_left_flipper_wheel2_j - front_right_flipper_wheel2_j - rear_right_flipper_wheel2_j - 0.397 - 0.074 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - front_left_flipper_wheel3_j - rear_left_flipper_wheel3_j - front_right_flipper_wheel3_j - rear_right_flipper_wheel3_j - 0.397 - 0.059 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - front_left_flipper_wheel4_j - rear_left_flipper_wheel4_j - front_right_flipper_wheel4_j - rear_right_flipper_wheel4_j - 0.397 - 0.044 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - front_left_flipper_wheel5_j - rear_left_flipper_wheel5_j - front_right_flipper_wheel5_j - rear_right_flipper_wheel5_j - 0.397 - 0.029 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - - true - true - false - false - #{$enableGroundTruth} - true - true - 1 - - - - linear_battery - 12.694 - 12.694 - -3.1424 - 78.4 - 78.4 - 0.061523 - 1.9499 - 4.95 - true - - - - /model/#{_name}/gas_detected - 10 - gas - - - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.074 - - - 0.0485 - 0 - 10.545 - 0.074 - - - 0.0485 - 0 - 10.545 - 0.074 - - - 0.0485 - 0 - 10.545 - 0.074 - - - 0.0485 - 0 - 10.545 - 0.059 - - - 0.0485 - 0 - 10.545 - 0.059 - - - 0.0485 - 0 - 10.545 - 0.059 - - - 0.0485 - 0 - 10.545 - 0.059 - - - 0.0485 - 0 - 10.545 - 0.044 - - - 0.0485 - 0 - 10.545 - 0.044 - - - 0.0485 - 0 - 10.545 - 0.044 - - - 0.0485 - 0 - 10.545 - 0.044 - - - 0.0485 - 0 - 10.545 - 0.029 - - - 0.0485 - 0 - 10.545 - 0.029 - - - 0.0485 - 0 - 10.545 - 0.029 - - - 0.0485 - 0 - 10.545 - 0.029 - - - - - - HEREDOC +require_relative 'common.rb' + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='', _max_velocity=0.4, _max_acceleration=3) + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF, _max_velocity, _max_acceleration) end def rosExecutables(_name, _worldName) - <<-HEREDOC - - roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} - - HEREDOC + _rosExecutables(_name, _worldName) end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/teleop.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/teleop.launch new file mode 100644 index 00000000..0cb25709 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/teleop.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch index 4d55a55e..c7f10683 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch @@ -5,482 +5,176 @@ + + + + - - + + - - - - - - - + - - - + + + + - - - + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + - - - - - - - - - - - - + + + + - - - - - - - - - - - - + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + - - + + - - + name="ros_ign_bridge_laser" + args="/model/$(arg name)/joint/laser_j/cmd_vel@std_msgs/Float64]ignition.msgs.Double"> + + - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - + + + + + - - - - - - - - - - - - - - - - - + + + + + - - - - - - - - - - - - - - - - + + + + - - - - - - - - - - - - - - - - + + + + - - - - - - - - - - - - - - - - + + + + - - - - - - - - - - - - - - - - + + + + - - - - + + + + + + + - - - - + + + + - - - - - - - - + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/body_2021.dae b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/body_2021.dae new file mode 100644 index 00000000..4ce0e028 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/body_2021.dae @@ -0,0 +1,127 @@ + + + + + Blender User + Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44 + + 2021-03-30T16:44:53 + 2021-03-30T16:44:53 + + Z_UP + + + + + + + body_color_png + + + + + body_color_png-surface + + + + + + 0 0 0 1 + + + + + + 1 + + + + + + + + + ../textures/body_color.png + + + + + + + + + + + + -291.9654 183.6202 -120.4659 -294.5405 186.3828 -120.4659 -294.5405 186.383 120.4657 294.511 186.3829 59.10239 294.511 186.3829 -61.25249 294.511 186.3828 -120.4659 -25.75539 78.88301 120.4657 -25.75539 130.883 120.4657 24.74462 130.883 120.4657 24.74462 78.88301 120.4657 -24.93963 -6.402401 -164.5752 -23.87796 -9.52997 -164.5752 -22.41714 -12.49221 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3138 1386 3137 1386 3136 1386 3139 6280 3137 6280 3138 6280 3140 6281 3141 6281 3136 6281 3140 6282 3136 6282 3137 6282 3142 6283 3140 6283 3143 6283 3142 6284 3141 6284 3140 6284 3115 6285 3145 6285 3146 6285 3115 6286 3146 6286 3144 6286 3147 1386 3116 1386 3115 1386 3147 6287 3115 6287 3144 6287 3143 6288 3140 6288 3148 6288 3148 6289 3140 6289 3149 6289 3140 3642 3137 3642 3150 3642 3140 3525 3150 3525 3149 3525 3137 6290 3139 6290 3150 6290 3150 6291 3139 6291 3151 6291 3139 6292 3138 6292 3152 6292 3139 6292 3152 6292 3151 6292 3138 6293 3136 6293 3152 6293 3152 6294 3136 6294 3153 6294 3136 6295 3141 6295 3154 6295 3136 6296 3154 6296 3153 6296 3154 6297 3142 6297 3155 6297 3141 6298 3142 6298 3154 6298 3142 6299 3143 6299 3148 6299 3142 6299 3148 6299 3155 6299 3118 6300 3147 6300 3156 6300 3116 6300 3147 6300 3118 6300 3147 6301 3144 6301 3156 6301 3156 6302 3144 6302 3157 6302 3157 6303 3146 6303 3158 6303 3144 6304 3146 6304 3157 6304 3146 4435 3145 4435 3158 4435 3158 4435 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3113 6372 3157 6372 3157 1386 3113 1386 3111 1386 3114 1386 3113 1386 3152 1386 3111 1386 3167 1386 3166 1386 3111 6373 3168 6373 3167 6373 3170 6374 3169 6374 3171 6374 3171 1386 3169 1386 3113 1386 3113 6375 3169 6375 3111 6375 3111 6376 3169 6376 3168 6376 3117 1386 3118 1386 3187 1386 3187 1386 3118 1386 3185 1386 3156 6377 3157 6377 3112 6377 3112 6378 3157 6378 3111 6378 3153 1386 3154 1386 3108 1386 3108 6379 3154 6379 3107 6379 3149 1386 3150 1386 3184 1386 3184 1386 3150 1386 3186 1386 3188 6380 3097 6380 3189 6380 3097 6381 3101 6381 3189 6381 3189 6382 3101 6382 3190 6382 3101 6383 3094 6383 3190 6383 3190 6384 3094 6384 3191 6384 3191 6385 3093 6385 3192 6385 3094 6386 3093 6386 3191 6386 3192 6387 3096 6387 3193 6387 3093 6388 3096 6388 3192 6388 3193 6389 3097 6389 3188 6389 3096 6390 3097 6390 3193 6390 3194 5115 3195 5115 3184 5115 3184 5115 3195 5115 3185 5115 3191 6391 3196 6391 3190 6391 3194 6392 3191 6392 3192 6392 3194 1386 3196 1386 3191 1386 3197 6393 3189 6393 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9 0 0 0 7 0 1 1 6 0 2 2 8 1 3 3 10 1 4 4 1 1 5 5 12 2 6 6 19 2 7 7 0 2 8 8 12 3 9 9 0 3 10 10 10 3 11 11 14 4 12 12 13 4 13 13 5 4 14 14 15 5 15 15 12 5 16 16 10 5 17 17 15 6 18 18 10 6 19 19 8 6 20 20 16 7 21 21 14 7 22 22 2 7 23 23 17 8 24 24 15 8 25 25 8 8 26 26 16 9 27 27 2 9 28 28 11 9 29 29 18 10 30 30 16 10 31 31 11 10 32 32 13 11 33 33 17 11 34 34 8 11 35 35 13 12 36 36 8 12 37 37 5 12 38 38 18 13 39 39 11 13 40 40 7 13 41 41 19 14 42 42 7 14 43 43 0 14 44 44 20 15 45 45 19 15 46 46 12 15 47 47 22 16 48 48 20 16 49 49 12 16 50 50 21 17 51 51 13 17 52 52 14 17 53 53 23 18 54 54 21 18 55 55 14 18 56 56 22 19 57 57 12 19 58 58 15 19 59 59 23 20 60 60 14 20 61 61 16 20 62 62 24 21 63 63 22 21 64 64 15 21 65 65 24 22 66 66 15 22 67 67 17 22 68 68 25 23 69 69 23 23 70 70 16 23 71 71 24 24 72 72 17 24 73 73 13 24 74 74 25 25 75 75 16 25 76 76 18 25 77 77 21 26 78 78 24 26 79 79 13 26 80 80 26 27 81 81 25 27 82 82 18 27 83 83 26 28 84 84 18 28 85 85 19 28 86 86 20 29 87 87 26 29 88 88 19 29 89 89 26 30 90 90 32 30 91 91 27 30 92 92 27 31 93 93 25 31 94 94 26 31 95 95 25 32 96 96 27 32 97 97 28 32 98 98 28 33 99 99 23 33 100 100 25 33 101 101 29 34 102 102 21 34 103 103 23 34 104 104 29 35 105 105 23 35 106 106 28 35 107 107 21 36 108 108 29 36 109 109 30 36 110 110 24 37 111 111 21 37 112 112 30 37 113 113 31 38 114 114 22 38 115 115 24 38 116 116 31 39 117 117 24 39 118 118 30 39 119 119 22 40 120 120 31 40 121 121 32 40 122 122 20 41 123 123 22 41 124 124 32 41 125 125 32 42 126 126 26 42 127 127 20 42 128 128 33 43 129 129 30 43 130 130 29 43 131 131 38 44 132 132 31 44 133 133 30 44 134 134 34 45 135 135 38 45 136 136 30 45 137 137 35 46 138 138 29 46 139 139 28 46 140 140 35 47 141 141 33 47 142 142 29 47 143 143 33 48 144 144 34 48 145 145 30 48 146 146 36 49 147 147 35 49 148 148 28 49 149 149 36 50 150 150 28 50 151 151 27 50 152 152 37 51 153 153 36 51 154 154 27 51 155 155 37 52 156 156 27 52 157 157 32 52 158 158 38 53 159 159 37 53 160 160 32 53 161 161 38 54 162 162 32 54 163 163 31 54 164 164 46 55 165 165 40 55 166 166 33 55 167 167 41 56 168 168 46 56 169 169 35 56 170 170 36 57 171 171 41 57 172 172 35 57 173 173 37 58 174 174 42 58 175 175 36 58 176 176 42 59 177 177 41 59 178 178 36 59 179 179 37 60 180 180 43 60 181 181 42 60 182 182 38 61 183 183 43 61 184 184 37 61 185 185 46 62 186 186 33 62 187 187 35 62 188 188 38 63 189 189 44 63 190 190 43 63 191 191 44 64 192 192 38 64 193 193 39 64 194 194 45 65 195 195 38 65 196 196 34 65 197 197 38 66 198 198 45 66 199 199 39 66 200 200 34 67 201 201 40 67 202 202 45 67 203 203 40 68 204 204 34 68 205 205 33 68 206 206 47 69 207 207 45 69 208 208 40 69 209 209 48 70 210 210 53 70 211 211 43 70 212 212 49 71 213 213 40 71 214 214 46 71 215 215 49 72 216 216 47 72 217 217 40 72 218 218 48 73 219 219 43 73 220 220 44 73 221 221 49 74 222 222 46 74 223 223 41 74 224 224 50 75 225 225 49 75 226 226 41 75 227 227 51 76 228 228 48 76 229 229 44 76 230 230 51 77 231 231 44 77 232 232 39 77 233 233 52 78 234 234 51 78 235 235 39 78 236 236 50 79 237 237 41 79 238 238 42 79 239 239 53 80 240 240 50 80 241 241 42 80 242 242 52 81 243 243 39 81 244 244 45 81 245 245 47 82 246 246 52 82 247 247 45 82 248 248 53 83 249 249 42 83 250 250 43 83 251 251 4 84 252 252 3 84 253 253 6 84 254 254 9 85 255 255 0 85 256 256 7 85 257 257 1 86 258 258 10 86 259 259 9 86 260 260 6 87 261 261 7 87 262 262 11 87 263 263 4 88 264 264 6 88 265 265 11 88 266 266 3 89 267 267 1 89 268 268 6 89 269 269 6 90 270 270 1 90 271 271 9 90 272 272 8 91 273 273 1 91 274 274 3 91 275 275 5 92 276 276 8 92 277 277 3 92 278 278 9 93 279 279 10 93 280 280 0 93 281 281 5 94 282 282 3 94 283 283 2 94 284 284 4 95 285 285 11 95 286 286 2 95 287 287 3 96 288 288 4 96 289 289 2 96 290 290 14 97 291 291 5 97 292 292 2 97 293 293 19 98 294 294 18 98 295 295 7 98 296 296 58 99 297 297 55 99 298 298 56 99 299 299 58 100 300 300 56 100 301 301 59 100 302 302 61 101 303 303 60 101 304 304 58 101 305 305 61 102 306 306 58 102 307 307 59 102 308 308 65 103 309 309 59 103 310 310 56 103 311 311 65 104 312 312 64 104 313 313 59 104 314 314 75 105 315 315 70 105 316 316 72 105 317 317 80 106 318 318 76 106 319 319 74 106 320 320 73 107 321 321 75 107 322 322 76 107 323 323 73 108 324 324 70 108 325 325 75 108 326 326 72 109 327 327 71 109 328 328 75 109 329 329 71 110 330 330 76 110 331 331 75 110 332 332 57 111 333 333 61 111 334 334 62 111 335 335 80 112 336 336 74 112 337 337 79 112 338 338 69 112 339 339 78 112 340 340 79 112 341 341 69 113 342 342 76 113 343 343 71 113 344 344 69 114 345 345 74 114 346 346 76 114 347 347 54 115 348 348 57 115 349 349 67 115 350 350 65 116 351 351 67 116 352 352 66 116 353 353 66 108 354 354 67 108 355 355 62 108 356 356 64 117 357 357 66 117 358 358 63 117 359 359 64 118 360 360 65 118 361 361 66 118 362 362 63 119 363 363 66 119 364 364 62 119 365 365 57 120 366 366 62 120 367 367 67 120 368 368 65 116 369 369 54 116 370 370 67 116 371 371 64 121 372 372 63 121 373 373 61 121 374 374 63 122 375 375 62 122 376 376 61 122 377 377 59 123 378 378 64 123 379 379 61 123 380 380 65 124 381 381 56 124 382 382 54 124 383 383 55 125 384 384 54 125 385 385 56 125 386 386 57 126 387 387 77 126 388 388 60 126 389 389 61 127 390 390 57 127 391 391 60 127 392 392 57 128 393 393 54 128 394 394 77 128 395 395 55 129 396 396 77 129 397 397 54 129 398 398 77 130 399 399 55 130 400 400 58 130 401 401 60 131 402 402 77 131 403 403 58 131 404 404 72 132 405 405 70 132 406 406 68 132 407 407 78 133 408 408 68 133 409 409 70 133 410 410 71 134 411 411 72 134 412 412 68 134 413 413 68 135 414 414 69 135 415 415 71 135 416 416 79 112 417 417 74 112 418 418 69 112 419 419 78 112 420 420 70 112 421 421 79 112 422 422 70 112 423 423 73 112 424 424 79 112 425 425 73 112 426 426 80 112 427 427 79 112 428 428 80 136 429 429 73 136 430 430 76 136 431 431 78 137 432 432 69 137 433 433 68 137 434 434

+ + + + + + + + 0.001 0 0 0 0 -7.58967e-10 -0.001 0 0 0.001 -7.58967e-10 3.72529e-9 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf index 8d310c36..8df5f808 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf @@ -1,5 +1,5 @@ - + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/compute_total_mass b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/compute_total_mass new file mode 100755 index 00000000..2fb399eb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/compute_total_mass @@ -0,0 +1,9 @@ +#!/usr/bin/env bash +set -e + +# compute the total mass of the robot by summing all elements in SDF + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +sdf="${1:-"${DIR}/../model.sdf"}" + +grep -i mass "$sdf" | grep -o '[0-9e.-]*' | grep -vi 'e-0' | numsum \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/print_robot_urdf new file mode 100755 index 00000000..ef5e2c5d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/print_robot_urdf @@ -0,0 +1,13 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + config="${config} $("${DIR}/yaml_to_xacro_args" "$file")" +done + +echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/nifti_robot.xacro" ${config} "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf index b653f31b..f5af298b 100755 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf @@ -3,16 +3,21 @@ set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" MODEL_DIR="${DIR}/.." +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" -source "${MODEL_DIR}/config/common.sh" -source "${MODEL_DIR}/config/sdf.sh" +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do + config="${config} $("${DIR}/yaml_to_xacro_args" "$file")" +done sdf8_version="$(ign sdf --versions | grep '^8')" || true [ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1 echo "Found libsdformat ${sdf8_version}" >&2 -rosrun xacro xacro "${MODEL_DIR}/urdf/nifti_robot.xacro" ${config} > "${MODEL_DIR}/nifti_robot.sdf.urdf" -ign sdf --force-version "$sdf8_version" -p "${MODEL_DIR}/nifti_robot.sdf.urdf" | "${DIR}/high_precision_constants.py" - > "${MODEL_DIR}/model.sdf" +echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/nifti_robot.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf" +ign sdf --force-version "$sdf8_version" -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}" + sed -i -e 's#model://ctu_cras_norlab_absolem_sensor_config_1/##g' \ -e '//{:a;N;/<\/surface>/!ba};/\n\s*\n\s*\n\s*<\/contact>\n\s*\n\s*\n\s*<\/friction>\n\s*<\/surface>/d' \ -e '/\(-\?0 \?\)\{6\}<\/pose>/d' \ @@ -22,5 +27,6 @@ sed -i -e 's#model://ctu_cras_norlab_absolem_sensor_config_1/##g' \ -e '//d' \ -e '/1<\/gravity>/d' \ -e '/0<\/kinematic>/d' \ - -e '/0<\/static>/d' "${MODEL_DIR}/model.sdf" -sed -i '//{:a;N;/<\/contact>/!ba};/\n\s*\n\s*<\/contact>/d' "${MODEL_DIR}/model.sdf" \ No newline at end of file + -e '/0<\/static>/d' "${OUTPUT_FILE}" +sed -i '//{:a;N;/<\/contact>/!ba};/\n\s*\n\s*<\/contact>/d' "${OUTPUT_FILE}" +sed -i 's/\(]*>\)/\1\r /g' "${OUTPUT_FILE}" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/yaml_to_xacro_args b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/yaml_to_xacro_args new file mode 100755 index 00000000..8383ada8 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/yaml_to_xacro_args @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +set -e + +# convert the given yaml file to a list of key:=value intended to be passed to xacro +# this script does not support nested YAML structures + +file="$1" +sed 's/: \?/:=/' < "$file" | sed '/^#.*$/d' | sed 's/#.*$//' | sed 's/:=\s*True\s*$/:=1/i' | sed 's/:=\s*False\s*$/:=0/i' | tr "\n" " " \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/specifications.md index 59e7eaa5..277ae9b1 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/specifications.md +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/specifications.md @@ -66,7 +66,20 @@ This configuration has an endurance of approximately 2 hours. The endurance test ### Diversions from Physical Hardware of Absolem robot There is a little "tower" (or a "rod") to which we attach our communication device (Mobilicom MCU-30 Lite). This device is modeled just by the generic SubT comms plugin. -The tracks and flippers have to be approximated by wheels, as DartSim/Ignition Gazebo have no support for tracked vehicles. There is a working model for ODE/Gazebo, but there is no straight way of transferring it to Ignition Gazebo. This approximation results in worse performance on obstacles, and it can even happen that a piece of terrain gets "stuck" right between two wheels and the robot would completely stop in a case that would not be a problem with real tracks. +The tracks and flippers have to be approximated by wheels, as DartSim/Ignition Gazebo have no support for tracked vehicles. There is a working model for ODE/Gazebo, but there is no straight way of transferring it to Ignition Gazebo. This approximation results in worse performance on obstacles, and it can even happen that a piece of terrain gets "stuck" right between two wheels and the robot would completely stop in a case that would not be a problem with real tracks. + +## Sensor Config Guide + +The robot has undergone a facelift in 2021 which removed the rotating lidar and rearranged the internals in the body. The body was also moved and extended a bit. The tracks are the same in all configs, but we allow the facelifted models to drive `0.6 m/s` instead of `0.4 m/s` as the facelift also did a very slight modification to the tracks which resulted in much lower vibrations when driving. `0.6 m/s` is the designed maximum speed and the robot can easily drive it, but earlier the vibrations made such speed practically unusable. + +- SC 1: before facelift, rotating lidar, Ladybug omnicamera +- SC 2: before facelift, rotating lidar, Ladybug omnicamera, 12 motes +- SC 3: after facelift, 3D lidar, Ladybug omnicamera +- SC 4: after facelift, 3D lidar, Ladybug omnicamera, 12 motes +- SC 5: after facelift, 3D lidar, Ladybug omnicamera, 12 motes, thermocamera +- SC 6: after facelift, 3D lidar, custom omnicamera solution +- SC 7: after facelift, 3D lidar, custom omnicamera solution, 12 motes +- SC 8: after facelift, 3D lidar, custom omnicamera solution, 12 motes, thermocamera ## Validation and Specification Links * Vehicle Links: @@ -79,6 +92,12 @@ The tracks and flippers have to be approximated by wheels, as DartSim/Ignition G * PointGrey Ladybug LB-3 omnicamera - https://flir.app.boxcn.net/s/ds1bkoq9eiq6ga714nmnmzgpotgd4gkf/file/418658016565 * IMU: XSens MTi-G 710 - https://www.xsens.com/hubfs/Downloads/Leaflets/mti-g-710-series.pdf * Lights: the robot uses `1 m` of LED strips around the body. The total power output of these strips is about `20 W`. + * Ouster OS0-128 https://ouster.com/products/os0-lidar-sensor/ + * Basler cam https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace/aca2040-35gc/ + fisheye lens https://www.mouser.com/datasheet/2/857/DG00212701000_Tech_Spec_for_SAP_2000036382_2000036-1628255.pdf + * Basler cam https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace2/a2a1920-51gcpro/ + lens https://www.baslerweb.com/en/products/vision-components/lenses/basler-lens-c125-0418-5m-p-f4mm/ + * Benewake TFmini plus point lidar https://www.mouser.com/datasheet/2/1099/Benewake_10152020_TFmini_Plus-1954028.pdf + * IMU: XSens MTi-30 https://www.mouser.com/datasheet/2/693/mti-series-1358510.pdf + * Boson thermal camera: https://www.oemcameras.com/flir-boson-320x256-2mm.htm * Validation Video Links: * Endurance test: Our camera ended each shot after 28 minutes, and there was also a depleted camera battery for about 20-30 minutes until the personnel noticed the problem. Thus we had to upload the video in parts: https://www.youtube.com/watch?v=h-Do-KO95zQ, https://www.youtube.com/watch?v=s8UMUY6W91o, https://www.youtube.com/watch?v=Gd6QGNa3TIY, https://www.youtube.com/watch?v=zLrsgmCoFgU, https://www.youtube.com/watch?v=L2g-bApQsSE diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/textures/ouster-os0.png b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/textures/ouster-os0.png new file mode 100644 index 00000000..a7399ad0 Binary files /dev/null and b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/textures/ouster-os0.png differ diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/boson_thermocam.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/boson_thermocam.xacro new file mode 100644 index 00000000..ac9ab951 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/boson_thermocam.xacro @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + + + + + + 0.030 0 0 0 0 0 + 1 + 8.6 + ${visualize} + + + + + ${hfov} + + + + ${focal_length} + ${focal_length} + ${(width + 1) / 2.0} + ${(height + 1) / 2.0} + 0 + + + + ${width} + ${height} + L8 + + + 0.6 + 50 + + + + 253.15 + 673.15 + 1.6 + + + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/differential.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/differential.xacro index d675d18c..b7b27a85 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/differential.xacro +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/differential.xacro @@ -13,9 +13,7 @@ - - - + false @@ -41,9 +39,7 @@ - - - + false @@ -61,9 +57,7 @@ - - - + false @@ -81,9 +75,7 @@ - - - + false @@ -108,9 +100,7 @@ - - - + false diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/lights.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/lights.xacro new file mode 100644 index 00000000..9f435b28 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/lights.xacro @@ -0,0 +1,22 @@ + + + + + ${pose} + + 60 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + ${pi/3} + ${pi/2} + 1 + + 0 0 -1 + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/mobilicom.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/mobilicom.xacro index 44c965b0..441adf8e 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/mobilicom.xacro +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/mobilicom.xacro @@ -13,9 +13,11 @@ + + @@ -30,13 +32,21 @@ - - - - - - - + + + + + + + + + + + + + + + @@ -66,7 +76,7 @@ - + @@ -90,7 +100,7 @@ - + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/mote_deployer.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/mote_deployer.xacro new file mode 100644 index 00000000..191c0562 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/mote_deployer.xacro @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro index 4b659c4d..30fccaec 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro @@ -178,6 +178,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -193,6 +232,9 @@ + + + @@ -212,19 +254,33 @@ Example of value: '0 1 0 1' (don't forget to set alpha to 1!). --> + + + + + + + + + + + + + + @@ -235,6 +291,7 @@ + @@ -286,9 +343,15 @@ + + + + + + @@ -325,7 +388,7 @@ - + @@ -335,14 +398,21 @@ + rpy="$(arg ${pref}_rpy_r) $(arg ${pref}_rpy_p) $(arg ${pref}_rpy_y)" + lump="${lump}"/> - + + + + + + @@ -358,64 +428,92 @@ - + + + + + + + + + + + + + + + + + + + + filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/${body_mesh_name}"/> - + - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/${body_mesh_name}"/> @@ -424,35 +522,45 @@ + filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/collide/${body_mesh_name}"/> - + + + + + + + + + - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + @@ -477,12 +585,36 @@ + + + + + + + + + + + + + + + + + + + + + + - + @@ -501,18 +633,18 @@ - + - + - + - + @@ -564,15 +696,26 @@ scale="${battery_scale}" mass="${battery_mass}" /> - + + + + + + + + + + + + + filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/${top_box_mesh_name}"/> @@ -580,7 +723,7 @@ + filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/${top_box_mesh_name}"/> @@ -589,25 +732,46 @@ + filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/collide/${top_box_mesh_name}"/> + + + + + + + + + + - + + + + + + + - + + + + + + @@ -624,9 +788,19 @@ - - + + + + + + + + + + + + @@ -677,7 +851,12 @@ scale="${antenna_scale}" mass="${antenna_mass}" /> - + + + + + + @@ -1039,7 +1218,12 @@ - + + + + + + @@ -1110,6 +1294,30 @@ + + + + + + + + + + + + + + + + + + + + + + @@ -1347,7 +1555,7 @@ - + 6.0 @@ -1408,6 +1616,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -1509,40 +1749,42 @@ 1 0 0 - - 0.3 0.13 0.2 ${7*pi/8} ${pi/2} 0 - - 30 - 0 - 0.2 - 0.0025 - - 0.8 0.8 0.5 1 - 0.8 0.8 0.5 1 - - 1.5 - 1.6 - 1 - - 1 0 0 - - - 0.3 -0.13 0.2 ${9*pi/8} ${pi/2} 0 - - 30 - 0 - 0.2 - 0.0025 - - 0.8 0.8 0.5 1 - 0.8 0.8 0.5 1 - - 1.5 - 1.6 - 1 - - 1 0 0 - + + + 0.3 0.13 0.2 ${7*pi/8} ${pi/2} 0 + + 30 + 0 + 0.2 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1.5 + 1.6 + 1 + + 1 0 0 + + + 0.3 -0.13 0.2 ${9*pi/8} ${pi/2} 0 + + 30 + 0 + 0.2 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1.5 + 1.6 + 1 + + 1 0 0 + + -0.4 0 0.2 0 ${pi/2} 0 @@ -1560,8 +1802,40 @@ 1 0 0 + + + 0.4 0 0.2 0 ${pi/2} ${pi} + + 30 + 0 + 0.2 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1.5 + 1.8 + 1 + + 1 0 0 + + - + + + + + + + + + + + + + + @@ -1570,29 +1844,7 @@ 50 - - - 0 - 0.009 - 0.00075 - 0.005 - 0.00002 - 400.0 - 0.00025 - - - - - 0 - 0.009 - 0.00075 - 0.005 - 0.00002 - 400.0 - 0.00025 - - - + 0 0.009 @@ -1602,32 +1854,13 @@ 400.0 0.00025 - + + + + - - - 0 - 0.021 - 0.05 - 0.0075 - 0.000375 - 175.0 - 0.005 - - - - - 0 - 0.021 - 0.05 - 0.0075 - 0.000375 - 175.0 - 0.005 - - - + 0 0.021 @@ -1637,7 +1870,10 @@ 175.0 0.005 - + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/ouster_lidar.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/ouster_lidar.xacro new file mode 100644 index 00000000..5fb4303f --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/ouster_lidar.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + 0 0 0.035925 0 0 0 + ${rate} + ${visualize} + 1 + + + + ${horiz_samples} + 1 + -3.1459 + 3.1459 + + + 128 + 1 + -${pi/4} + ${pi/4} + + + + 0.1 + 50 + 0.01 + + + gaussian + 0 + 0.01 + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/tfmini_plus_lidar.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/tfmini_plus_lidar.xacro new file mode 100644 index 00000000..8b3c0bd1 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/tfmini_plus_lidar.xacro @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + 0.021 0 ${0.0185/2} 0 0 0 + ${rate} + ${visualize} + 1 + + + + 3 + 1 + ${-fov/2} + ${fov/2} + + + 3 + 1 + ${-fov/2} + ${fov/2} + + + + 0.1 + 12 + 0.01 + + + gaussian + 0 + 0.015 + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro index aa68a0de..ccab9e53 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro @@ -7,30 +7,30 @@ izz="${izz*scale*scale}"/> - + - + - + - - + + - + - + @@ -53,11 +53,17 @@ - + + + + + true + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/worlds/example.sdf index 62be213a..d398cc89 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/worlds/example.sdf +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/worlds/example.sdf @@ -68,6 +68,20 @@ https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area + + true + tunnel + 19.9059 -0.431901 0 0 0 -1.5754 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 Rails + + + + true + stairs + 0 21 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Urban%20Stairwell%20Platform%20Centered%20Lights + + barrier_0_-1 diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/LICENSE b/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/LICENSE deleted file mode 100644 index 5d62a455..00000000 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/LICENSE +++ /dev/null @@ -1,29 +0,0 @@ -Copyright 2019, ANYbotics AG. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met: - -1. Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in - the documentation and/or other materials provided with the - distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived - from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb index f8d5f4df..4f26349a 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_2/launch/spawner.rb @@ -1,139 +1,19 @@ +require 'yaml' + +$num_breadcrumbs = 12 + def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) - <<-HEREDOC - - #{_name} - false - #{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw} - #{_worldName} - true - - - #{_name} - #{_modelURI} - - - left_track_wheel1_j - left_track_wheel2_j - left_track_wheel3_j - left_track_wheel4_j - left_track_wheel5_j - left_track_wheel6_j - left_track_wheel7_j - left_track_wheel8_j - front_left_flipper_wheel1_j - rear_left_flipper_wheel1_j - right_track_wheel1_j - right_track_wheel2_j - right_track_wheel3_j - right_track_wheel4_j - right_track_wheel5_j - right_track_wheel6_j - right_track_wheel7_j - right_track_wheel8_j - front_right_flipper_wheel1_j - rear_right_flipper_wheel1_j - 0.397 - 0.089 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - front_left_flipper_wheel2_j - rear_left_flipper_wheel2_j - front_right_flipper_wheel2_j - rear_right_flipper_wheel2_j - 0.397 - 0.074 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - front_left_flipper_wheel3_j - rear_left_flipper_wheel3_j - front_right_flipper_wheel3_j - rear_right_flipper_wheel3_j - 0.397 - 0.059 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - front_left_flipper_wheel4_j - rear_left_flipper_wheel4_j - front_right_flipper_wheel4_j - rear_right_flipper_wheel4_j - 0.397 - 0.044 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - front_left_flipper_wheel5_j - rear_left_flipper_wheel5_j - front_right_flipper_wheel5_j - rear_right_flipper_wheel5_j - 0.397 - 0.029 - /model/#{_name}/cmd_vel_relay - -0.4 - 0.4 - -3 - 3 - - - - true - true - false - false - #{$enableGroundTruth} - true - true - 1 - - - - linear_battery - 12.694 - 12.694 - -3.1424 - 78.4 - 78.4 - 0.061523 - 1.9499 - 4.95 - true - - - - /model/#{_name}/gas_detected - 10 - gas - - + base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_1`.chomp + "/launch/common.rb" + + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found." + else + _additionalSDF = <<-HEREDOC + /model/#{_name}/breadcrumb/deploy - 12 + #{$num_breadcrumbs} 3.0 true @@ -147,230 +27,9 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) - - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.089 - - - 0.0485 - 0 - 10.545 - 0.074 - - - 0.0485 - 0 - 10.545 - 0.074 - - - 0.0485 - 0 - 10.545 - 0.074 - - - 0.0485 - 0 - 10.545 - 0.074 - - - 0.0485 - 0 - 10.545 - 0.059 - - - 0.0485 - 0 - 10.545 - 0.059 - - - 0.0485 - 0 - 10.545 - 0.059 - - - 0.0485 - 0 - 10.545 - 0.059 - - - 0.0485 - 0 - 10.545 - 0.044 - - - 0.0485 - 0 - 10.545 - 0.044 - - - 0.0485 - 0 - 10.545 - 0.044 - - - 0.0485 - 0 - 10.545 - 0.044 - - - 0.0485 - 0 - 10.545 - 0.029 - - - 0.0485 - 0 - 10.545 - 0.029 - - - 0.0485 - 0 - 10.545 - 0.029 - - - 0.0485 - 0 - 10.545 - 0.029 - - - - - - HEREDOC + HEREDOC + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF) + end end def rosExecutables(_name, _worldName) diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/CMakeLists.txt new file mode 100644 index 00000000..c0b72a70 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_absolem_sensor_config_3) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS + scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/README.md new file mode 100644 index 00000000..05b6b186 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/README.md @@ -0,0 +1,25 @@ +# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_3 + +This package contains sensor config 3 of CTU-CRAS-Norlab Absolem robot. The robot has: + +- Ladybug 3 omnicamera +- Ouster OS0-128 lidar +- 4 TFMini plus point lidars +- IMU Xsens MTI-30 +- Gas sensor +- Weight: about 38 kg +- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited. + +The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order: + +- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `common.yaml`, `urdf.yaml` +- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/ign.yaml`, `common.yaml`, `ign.yaml` \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/common.yaml new file mode 100644 index 00000000..df781b8a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/common.yaml @@ -0,0 +1,50 @@ +revision: 2021 + +has_jetson: False +has_realsense_d435: False + +top_box_j_x: 0.45 + +rover_robotBodyShift: 0 +rover_robotLengthBody: 0.59 + +has_sick_lidar: False + +has_ouster_lidar: True +ouster_pos_x: 0.07 +ouster_pos_z: 0.205 +ouster_rpy_p: 0.25 + +mobilicom_pitch: 0.0 +mobilicom_shift_x: 0.07 +mobilicom_shift_y: -0.01 +mobilicom_shift_z: 0.05 +mobilicom_antennas_radius: 0.005 +mobilicom_antennas_length: 0.1 +mobilicom_use_visual_mesh: True +mobilicom_antenna_l_rotation: -0.5 +mobilicom_antenna_l_tilt: 2.5 +mobilicom_antenna_r_rotation: 0.0 +mobilicom_antenna_r_tilt: 2.0 + +rear_sensor_item_height: 0.1 +rear_sensor_item_x: 0.11 + +num_cliff_sensors: 4 +cliff_sensor_0_x: 0.57 +cliff_sensor_0_y: 0.24 +cliff_sensor_0_yaw: 1.5707963267948966 +cliff_sensor_1_x: 0.57 +cliff_sensor_1_y: 0.00 +cliff_sensor_1_yaw: -1.5707963267948966 +cliff_sensor_2_x: 0.02 +cliff_sensor_2_y: 0.24 +cliff_sensor_2_yaw: 1.5707963267948966 +cliff_sensor_3_x: 0.02 +cliff_sensor_3_y: 0.00 +cliff_sensor_3_yaw: -1.5707963267948966 + +big_collision_box_height: 0.5 +big_collision_box_width: 0.5 +big_collision_box_length: 0.75 +big_collision_box_x: 0 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/rviz.rviz b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/rviz.rviz new file mode 100644 index 00000000..3e79cce2 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/rviz.rviz @@ -0,0 +1,1256 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /Omnicam1 + - /Ouster lidar1/Autocompute Value Bounds1 + - /Cliff sensors1 + Splitter Ratio: 0.6437346339225769 + Tree Height: 310 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + - /Robot left side1/Focal Point1 + Name: Views + Splitter Ratio: 0.4786096215248108 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Omnicam 5 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + X1/antenna: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/battery: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_0: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_1: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_2: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_3: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_4: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/camera_5: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/cliff_sensor_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/cliff_sensor_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/cliff_sensor_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/cliff_sensor_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_end_point: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_left_flipper_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_end_point: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_right_flipper_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/imu: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/mobilicom: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/mobilicom_antenna_l: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/mobilicom_antenna_r: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/mote_deployer: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/omnicam: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/omnicam_bottom: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/omnicam_forward: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/omnicam_sensor_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/omnicam_top: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/ouster_holder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_end_point: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_left_flipper_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_box: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_right_flipper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_end_point: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_right_flipper_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_sensor_item: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/thermocam: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/top_box: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: Robot model + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + X1: + Value: true + X1/base_link: + Value: true + X1/base_link/imu: + Value: true + X1/base_link/omnicam_sensor0: + Value: true + X1/base_link/omnicam_sensor1: + Value: true + X1/base_link/omnicam_sensor2: + Value: true + X1/base_link/omnicam_sensor3: + Value: true + X1/base_link/omnicam_sensor4: + Value: true + X1/base_link/omnicam_sensor5: + Value: true + X1/cliff_sensor_0: + Value: true + X1/cliff_sensor_0/laser: + Value: true + X1/cliff_sensor_1: + Value: true + X1/cliff_sensor_1/laser: + Value: true + X1/cliff_sensor_2: + Value: true + X1/cliff_sensor_2/laser: + Value: true + X1/cliff_sensor_3: + Value: true + X1/cliff_sensor_3/laser: + Value: true + X1/front_left_flipper: + Value: true + X1/front_left_flipper_wheel1: + Value: true + X1/front_left_flipper_wheel2: + Value: true + X1/front_left_flipper_wheel3: + Value: true + X1/front_left_flipper_wheel4: + Value: true + X1/front_left_flipper_wheel5: + Value: true + X1/front_right_flipper: + Value: true + X1/front_right_flipper_wheel1: + Value: true + X1/front_right_flipper_wheel2: + Value: true + X1/front_right_flipper_wheel3: + Value: true + X1/front_right_flipper_wheel4: + Value: true + X1/front_right_flipper_wheel5: + Value: true + X1/laser: + Value: true + X1/laser/laser: + Value: true + X1/left_track: + Value: true + X1/left_track_wheel1: + Value: true + X1/left_track_wheel2: + Value: true + X1/left_track_wheel3: + Value: true + X1/left_track_wheel4: + Value: true + X1/left_track_wheel5: + Value: true + X1/left_track_wheel6: + Value: true + X1/left_track_wheel7: + Value: true + X1/left_track_wheel8: + Value: true + X1/rear_left_flipper: + Value: true + X1/rear_left_flipper_wheel1: + Value: true + X1/rear_left_flipper_wheel2: + Value: true + X1/rear_left_flipper_wheel3: + Value: true + X1/rear_left_flipper_wheel4: + Value: true + X1/rear_left_flipper_wheel5: + Value: true + X1/rear_right_flipper: + Value: true + X1/rear_right_flipper_wheel1: + Value: true + X1/rear_right_flipper_wheel2: + Value: true + X1/rear_right_flipper_wheel3: + Value: true + X1/rear_right_flipper_wheel4: + Value: true + X1/rear_right_flipper_wheel5: + Value: true + X1/right_track: + Value: true + X1/right_track_wheel1: + Value: true + X1/right_track_wheel2: + Value: true + X1/right_track_wheel3: + Value: true + X1/right_track_wheel4: + Value: true + X1/right_track_wheel5: + Value: true + X1/right_track_wheel6: + Value: true + X1/right_track_wheel7: + Value: true + X1/right_track_wheel8: + Value: true + X1/thermocam: + Value: true + X1/thermocam/thermal_camera: + Value: true + example: + Value: true + world: + Value: true + Marker Scale: 0.4000000059604645 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + X1: + X1/base_link: + X1/base_link/imu: + {} + X1/base_link/omnicam_sensor0: + {} + X1/base_link/omnicam_sensor1: + {} + X1/base_link/omnicam_sensor2: + {} + X1/base_link/omnicam_sensor3: + {} + X1/base_link/omnicam_sensor4: + {} + X1/base_link/omnicam_sensor5: + {} + X1/cliff_sensor_0: + X1/cliff_sensor_0/laser: + {} + X1/cliff_sensor_1: + X1/cliff_sensor_1/laser: + {} + X1/cliff_sensor_2: + X1/cliff_sensor_2/laser: + {} + X1/cliff_sensor_3: + X1/cliff_sensor_3/laser: + {} + X1/front_left_flipper: + {} + X1/front_left_flipper_wheel1: + {} + X1/front_left_flipper_wheel2: + {} + X1/front_left_flipper_wheel3: + {} + X1/front_left_flipper_wheel4: + {} + X1/front_left_flipper_wheel5: + {} + X1/front_right_flipper: + {} + X1/front_right_flipper_wheel1: + {} + X1/front_right_flipper_wheel2: + {} + X1/front_right_flipper_wheel3: + {} + X1/front_right_flipper_wheel4: + {} + X1/front_right_flipper_wheel5: + {} + X1/laser: + X1/laser/laser: + {} + X1/left_track: + {} + X1/left_track_wheel1: + {} + X1/left_track_wheel2: + {} + X1/left_track_wheel3: + {} + X1/left_track_wheel4: + {} + X1/left_track_wheel5: + {} + X1/left_track_wheel6: + {} + X1/left_track_wheel7: + {} + X1/left_track_wheel8: + {} + X1/rear_left_flipper: + {} + X1/rear_left_flipper_wheel1: + {} + X1/rear_left_flipper_wheel2: + {} + X1/rear_left_flipper_wheel3: + {} + X1/rear_left_flipper_wheel4: + {} + X1/rear_left_flipper_wheel5: + {} + X1/rear_right_flipper: + {} + X1/rear_right_flipper_wheel1: + {} + X1/rear_right_flipper_wheel2: + {} + X1/rear_right_flipper_wheel3: + {} + X1/rear_right_flipper_wheel4: + {} + X1/rear_right_flipper_wheel5: + {} + X1/right_track: + {} + X1/right_track_wheel1: + {} + X1/right_track_wheel2: + {} + X1/right_track_wheel3: + {} + X1/right_track_wheel4: + {} + X1/right_track_wheel5: + {} + X1/right_track_wheel6: + {} + X1/right_track_wheel7: + {} + X1/right_track_wheel8: + {} + X1/thermocam: + X1/thermocam/thermal_camera: + {} + world: + example: + {} + Update Interval: 0 + Value: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Base link grid (1 m) + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: base_link + Value: true + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Fixed frame grid (10 m) + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: imu_odom + Unreliable: false + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_0/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 0 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_1/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 1 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_2/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 2 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_3/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 3 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_4/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 4 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_5/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 5 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: Omnicam + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Ouster lidar + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + Style: Points + Topic: points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0 + Value: false + Axis: X + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Cliff Sensor FL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: front_left_cliff_scan + Unreliable: false + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0 + Value: false + Axis: X + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Cliff Sensor FR + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: front_right_cliff_scan + Unreliable: false + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0 + Value: false + Axis: X + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Cliff Sensor RR + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: rear_right_cliff_scan + Unreliable: false + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0 + Value: false + Axis: X + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Cliff Sensor RL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: rear_left_cliff_scan + Unreliable: false + Use Fixed Frame: false + Use rainbow: true + Value: true + Enabled: true + Name: Cliff sensors + - Class: rviz/Image + Enabled: true + Image Topic: thermal_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Thermal + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: X1 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 2.850417375564575 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.13169458508491516 + Y: -0.5731526613235474 + Z: 1.2435672033461742e-5 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.10000000149011612 + Pitch: 0.6247961521148682 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 4.221724510192871 + Saved: + - Class: rviz/Orbit + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 0.785398006439209 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot 3rd person + Near Clip Distance: 3 + Pitch: 0.25 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141590118408203 + - Class: rviz/ThirdPersonFollower + Distance: 10 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 8 + Pitch: 1.5697963237762451 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141590118408203 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot left side + Near Clip Distance: 4.5 + Pitch: 0 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 1.5700000524520874 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot right side + Near Clip Distance: 4.5 + Pitch: 0 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: -1.5700000524520874 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 8 + Pitch: 1.5697963237762451 + Position: + X: 0 + Y: 0 + Z: 10 + Target Frame: base_link + Value: FPS (rviz) + Yaw: 0 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 0.009999999776482582 + Scale: 100 + Target Frame: base_link + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Fixed frame top-down + Near Clip Distance: 0.009999999776482582 + Scale: 4 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Fixed frame 1st person + Near Clip Distance: 1 + Pitch: 1 + Position: + X: -2 + Y: 0 + Z: 5 + Target Frame: + Value: FPS (rviz) + Yaw: 0 + - Class: rviz/ThirdPersonFollower + Distance: 36.92524719238281 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.4568486213684082 + Y: 0.32300829887390137 + Z: 7.213062417577021e-6 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.10000000149011612 + Pitch: 0.5397967100143433 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 6.276592254638672 +Window Geometry: + Displays: + collapsed: false + Height: 1052 + Hide Left Dock: false + Hide Right Dock: false + Omnicam 0: + collapsed: false + Omnicam 1: + collapsed: false + Omnicam 2: + collapsed: false + Omnicam 3: + collapsed: false + Omnicam 4: + collapsed: false + Omnicam 5: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Thermal: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 28 diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/sdf.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/sdf.yaml new file mode 100644 index 00000000..e69de29b diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/urdf.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/config/urdf.yaml new file mode 100644 index 00000000..e69de29b diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/common.rb new file mode 100644 index 00000000..08647c91 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/common.rb @@ -0,0 +1,22 @@ +require 'yaml' + +def _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='') + base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_1`.chomp + "/launch/common.rb" + + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found." + else + max_velocity = 0.6 + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF, max_velocity) + end +end + +def _rosExecutables2(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}" + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/example.ign new file mode 100644 index 00000000..0062c43e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/example.ign @@ -0,0 +1,25 @@ + +<% + base_launch = `rospack find ctu_cras_norlab_absolem_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= teleop_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/spawner.rb new file mode 100644 index 00000000..4691e954 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/launch/spawner.rb @@ -0,0 +1,9 @@ +require_relative 'common.rb' + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) +end + +def rosExecutables(_name, _worldName) + _rosExecutables2(_name, _worldName) +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.config new file mode 100644 index 00000000..07c4bb96 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.config @@ -0,0 +1,14 @@ + + + ctu_cras_norlab_absolem_sensor_config_3 + model.sdf + + Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 3). + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1 + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/model.sdf 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00000000..d0f91cc8 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/package.xml @@ -0,0 +1,16 @@ + + + ctu_cras_norlab_absolem_sensor_config_3 + 1.0.0 + The ctu_cras_norlab_absolem_sensor_config_3 package + + Martin Pecka + Martin Pecka + + BSD-3 + + catkin + + roslaunch + ctu_cras_norlab_absolem_sensor_config_1 + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/scripts/print_robot_urdf new file mode 100755 index 00000000..ca0b6f71 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/scripts/print_robot_urdf @@ -0,0 +1,15 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" + +# load local modifications of configuration and pass them to print_robot_urdf of sensor config 1 + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/scripts/update_robot_sdf new file mode 100755 index 00000000..69694064 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_3/scripts/update_robot_sdf @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and pass them to update_robot_sdf of sensor config 1 +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do + [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@" + +sed -i -e 's#\([^>]*\)#https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/\1#' "${OUTPUT_FILE}" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/CMakeLists.txt new file mode 100644 index 00000000..730c9ffe --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_absolem_sensor_config_4) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS + scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/README.md new file mode 100644 index 00000000..8cf474dd --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/README.md @@ -0,0 +1,26 @@ +# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_4 + +This package contains sensor config 4 of CTU-CRAS-Norlab Absolem robot. The robot has: + +- Ladybug 3 omnicamera +- Ouster OS0-128 lidar +- 4 TFMini plus point lidars +- IMU Xsens MTI-30 +- Gas sensor +- 12 comms breadcrumbs +- Weight: about 38 kg +- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited. + +The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order: + +- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `common.yaml`, `urdf.yaml` +- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/ign.yaml`, `common.yaml`, `ign.yaml` \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/config/common.yaml new file mode 100644 index 00000000..3a442686 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/config/common.yaml @@ -0,0 +1,2 @@ +num_breadcrumbs: 12 +has_mote_deployer: True \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/launch/example.ign new file mode 100644 index 00000000..0062c43e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/launch/example.ign @@ -0,0 +1,25 @@ + +<% + base_launch = `rospack find ctu_cras_norlab_absolem_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= teleop_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/launch/spawner.rb new file mode 100644 index 00000000..c8d19fd3 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/launch/spawner.rb @@ -0,0 +1,43 @@ +require 'yaml' +confdir = File.join(__dir__, '..', 'config') +config = YAML.load_file(File.join(confdir, 'common.yaml')) + +$num_breadcrumbs = config["num_breadcrumbs"] + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_3`.chomp + "/launch/common.rb" + + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found." + else + _additionalSDF = <<-HEREDOC + + /model/#{_name}/breadcrumb/deploy + #{$num_breadcrumbs} + 3.0 + true + + + + -0.45 0.08 0.1 0 0 #{Math::PI/2} + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node + + + + + + HEREDOC + _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF) + end +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 breadcrumbs:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}" + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.config new file mode 100644 index 00000000..ddd0b27a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.config @@ -0,0 +1,14 @@ + + + ctu_cras_norlab_absolem_sensor_config_4 + model.sdf + + Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 4). + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1 + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/model.sdf new file mode 100644 index 00000000..607c2aa4 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rear_right_flipper_j + 0.8 + + + front_left_flipper_j + front_right_flipper_j + rear_left_flipper_j + rear_right_flipper_j + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/package.xml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/package.xml new file mode 100644 index 00000000..fe49a7cb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/package.xml @@ -0,0 +1,16 @@ + + + ctu_cras_norlab_absolem_sensor_config_4 + 1.0.0 + The ctu_cras_norlab_absolem_sensor_config_4 package + + Martin Pecka + Martin Pecka + + BSD-3 + + catkin + + roslaunch + ctu_cras_norlab_absolem_sensor_config_3 + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/scripts/print_robot_urdf new file mode 100755 index 00000000..6d42c77b --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/scripts/print_robot_urdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_3" + +# load local modifications of configuration and pass them to print_robot_urdf of sensor config 1 + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/scripts/update_robot_sdf new file mode 100755 index 00000000..bc61a56a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_4/scripts/update_robot_sdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_3" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and pass them to update_robot_sdf of sensor config 1 +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/CMakeLists.txt new file mode 100644 index 00000000..62939f75 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_absolem_sensor_config_5) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS + scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/README.md new file mode 100644 index 00000000..f9209c4b --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/README.md @@ -0,0 +1,27 @@ +# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_5 + +This package contains sensor config 5 of CTU-CRAS-Norlab Absolem robot. The robot has: + +- Ladybug 3 omnicamera +- Ouster OS0-128 lidar +- 4 TFMini plus point lidars +- IMU Xsens MTI-30 +- Gas sensor +- 12 comms breadcrumbs +- 90° FOV thermocamera +- Weight: about 38 kg +- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited. + +The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order: + +- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `common.yaml`, `urdf.yaml` +- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/ign.yaml`, `common.yaml`, `ign.yaml` \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/config/common.yaml new file mode 100644 index 00000000..0b3ddce8 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/config/common.yaml @@ -0,0 +1,7 @@ +num_breadcrumbs: 12 +has_mote_deployer: True + +has_boson_thermocam: True +boson_pos_x: 0.52 +boson_pos_y: 0.12 +boson_pos_z: 0.0 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/launch/example.ign new file mode 100644 index 00000000..0062c43e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/launch/example.ign @@ -0,0 +1,25 @@ + +<% + base_launch = `rospack find ctu_cras_norlab_absolem_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= teleop_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/launch/spawner.rb new file mode 100644 index 00000000..305c1194 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/launch/spawner.rb @@ -0,0 +1,43 @@ +require 'yaml' +confdir = File.join(__dir__, '..', 'config') +config = YAML.load_file(File.join(confdir, 'common.yaml')) + +$num_breadcrumbs = config["num_breadcrumbs"] + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_3`.chomp + "/launch/common.rb" + + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found." + else + _additionalSDF = <<-HEREDOC + + /model/#{_name}/breadcrumb/deploy + #{$num_breadcrumbs} + 3.0 + true + + + + -0.45 0.08 0.1 0 0 #{Math::PI/2} + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node + + + + + + HEREDOC + _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF) + end +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 breadcrumbs:=1 has_thermal_camera:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}" + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.config new file mode 100644 index 00000000..b093eb1c --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.config @@ -0,0 +1,14 @@ + + + ctu_cras_norlab_absolem_sensor_config_5 + model.sdf + + Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 5). + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1 + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/model.sdf new file 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-3.1415926535897931 + + + 0.189 0.072 0.131 + + + + + -0.185 -0.100465 0.235 0 -0 0 + + + 0.02 0.02 0.1 + + + + + -0.114998 -0.077965 0.234837 1.5758 -0 3.1415926535897931 + + + 0.2 0.095 0.065 + + + + + -0.241261 -0.112864 0.283984 1.06679 -0.002995 -0.641659 + + + 0.1 + 0.025 + + + + + -0.260464 -0.098887 0.209942 1.56871 -0.00455 -1.14166 + + + 0.1 + 0.025 + + + + + 0.0915 0 0.2165 0 -0 0 + + + 0.127 0.231 0.06252 + + + + + 0.0515 0.09 0.254 0 -0 0 + + + 0.044 0.044 0.01303 + + + + + 0.10624 -0.08352 0.26496 0 -0 0 + + + 0.03732 0.03523 0.03489 + + + + + 0.083191 0.00055 0.3172 0 0 -0.628319 + + + 0.137 + 0.068 + + + + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/body_2021.dae + + + + + -0.18 0 0.185 1.5707963267948966 -1.5707963267948966 0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/reflector.dae + + + + + -0.175 0.0789 0.1551 0 -0 0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/antenna.dae + + + + + -0.12 0 0.12 0 1.5707963267948966 0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/battery.dae + + + + + -0.205 0.039535 0.175 0 0 -3.1415926535897931 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae + + + + + -0.185 -0.100465 0.235 0 -0 0 + + + 0.02 0.02 0.1 + + + + + -0.164999 -0.090462 0.2349 1.5758 -0 3.1415926535897931 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae + + + + + -0.241261 -0.112864 0.283984 1.06679 -0.002995 -0.641659 + + + 0.1 + 0.005 + + + + + -0.260464 -0.098887 0.209942 1.56871 -0.00455 -1.14166 + + + 0.1 + 0.005 + + + + + 0.0915 0 0.185 0 -0 0 + + + 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ctu_cras_norlab_absolem_sensor_config_5 + 1.0.0 + The ctu_cras_norlab_absolem_sensor_config_5 package + + Martin Pecka + Martin Pecka + + BSD-3 + + catkin + + roslaunch + ctu_cras_norlab_absolem_sensor_config_3 + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/scripts/print_robot_urdf new file mode 100755 index 00000000..6d42c77b --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/scripts/print_robot_urdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_3" + +# load local modifications of configuration and pass them to print_robot_urdf of sensor config 1 + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/scripts/update_robot_sdf new file mode 100755 index 00000000..bc61a56a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_5/scripts/update_robot_sdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_3" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and pass them to update_robot_sdf of sensor config 1 +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@" \ No newline at end of file