diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/CMakeLists.txt new file mode 100644 index 00000000..19feff78 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/CMakeLists.txt @@ -0,0 +1,74 @@ +cmake_minimum_required(VERSION 3.10.0) + +project(ctu_cras_norlab_lily_sensor_config_1) + +## make params +set(IGN_GAZEBO_VER 4) + +set(DEPS roscpp ros_ign_bridge nodelet) +set(MSG_DEPS std_msgs geometry_msgs) + + +############################## +## Dependencies +############################## + +## Ignition dependency +find_package(ignition-gazebo${IGN_GAZEBO_VER} REQUIRED) + + +############################## +## catkin/ROS setup +############################## + +find_package(catkin REQUIRED COMPONENTS ${DEPS} ${MSG_DEPS} message_generation) + +add_message_files(FILES Contact.msg ContactsStamped.msg LogicalContact.msg) +generate_messages(DEPENDENCIES ${MSG_DEPS}) + +catkin_package(CATKIN_DEPENDS ${DEPS} ${MSG_DEPS} message_runtime) + + +############################## +## Building libs +############################## + +add_library(lily_foot_contact_bridge src/foot_contact_bridge.cpp) +target_include_directories(lily_foot_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS}) +target_link_libraries(lily_foot_contact_bridge + PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES} +) +add_dependencies(lily_foot_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + + +add_library(lily_logical_contact_bridge src/logical_contact_bridge.cpp) +target_include_directories(lily_logical_contact_bridge PUBLIC ${catkin_INCLUDE_DIRS}) +target_link_libraries(lily_logical_contact_bridge + PUBLIC ignition-gazebo${IGN_GAZEBO_VER}::core ${catkin_LIBRARIES} +) +add_dependencies(lily_logical_contact_bridge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + + +add_library(lily-logical-contact-system src/logical_contact_system.cpp) +target_link_libraries(lily-logical-contact-system + PRIVATE ignition-gazebo${IGN_GAZEBO_VER}::core +) + +############################## +## installation +############################## + +install(TARGETS + lily_foot_contact_bridge + lily_logical_contact_bridge + lily-logical-contact-system + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +install(DIRECTORY launch meshes textures urdf worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES lily.sdf model.config nodelets.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/Changelog.md b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/Changelog.md new file mode 100644 index 00000000..ba680859 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/Changelog.md @@ -0,0 +1,5 @@ +# Changelog + +## 1.0.0 + +- First working version. diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/LICENCE b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/LICENCE new file mode 100644 index 00000000..261eeb9e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/LICENCE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/ace2_camera.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/ace2_camera.launch new file mode 100644 index 00000000..b9d34bfa --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/ace2_camera.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/common.rb b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/common.rb new file mode 100644 index 00000000..a1ef9ae0 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/common.rb @@ -0,0 +1,111 @@ +def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF="") + + # PID default values + # TODO modify this + pid=[250, 0.2, 5] + + # all joint names + joints = "" + # leg names + legs = ["1", "2", "3", "4", "5", "6"] + for leg in legs do + for motor in ["J1_base", "J2_shoulder", "J3_elbow"] do + # this string should fit joint names in xacro, I guess + joints += "L" + leg + "_" + motor + "\n" + end + end + + # creating HEREDOC for contact collisions detection + logical_contact_collisions = "" + + for leg in legs do + logical_contact_collisions += "\n"; + logical_contact_collisions += " elbow#{leg}_foot/INPUT_INTERFACE_collision\n"; + logical_contact_collisions += " elbow#{leg}_foot/INPUT_INTERFACE_collision_1\n"; + logical_contact_collisions += " elbow#{leg}_foot/INPUT_INTERFACE_collision_2\n"; + logical_contact_collisions += " elbow#{leg}_foot/INPUT_INTERFACE_collision_3\n"; + logical_contact_collisions += " elbow#{leg}_foot/INPUT_INTERFACE_collision_4\n"; + logical_contact_collisions += "\n"; + end + + + <<-HEREDOC + + #{_name} + false + #{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw} + #{_worldName} + true + + + #{_name} + #{_modelURI} + + + true + true + false + false + false + true + true + 1 + + + false + false + false + false + #{$enableGroundTruth} + true + false + + + + linear_battery + 12.694 + 12.694 + -3.1424 + 78.4 + 78.4 + 0.061523 + 1.9499 + 9.9 + true + + + + /model/#{_name}/gas_detected + 10 + gas + + + + + #{joints} + + + + + #{logical_contact_collisions} + /model/#{_name}/leg_collisions + + #{_additionalSDF} + + + + HEREDOC +end + +def _rosExecutables(_name, _worldName, _runController=0) + <<-HEREDOC + + + roslaunch --wait --screen ctu_cras_norlab_lily_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} run_controller:=#{_runController} + + HEREDOC +end \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/description.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/description.launch new file mode 100644 index 00000000..496e647b --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/description.launch @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/example.ign new file mode 100644 index 00000000..0b2b0105 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/example.ign @@ -0,0 +1,185 @@ + + + +<% + #require_relative 'spawner' + load File.join(File.dirname(__FILE__), "spawner.rb") + + # Modify these as needed + $enableGroundTruth = true + $headless = local_variables.include?(:headless) ? :headless : false + +%> + +<% + unless local_variables.include?(:robotName) + raise "missing parameters. robotName is a required parameter" + end + + # This assumes that this launch file is in a directory below the model + modelURI = File.expand_path("../", File.dirname(__FILE__)) + $worldName = 'example' + worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf") + +%> + + + + IGN_GAZEBO_SYSTEM_PLUGIN_PATH + $LD_LIBRARY_PATH + + + LC_ALL + C + + + IGN_TRANSPORT_TOPIC_STATISTICS + 1 + + + + + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + + + + <%= worldFile %> + true + false + + false + + + + + + + ogre2 + + + + + + + + + + + + + + + + + + <%if !$headless %> + + + <%= $worldName %> + SubT Simulator + <%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg + + + 3D View + false + docked + + + ogre2 + scene + 0.2 0.2 0.1 + 0.8 0.8 0.8 + -6.3 -4.2 3.6 0 0.268 0.304 + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/pose/info + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/scene/deletion + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + false + /world/<%= $worldName %>/control + /world/<%= $worldName %>/stats + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/<%= $worldName %>/stats + + + + <%end%> + + +<%= spawner(robotName, modelURI, $worldName, 0, 0, 1, 0, 0, 0) %> + +<%= rosExecutables(robotName, $worldName, 1) %> + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/leg_topics.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/leg_topics.launch new file mode 100644 index 00000000..fbb2ac8c --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/leg_topics.launch @@ -0,0 +1,39 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/lily_ign.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/lily_ign.launch new file mode 100644 index 00000000..2d4d7363 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/lily_ign.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/rviz.rviz b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/rviz.rviz new file mode 100644 index 00000000..b55b8eb0 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/rviz.rviz @@ -0,0 +1,1231 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1 + - /Omnicam1 + Splitter Ratio: 0.6437346339225769 + Tree Height: 720 + - 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: Realsense RGB +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/L1_J1_base/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L1_J1_base/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L1_J2_shoulder/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L1_J2_shoulder/R8_16: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L1_J3_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L1_J3_elbow/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L2_J1_base/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L2_J1_base/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L2_J2_shoulder/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L2_J2_shoulder/R8_16: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L2_J3_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L2_J3_elbow/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L3_J1_base/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L3_J1_base/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L3_J2_shoulder/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L3_J2_shoulder/R8_16: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L3_J3_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L3_J3_elbow/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L4_J1_base/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L4_J1_base/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L4_J2_shoulder/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L4_J2_shoulder/R8_16: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L4_J3_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L4_J3_elbow/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L5_J1_base/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L5_J1_base/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L5_J2_shoulder/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L5_J2_shoulder/R8_16: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L5_J3_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L5_J3_elbow/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L6_J1_base/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L6_J1_base/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L6_J2_shoulder/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L6_J2_shoulder/R8_16: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L6_J3_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/L6_J3_elbow/R8_9: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/ace2_camera_back: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/ace2_camera_front: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/ace2_camera_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/ace2_camera_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/ace2_camera_up: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_to_leg1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_to_leg2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_to_leg3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_to_leg4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_to_leg5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_to_leg6_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/elbow1_foot/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/elbow2_foot/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/elbow3_foot/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/elbow4_foot/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/elbow5_foot/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/elbow6_foot/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/foot1/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/foot2/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/foot3/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/foot4/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/foot5/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/foot6/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/imu_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/main_ouster_lidar: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder1_bracket/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder1_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder2_bracket/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder2_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder3_bracket/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder3_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder4_bracket/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder4_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder5_bracket/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder5_elbow/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder6_bracket/INPUT_INTERFACE: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/shoulder6_elbow/INPUT_INTERFACE: + 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/HEBI_SIM/L1_J1_base/R8_9: + Value: true + X1/HEBI_SIM/L1_J2_shoulder/R8_16: + Value: true + X1/HEBI_SIM/L1_J3_elbow/R8_9: + Value: true + X1/HEBI_SIM/L2_J1_base/R8_9: + Value: true + X1/HEBI_SIM/L2_J2_shoulder/R8_16: + Value: true + X1/HEBI_SIM/L2_J3_elbow/R8_9: + Value: true + X1/HEBI_SIM/L3_J1_base/R8_9: + Value: true + X1/HEBI_SIM/L3_J2_shoulder/R8_16: + Value: true + X1/HEBI_SIM/L3_J3_elbow/R8_9: + Value: true + X1/HEBI_SIM/L4_J1_base/R8_9: + Value: true + X1/HEBI_SIM/L4_J2_shoulder/R8_16: + Value: true + X1/HEBI_SIM/L4_J3_elbow/R8_9: + Value: true + X1/HEBI_SIM/L5_J1_base/R8_9: + Value: true + X1/HEBI_SIM/L5_J2_shoulder/R8_16: + Value: true + X1/HEBI_SIM/L5_J3_elbow/R8_9: + Value: true + X1/HEBI_SIM/L6_J1_base/R8_9: + Value: true + X1/HEBI_SIM/L6_J2_shoulder/R8_16: + Value: true + X1/HEBI_SIM/L6_J3_elbow/R8_9: + Value: true + X1/L1_J2_shoulder/INPUT_INTERFACE: + Value: true + X1/L1_J3_elbow/INPUT_INTERFACE: + Value: true + X1/L2_J2_shoulder/INPUT_INTERFACE: + Value: true + X1/L2_J3_elbow/INPUT_INTERFACE: + Value: true + X1/L3_J2_shoulder/INPUT_INTERFACE: + Value: true + X1/L3_J3_elbow/INPUT_INTERFACE: + Value: true + X1/L4_J2_shoulder/INPUT_INTERFACE: + Value: true + X1/L4_J3_elbow/INPUT_INTERFACE: + Value: true + X1/L5_J2_shoulder/INPUT_INTERFACE: + Value: true + X1/L5_J3_elbow/INPUT_INTERFACE: + Value: true + X1/L6_J2_shoulder/INPUT_INTERFACE: + Value: true + X1/L6_J3_elbow/INPUT_INTERFACE: + Value: true + X1/ace2_camera_back: + Value: true + X1/ace2_camera_back/camera_back: + Value: true + X1/ace2_camera_back/camera_back_optical: + Value: true + X1/ace2_camera_front: + Value: true + X1/ace2_camera_front/camera_front: + Value: true + X1/ace2_camera_front/camera_front_optical: + Value: true + X1/ace2_camera_left: + Value: true + X1/ace2_camera_left/camera_left: + Value: true + X1/ace2_camera_left/camera_left_optical: + Value: true + X1/ace2_camera_right: + Value: true + X1/ace2_camera_right/camera_right: + Value: true + X1/ace2_camera_right/camera_right_optical: + Value: true + X1/ace2_camera_up: + Value: true + X1/ace2_camera_up/camera_up: + Value: true + X1/ace2_camera_up/camera_up_optical: + Value: true + X1/base_link: + Value: true + X1/elbow1_foot/INPUT_INTERFACE: + Value: true + X1/elbow2_foot/INPUT_INTERFACE: + Value: true + X1/elbow3_foot/INPUT_INTERFACE: + Value: true + X1/elbow4_foot/INPUT_INTERFACE: + Value: true + X1/elbow5_foot/INPUT_INTERFACE: + Value: true + X1/elbow6_foot/INPUT_INTERFACE: + Value: true + X1/foot1/INPUT_INTERFACE: + Value: true + X1/foot1/INPUT_INTERFACE/contact: + Value: true + X1/foot2/INPUT_INTERFACE: + Value: true + X1/foot2/INPUT_INTERFACE/contact: + Value: true + X1/foot3/INPUT_INTERFACE: + Value: true + X1/foot3/INPUT_INTERFACE/contact: + Value: true + X1/foot4/INPUT_INTERFACE: + Value: true + X1/foot4/INPUT_INTERFACE/contact: + Value: true + X1/foot5/INPUT_INTERFACE: + Value: true + X1/foot5/INPUT_INTERFACE/contact: + Value: true + X1/foot6/INPUT_INTERFACE: + Value: true + X1/foot6/INPUT_INTERFACE/contact: + Value: true + X1/imu_base: + Value: true + X1/imu_base/imu: + Value: true + X1/main_ouster_lidar: + Value: true + X1/main_ouster_lidar/laser: + Value: true + X1/shoulder1_bracket/INPUT_INTERFACE: + Value: true + X1/shoulder1_elbow/INPUT_INTERFACE: + Value: true + X1/shoulder2_bracket/INPUT_INTERFACE: + Value: true + X1/shoulder2_elbow/INPUT_INTERFACE: + Value: true + X1/shoulder3_bracket/INPUT_INTERFACE: + Value: true + X1/shoulder3_elbow/INPUT_INTERFACE: + Value: true + X1/shoulder4_bracket/INPUT_INTERFACE: + Value: true + X1/shoulder4_elbow/INPUT_INTERFACE: + Value: true + X1/shoulder5_bracket/INPUT_INTERFACE: + Value: true + X1/shoulder5_elbow/INPUT_INTERFACE: + Value: true + X1/shoulder6_bracket/INPUT_INTERFACE: + Value: true + X1/shoulder6_elbow/INPUT_INTERFACE: + Value: true + base: + Value: true + example: + Value: true + l0: + Value: true + l1: + Value: true + l10: + Value: true + l11: + Value: true + l12: + Value: true + l13: + Value: true + l2: + Value: true + l20: + Value: true + l21: + Value: true + l22: + Value: true + l23: + Value: true + l3: + Value: true + l30: + Value: true + l31: + Value: true + l32: + Value: true + l33: + Value: true + l40: + Value: true + l41: + Value: true + l42: + Value: true + l43: + Value: true + l50: + Value: true + l51: + Value: true + l52: + Value: true + l53: + Value: true + world: + Value: true + Marker Scale: 0.20000000298023224 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + example: + X1: + X1/HEBI_SIM/L1_J1_base/R8_9: + {} + X1/HEBI_SIM/L1_J2_shoulder/R8_16: + {} + X1/HEBI_SIM/L1_J3_elbow/R8_9: + {} + X1/HEBI_SIM/L2_J1_base/R8_9: + {} + X1/HEBI_SIM/L2_J2_shoulder/R8_16: + {} + X1/HEBI_SIM/L2_J3_elbow/R8_9: + {} + X1/HEBI_SIM/L3_J1_base/R8_9: + {} + X1/HEBI_SIM/L3_J2_shoulder/R8_16: + {} + X1/HEBI_SIM/L3_J3_elbow/R8_9: + {} + X1/HEBI_SIM/L4_J1_base/R8_9: + {} + X1/HEBI_SIM/L4_J2_shoulder/R8_16: + {} + X1/HEBI_SIM/L4_J3_elbow/R8_9: + {} + X1/HEBI_SIM/L5_J1_base/R8_9: + {} + X1/HEBI_SIM/L5_J2_shoulder/R8_16: + {} + X1/HEBI_SIM/L5_J3_elbow/R8_9: + {} + X1/HEBI_SIM/L6_J1_base/R8_9: + {} + X1/HEBI_SIM/L6_J2_shoulder/R8_16: + {} + X1/HEBI_SIM/L6_J3_elbow/R8_9: + {} + X1/L1_J2_shoulder/INPUT_INTERFACE: + {} + X1/L1_J3_elbow/INPUT_INTERFACE: + {} + X1/L2_J2_shoulder/INPUT_INTERFACE: + {} + X1/L2_J3_elbow/INPUT_INTERFACE: + {} + X1/L3_J2_shoulder/INPUT_INTERFACE: + {} + X1/L3_J3_elbow/INPUT_INTERFACE: + {} + X1/L4_J2_shoulder/INPUT_INTERFACE: + {} + X1/L4_J3_elbow/INPUT_INTERFACE: + {} + X1/L5_J2_shoulder/INPUT_INTERFACE: + {} + X1/L5_J3_elbow/INPUT_INTERFACE: + {} + X1/L6_J2_shoulder/INPUT_INTERFACE: + {} + X1/L6_J3_elbow/INPUT_INTERFACE: + {} + X1/ace2_camera_back: + X1/ace2_camera_back/camera_back: + X1/ace2_camera_back/camera_back_optical: + {} + X1/ace2_camera_front: + X1/ace2_camera_front/camera_front: + X1/ace2_camera_front/camera_front_optical: + {} + X1/ace2_camera_left: + X1/ace2_camera_left/camera_left: + X1/ace2_camera_left/camera_left_optical: + {} + X1/ace2_camera_right: + X1/ace2_camera_right/camera_right: + X1/ace2_camera_right/camera_right_optical: + {} + X1/ace2_camera_up: + X1/ace2_camera_up/camera_up: + X1/ace2_camera_up/camera_up_optical: + {} + X1/base_link: + {} + X1/elbow1_foot/INPUT_INTERFACE: + {} + X1/elbow2_foot/INPUT_INTERFACE: + {} + X1/elbow3_foot/INPUT_INTERFACE: + {} + X1/elbow4_foot/INPUT_INTERFACE: + {} + X1/elbow5_foot/INPUT_INTERFACE: + {} + X1/elbow6_foot/INPUT_INTERFACE: + {} + X1/foot1/INPUT_INTERFACE: + X1/foot1/INPUT_INTERFACE/contact: + {} + X1/foot2/INPUT_INTERFACE: + X1/foot2/INPUT_INTERFACE/contact: + {} + X1/foot3/INPUT_INTERFACE: + X1/foot3/INPUT_INTERFACE/contact: + {} + X1/foot4/INPUT_INTERFACE: + X1/foot4/INPUT_INTERFACE/contact: + {} + X1/foot5/INPUT_INTERFACE: + X1/foot5/INPUT_INTERFACE/contact: + {} + X1/foot6/INPUT_INTERFACE: + X1/foot6/INPUT_INTERFACE/contact: + {} + X1/imu_base: + X1/imu_base/imu: + {} + X1/main_ouster_lidar: + X1/main_ouster_lidar/laser: + {} + X1/shoulder1_bracket/INPUT_INTERFACE: + {} + X1/shoulder1_elbow/INPUT_INTERFACE: + {} + X1/shoulder2_bracket/INPUT_INTERFACE: + {} + X1/shoulder2_elbow/INPUT_INTERFACE: + {} + X1/shoulder3_bracket/INPUT_INTERFACE: + {} + X1/shoulder3_elbow/INPUT_INTERFACE: + {} + X1/shoulder4_bracket/INPUT_INTERFACE: + {} + X1/shoulder4_elbow/INPUT_INTERFACE: + {} + X1/shoulder5_bracket/INPUT_INTERFACE: + {} + X1/shoulder5_elbow/INPUT_INTERFACE: + {} + X1/shoulder6_bracket/INPUT_INTERFACE: + {} + X1/shoulder6_elbow/INPUT_INTERFACE: + {} + 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: front/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: right/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: back/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: left/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: up/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 + Enabled: true + Name: Omnicam + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: false + History Length: 1 + Name: Imu + Topic: imu/data + Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 19.006067276000977 + Min Value: -1.8668537139892578 + Value: true + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 5.839081764221191 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.3993658423423767 + Y: -0.8752089738845825 + Z: 1.264428829017561e-5 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.10000000149011612 + Pitch: 0.4247961640357971 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.8417205810546875 + 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 + QMainWindow State: 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+ Selection: + 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_lily_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/spawner.rb new file mode 100644 index 00000000..aac4233e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/spawner.rb @@ -0,0 +1,9 @@ +require_relative 'common.rb' + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) +end + +def rosExecutables(_name, _worldName, _runController=0) + _rosExecutables(_name, _worldName, _runController) +end \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/vehicle_topics.launch new file mode 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1365 226 1440 301 1449 310

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+ + + + + + + + -4.37114e-8 4.37112e-8 1.000001 0 1 1.91068e-15 4.37114e-8 0 0 0.9999955 -4.37114e-8 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/model.config b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/model.config new file mode 100644 index 00000000..23197014 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/model.config @@ -0,0 +1,11 @@ + + + lily + lily.sdf + The ctu_cras_norlab_lily package describes six-legged platform equipped with: + - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm) + - Ouster OS0-128 lidar + - IMU + - Gas sensor + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/Contact.msg b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/Contact.msg new file mode 100644 index 00000000..ede5a276 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/Contact.msg @@ -0,0 +1,10 @@ +uint64 collision1 +uint64 collision2 + +geometry_msgs/Vector3[] position +geometry_msgs/Vector3[] normal +float64[] depth +geometry_msgs/Wrench[] body1_wrench +geometry_msgs/Wrench[] body2_wrench + +uint64 world \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/ContactsStamped.msg b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/ContactsStamped.msg new file mode 100644 index 00000000..f7163645 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/ContactsStamped.msg @@ -0,0 +1,2 @@ +Header header +Contact[] contacts \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/LogicalContact.msg b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/LogicalContact.msg new file mode 100644 index 00000000..bac64113 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/msg/LogicalContact.msg @@ -0,0 +1,2 @@ +Header header +bool[] contacts \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/nodelets.xml b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/nodelets.xml new file mode 100644 index 00000000..9c479f83 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/nodelets.xml @@ -0,0 +1,17 @@ + + + + + Nodelet for converting Ignition Gazebo logical contact messages to ctu_cras_norlab_lily_sensor_config_1/LogicalContact. + + + + + + + + Nodelet for converting Ignition Gazebo foot contact messages to ctu_cras_norlab_lily_sensor_config_1/ContactsStamped. + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/package.xml new file mode 100644 index 00000000..c5e5c1d1 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/package.xml @@ -0,0 +1,44 @@ + + + ctu_cras_norlab_lily_sensor_config_1 + 0.1.0 + The ctu_cras_norlab_lily_sensor_config_1 package describes six-legged platform equipped with: + - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm) + - Ouster OS0-128 lidar + - IMU + - Gas sensor + + + Petr Cizek + Jiri Kubik + David Valouch + Martin Pecka + + Jiri Kubik + Petr Cizek + David Valouch + + Apache Licence2.0 + + catkin + + ignition-gazebo4 + ros_ign_bridge + message_generation + message_runtime + + geometry_msgs + nodelet + roscpp + std_msgs + + ros_ign_image + roslaunch + rospy + subt_ros + xacro + + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/specifications.md new file mode 100644 index 00000000..0ad796e2 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/specifications.md @@ -0,0 +1,118 @@ +# CTU-CRAS-NORLAB Lily hexapod robot +This specifications.md file is a description and proof of virtual model validation for the CTU-CRAS-NORLAB Lily robot. + +## Description +Lily is a six-legged robot with great static stability and ability to overcome rough terrains. The robot consists of a body with computational units and sensors and six legs, each with three degrees of freedom (DoF) actuated by HEBI servomotors. The real robot is also fully waterproof. The base platform is the [HEBI robotics Lily hexapod robot kit](https://www.hebirobotics.com/robotic-kits). +For the purpose of the DARPA Subterranean challange the considered sensory payload of the Lily hexapod is: +* LIDAR +* Custom omnicamera bundle +* IMU +* Gas sensor +* Optionally 6 communication breadcrumbs (in sensor config 2) + +This ignition gazebo model is based on the official gazebo model of the [HEBI Lily kit](https://github.com/HebiRobotics/hebi_description/tree/cwbollinger/daisy_urdf). The parameters of simulated servomotors are set according to the real servomotors parameters including joint effort limits. + +## Dependencies +To be able to control this robot model using velocity commands you need an additional package. Please clone the repository [ctu_cras_norlab_hexapod_controller](https://github.com/comrob/ctu_cras_norlab_hexapod_controller) and follow the instructions specified in its README. + +## Usage Instructions +This robot may be launched using an ign launch command with the variable name `CTU_CRAS_NORLAB_LILY_SENSOR_CONFIG_1`. + +For local testing, you can use the following command: + + LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/ctu_cras_norlab_lily_sensor_config_1/launch/example.ign robotName:=X1 + +## Usage Rights +The software included in this package is released under a [Apache License 2.0](LICENSE) license. + +Lily model is adapted from [hebi_description/](https://github.com/HebiRobotics/hebi_description.git) repository, released under [Apache License 2.0](LICENSE) license. + + +## Cost and Scale +* Base vehicle: $75,000 +* Custom omnicamera solution: $5,000 +* IMU: $1,500 +* Computers: $500 +* Lidar: $10,000 +* Total price: $92,000 + +Its weight is approximately 32.7 kg. + +## Sensors +The following specific sensors are declared payloads of this vehicle. + +* Ouster OS0-128 3D lidar modeled by `gpu_lidar` sensor. It runs configured to produce 2048x128 scans at 10 Hz. It has a very wide vertical field of view (90 degrees) and short range (about 50 meters). +* 5x RGB global shutter camera Basler a2A1920-51gcPRO with 4 mm lens modeled by `camera` sensor. Each camera provides 86.5 degrees of horizontal FOV. Resolution is 1920x1200 px. According to datasheet, the camera can run on frequencies up to 51 Hz, but the robot doesn't have sufficient computational and communication capacity to transmit such high frequency data. We thus lowered the framerate of the simulated camera to 9 Hz. We verified in real life that we are able to transmit the 9 Hz images and process them (the 5 cameras more or less saturate a Gigabit link with this framerate). +* XSens MTI-30 AHRS: modeled by `imu` sensor. +* 6 communication breadcrumbs are also available as a payload for this robot in sensor configuration 2 (real robot will carry 4 or 8 breadcrumbs). + +## Control +The Lily robot is controlled by custom package `hexapod_controller`, available in the repository [ctu_cras_norlab_hexapod_controller](https://github.com/comrob/ctu_cras_norlab_hexapod_controller). + +The controller allows for steering the robot using the `cmd_vel` command via basic open-loop locomotion control. + + +## Motion characteristics +Based on the tests specified in the DARPA SubT Challenge +[Model Preparation Guide](https://www.subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), +this vehicle has the following motion constraint characteristics. + +The tests have not yet been conducted due to Covid restrictions and unavailability of the real hardware. +Team CTU-CRAS-Norlab is in the process of purchasing of the platform that should be available during the late May when we will supply the missing validation data. + +Maximum forward speed according ot the base platform datasheet is `0.43 m/s` with an almost instant acceleration to this speed from zero +(`TODO m/s^2` from IMU, `TODO m/s^2` from odometry). +Configuration of the maximum forward speed in simulation has no single defining value. It is a +result of the configuration of gait and PID controllers. + +Maximum turning speed is `TODO 1 rad/s` with an almost instant acceleration to this speed from zero +(`TODO rad/s^2` from both IMU and odometry). + +Minimum turning radius is 0, as the robot can turn on the spot. + +The real robot can climb stairs. The simulated model should be able to do it too, provided a suitable +control algorithm. + +## Endurance characteristics +This configuration has an endurance of approximately 75 minutes (value from datasheet discounted by projected consumption of the additional computational units and sensors) + +The endurance is limited to 60 minutes until validation data are provided. + +## Diversions from Physical Hardware of HEBI Lily robot +Provided data and configuration options of the real HEBI servomotors are surpasing the possibilities of the simulator. +The real servos provide the synchronized Position, Velocity, True torque, Current, Voltage, and 3-DoF acceleration (embedded IMU in each servomotor) with the update rate of 1 kHz. + +Cameras have no distortion as the simulator doesn't support it. + +The Ouster lidar produces the 360 degree scans in a single instant in simulation, as opposed to the 100 ms-long interval it takes the real lidar. + +## Changing parameters of the robot +Parameters affecting the simulation model performance are in the Xacro files in `urdf/` folder. +After changing a value in these files, run script `scripts/convert.sh` to write the +changes to the `lily.sdf` file. + +__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__ + +The URDF files are not physically present, but are generated on-the-fly in desctipion.launch by Xacro. +They can also be created on demand by calling script `scripts/xacro2urdf.sh`. + +## Validation and Specification Links +* Vehicle links: + * Base platform: [HEBI robotics Lily hexapod robot kit](https://www.hebirobotics.com/robotic-kits) + +* Sensor specification links: + * [Ouster OS0-128](https://ouster.com/products/os0-lidar-sensor/) + * [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/) + Experimental validation: https://drive.google.com/drive/folders/1-KWMvjWSYYeLqPA0C3FCdKuHQAmOHN-z?usp=sharing + * IMU: [XSens MTi-30](https://www.mouser.com/datasheet/2/693/mti-series-1358510.pdf) + * Lights: the robot uses LED strips around the body. The total power output of these strips is about `30 W`. It also has a ceiling-pointing light. + +* Validation Video Links: + * Endurance test: TODO + * Maximum linear speed: TODO + * Maximum angular speed: TODO + * Rotation in place: TODO + +* Validation Data Links: + * Recordings of validation tests: TODO + * Total mass measurement: TODO + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/foot_contact_bridge.cpp b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/foot_contact_bridge.cpp new file mode 100644 index 00000000..221e0ca1 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/foot_contact_bridge.cpp @@ -0,0 +1,98 @@ +#include + +#include +#include + +#include +#include +#include + +#include + + +namespace subt::lily +{ + +void ignVectorToMsg(const ignition::msgs::Vector3d& ignV, geometry_msgs::Vector3& rosV) +{ + rosV.x = ignV.x(); + rosV.y = ignV.y(); + rosV.z = ignV.z(); +} + +/// \brief ROS-Ign bridge for relaying ctu_cras_norlab_lily::ContactsStamped for a leg. +class FootContactBridge : public nodelet::Nodelet +{ + + protected: void onInit() override + { + if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic)) + { + ROS_ERROR("Please, provide parameter ~ign_topic"); + exit(1); + } + + this->pub = this->getNodeHandle().advertise("contacts", 100); + + ROS_INFO("Subscribing to Ignition topic %s", this->ignTopic.c_str()); + this->node.Subscribe(this->ignTopic, &FootContactBridge::OnContacts, this); + } + + protected: void OnContacts(const ignition::msgs::Contacts& ignMsg) + { + ROS_INFO_ONCE("Received first message on topic %s", this->ignTopic.c_str()); + + ctu_cras_norlab_lily_sensor_config_1::ContactsStamped msg; + msg.header.stamp.sec = ignMsg.header().stamp().sec(); + msg.header.stamp.nsec = ignMsg.header().stamp().nsec(); + + for (const auto& contact : ignMsg.contact()) + { + ctu_cras_norlab_lily_sensor_config_1::Contact con; + con.collision1 = contact.collision1().id(); + con.collision2 = contact.collision2().id(); + con.world = contact.world().id(); + + for (const auto& pos: contact.position()) + { + geometry_msgs::Vector3 p; + ignVectorToMsg(pos, p); + con.position.push_back(p); + } + + for (const auto& norm: contact.normal()) + { + geometry_msgs::Vector3 n; + ignVectorToMsg(norm, n); + con.normal.push_back(n); + } + + for (const auto& wrench: contact.wrench()) + { + geometry_msgs::Wrench w; + if (wrench.body_1_wrench().has_force()) + ignVectorToMsg(wrench.body_1_wrench().force(), w.force); + if (wrench.body_1_wrench().has_torque()) + ignVectorToMsg(wrench.body_1_wrench().torque(), w.torque); + con.body1_wrench.push_back(w); + + geometry_msgs::Wrench w2; + if (wrench.body_2_wrench().has_force()) + ignVectorToMsg(wrench.body_2_wrench().force(), w2.force); + if (wrench.body_2_wrench().has_torque()) + ignVectorToMsg(wrench.body_2_wrench().torque(), w2.torque); + con.body2_wrench.push_back(w2); + } + msg.contacts.push_back(con); + } + this->pub.publish(msg); + } + + protected: ros::Publisher pub; + protected: ignition::transport::Node node; + protected: std::string ignTopic; +}; + +} + +PLUGINLIB_EXPORT_CLASS(subt::lily::FootContactBridge, nodelet::Nodelet) \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_bridge.cpp b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_bridge.cpp new file mode 100644 index 00000000..84db596d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_bridge.cpp @@ -0,0 +1,56 @@ +#include + +#include +#include + +#include + +#include +#include +#include + +namespace subt::lily +{ + +class LogicalContactBridge : public nodelet::Nodelet +{ + private: void onInit() override + { + if (!this->getPrivateNodeHandle().getParam("ign_topic", this->ignTopic)) + { + ROS_ERROR("LogicalContactBridge: Please, provide parameter ~ign_topic"); + return; + } + + this->pub = this->getNodeHandle().advertise("logical_contacts", 100); + + ROS_INFO("Subscribing to Ignition topic %s", this->ignTopic.c_str()); + this->node.Subscribe(this->ignTopic, &LogicalContactBridge::OnContacts, this); + } + + void OnContacts(const ignition::msgs::Int32_V& ignMsg) + { + ROS_INFO_ONCE("Received first message on topic %s", this->ignTopic.c_str()); + + ctu_cras_norlab_lily_sensor_config_1::LogicalContactPtr msg(new ctu_cras_norlab_lily_sensor_config_1::LogicalContact); + msg->header.stamp.sec = ignMsg.header().stamp().sec(); + msg->header.stamp.nsec = ignMsg.header().stamp().nsec(); + msg->contacts.resize(ignMsg.data_size()); + + size_t i = 0; + for (const auto& contact : ignMsg.data()) + { + msg->contacts[i] = contact > 0; + i += 1; + } + this->pub.publish(msg); + } + + protected: ros::Publisher pub; + protected: ignition::transport::Node node; + protected: std::string ignTopic; +}; + +} + +PLUGINLIB_EXPORT_CLASS(subt::lily::LogicalContactBridge, nodelet::Nodelet) \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_system.cpp b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_system.cpp new file mode 100644 index 00000000..71226e8a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/src/logical_contact_system.cpp @@ -0,0 +1,133 @@ +#include + +#include +#include + +#include + +#include +#include + +#include + +using namespace ignition; +using namespace gazebo; + +namespace subt::lily +{ + +class LogicalContactSystem : public System, public ISystemConfigure, public ISystemPostUpdate +{ + public: void Configure(const Entity& _entity, const std::shared_ptr& _sdf, + EntityComponentManager& _ecm, EventManager& _eventMgr) override + { + const Model model(_entity); + if (!model.Valid(_ecm)) + { + ignerr << "LogicalContactSystem should be attached to a model entity. Failed to initialize." << std::endl; + return; + } + + if (!_sdf->HasElement("group")) + { + ignerr << "LogicalContactSystem doesn't have any element. It will not do anything." << std::endl; + return; + } + + auto sdf = _sdf->Clone(); + for (auto group = sdf->GetElement("group"); group; group = group->GetNextElement("group")) + { + if (!group->HasAttribute("name")) + { + ignerr << "LogicalContactSystem found a group without the 'name' attribute, ignoring it." << std::endl; + continue; + } + + const auto name = group->GetAttribute("name")->GetAsString(); + this->collisionNames[name].clear(); // initialize the map key + + for (auto collision = group->GetElement("collision"); collision; collision = collision->GetNextElement("collision")) + { + const auto collName = collision->GetValue()->GetAsString(); + if (collName.empty()) + { + ignerr << "LogicalContactSystem found empty tag in group [" << name << "], it will be ignored." << std::endl; + continue; + } + this->collisions[collName] = kNullEntity; + this->collisionNames[name].push_back(collName); + } + } + + std::string topic {"/model/" + model.Name(_ecm) + "/logical_contacts"}; + if (_sdf->HasElement("topic")) + topic = _sdf->Get("topic"); + + this->pub = this->node.Advertise(topic); + + std::stringstream ss; + for (const auto& groupPair : this->collisionNames) + { + ss << " - '" << groupPair.first << "' with collisions ["; + for (size_t i = 0; i < groupPair.second.size(); ++i) + { + ss << "'" << groupPair.second[i] << "'"; + if (i < groupPair.second.size() - 1) + ss << ", "; + } + ss << "]" << std::endl; + } + ignmsg << "LogicalContactSystem publishing on [" << topic << "] is handling the following groups:\n" << ss.str(); + } + + public: void PostUpdate(const UpdateInfo& _info, const EntityComponentManager& _ecm) override + { + ignition::msgs::Int32_V msg; + size_t i = 0; + msg.mutable_header()->mutable_stamp()->CopyFrom(convert(_info.simTime)); + msg.mutable_data()->Resize(this->collisionNames.size(), -1); + for (const auto& groupPair : this->collisionNames) + { + msg.mutable_data()->Set(i, false); + for (const auto& name : groupPair.second) + { + auto& entity = this->collisions.at(name); + if (entity == kNullEntity) + { + auto collisionEntities = _ecm.EntitiesByComponents( + components::Collision(), components::Name(name)); + if (!collisionEntities.empty()) + entity = collisionEntities[0]; + } + + if (entity != kNullEntity) + { + const auto& contacts = _ecm.Component(entity); + if (contacts != nullptr && contacts->Data().contact_size() > 0) + { + msg.mutable_data()->Set(i,true); + break; + } + } + } + + i += 1; + } + + this->pub.Publish(msg); + } + + protected: transport::Node node; + protected: transport::Node::Publisher pub; + protected: std::map> collisionNames; + protected: std::unordered_map collisions; +}; + +} + +IGNITION_ADD_PLUGIN(subt::lily::LogicalContactSystem, + System, + ISystemConfigure, + ISystemPostUpdate) + +IGNITION_ADD_PLUGIN_ALIAS(subt::lily::LogicalContactSystem, "subt::lily::LogicalContactSystem") \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/textures/ouster-os0.png 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b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/actuator.xacro new file mode 100644 index 00000000..f2602215 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/actuator.xacro @@ -0,0 +1,247 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/bracket.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/bracket.xacro new file mode 100644 index 00000000..8b1ed44d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/bracket.xacro @@ -0,0 +1,369 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + true + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/convert.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/convert.sh new file mode 100755 index 00000000..9d1ce712 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/convert.sh @@ -0,0 +1,8 @@ +#!/bin/bash +name=$(basename $0) + +echo -e "[\e[93m$name\e[m] Converting file lily.xacro to ../lily.sdf." + +./xacro2sdf.sh lily.xacro ../lily.sdf || exit $? + +echo -e "[\e[93m$name\e[m] File lily.xacro coverted to ../lily.sdf." \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/end_effector.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/end_effector.xacro new file mode 100644 index 00000000..83304675 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/end_effector.xacro @@ -0,0 +1,416 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + true + + + + + + + + + + + + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + + + + + + + + + + true + + + + + true + true + + + + + + + + + + + + 0 0 0.0439 0 0 0 + ${name}/l_gripper_bend + ${name}/l_inner_linkage + + -1 0 0 + + ${-2*pi} + ${2*pi} + 1000 + 1000 + + + + + 0 0 0.0439 0 0 0 + ${name}/r_gripper_bend + ${name}/r_inner_linkage + + -1 0 0 + + ${-2*pi} + ${2*pi} + 1000 + 1000 + + + + + + + ${name}/r_finger + ${name}/l_finger + ${name}/INPUT_INTERFACE + 1 + + 1 0 0 + + + 1 0 0 + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/hebi.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/hebi.xacro new file mode 100644 index 00000000..e771c645 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/hebi.xacro @@ -0,0 +1,64 @@ + + + + + + + + + + + + Gazebo/Red + + + + + + + + + Gazebo/Grey + + + + + + + + + Gazebo/Black + + + + + + + + + + + 0.96 0.945 0.871 1 + 0.96 0.945 0.871 1 + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/high_precision_constants.py b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/high_precision_constants.py new file mode 100755 index 00000000..c216baf7 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/high_precision_constants.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python +# +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from __future__ import print_function +from lxml import etree +import math +import argparse +import sys + +# Values of PI to check. Only put positive values. +CONSTANTS_TO_CHECK = [math.pi, math.pi/2] + +def convert_to_high_precision_pi(urdf_file, tol, precision): + """Search all poses for values that are near PI and PI/2 and replace them + with their high precision counterparts. + + Parameters + ---------- + urdf_file : Input urdf file + tol: Tolerance for equality check + + Returns + ------- + etree.Element + + """ + inp = etree.parse(urdf_file) + sdf = inp.getroot() + poses = sdf.xpath('//pose') + + for pose in poses: + new_pose_list = [] + for val in pose.text.split(): + val_fl = float(val) + for check_val in CONSTANTS_TO_CHECK: + if abs(abs(val_fl) - check_val) < tol: + new_pose_list.append('{:.{precision}f}'.format( + math.copysign(check_val, val_fl), precision=precision)) + break + # The else block executes if none of the values in + # CONSTANTS_TO_CHECK match val_fl + else: + new_pose_list.append(val) + + new_pose = ' '.join(new_pose_list) + pose.text = new_pose + return inp + + +if __name__ == '__main__': + parser = argparse.ArgumentParser( + formatter_class=argparse.ArgumentDefaultsHelpFormatter, + description='Search all elements for values that are near PI ' + 'and PI/2 and replace them with their high precision counterparts.') + parser.add_argument('infile', type=argparse.FileType('r'), + help='Input URDF file') + parser.add_argument('-t', '--tolerance', type=float, default=1e-3, + help='Tolerance for equality checks') + parser.add_argument('-p', '--precision', type=float, default=16, + help='Tolerance for equality checks') + + args = parser.parse_args() + out = convert_to_high_precision_pi(args.infile, args.tolerance, + args.precision) + print(etree.tostring(out, pretty_print=True, encoding='utf-8', + xml_declaration=True)) diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/legs.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/legs.xacro new file mode 100644 index 00000000..2c88210a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/legs.xacro @@ -0,0 +1,199 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + L${leg_num}_J1_base + 100 + 0.1 + 0.01 + 1 + -1 + 1000 + -1000 + + + + + + L${leg_num}_J2_shoulder + 100 + 0.1 + 0.01 + 1 + -1 + 1000 + -1000 + + + + + + L${leg_num}_J3_elbow + 100 + 0.1 + 0.01 + 1 + -1 + 1000 + -1000 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + L${leg_num}_J1_base + 100 + 0.1 + 0.01 + 1 + -1 + 1000 + -1000 + + + + + + L${leg_num}_J2_shoulder + 100 + 0.1 + 0.01 + 1 + -1 + 1000 + -1000 + + + + + + L${leg_num}_J3_elbow + 100 + 0.1 + 0.01 + 1 + -1 + 1000 + -1000 + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lights.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lights.xacro new file mode 100644 index 00000000..0d379989 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lights.xacro @@ -0,0 +1,43 @@ + + + + + ${pose} + 1 + + ${range} + ${linear} + ${constant} + ${quadratic} + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + ${inner_angle} + ${outer_angle} + 1 + + 0 0 -1 + + + + + + ${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_lily_sensor_config_1/urdf/lily.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lily.xacro new file mode 100644 index 00000000..946c2117 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/lily.xacro @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/link.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/link.xacro new file mode 100644 index 00000000..2ffbe1bd --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/link.xacro @@ -0,0 +1,230 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${name}/INPUT_INTERFACE_collision + ${name}/INPUT_INTERFACE_collision_1 + ${name}/INPUT_INTERFACE_collision_2 + ${name}/INPUT_INTERFACE_collision_3 + ${name}/INPUT_INTERFACE_collision_4 + + + + + + + 1e+10 + 1 + + + + + 10.0 + + + + + + + + + + + + + + + + + + + + + + + + + + true + true + + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/payload.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/payload.xacro new file mode 100644 index 00000000..ee32512d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/payload.xacro @@ -0,0 +1,190 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/cameras.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/cameras.xacro new file mode 100644 index 00000000..60be5554 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/cameras.xacro @@ -0,0 +1,83 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + + 9 + ${visualize} + + ${radians(86.5)} + + 1920 + 1200 + R8G8B8 + + + 0.1 + 300.0 + + + gaussian + 0.0 + 0.007 + + + + 1020.51 + 1020.51 + 959.5 + 599.5 + 0 + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/imu.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/imu.xacro new file mode 100644 index 00000000..3e895320 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/imu.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 50 + + + + + 0 + 0.009 + 0.00075 + 0.005 + 2e-05 + 400 + 0.00025 + + + + + + + + + + 0 + 0.021 + 0.05 + 0.0075 + 0.000375 + 175 + 0.005 + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/ouster_lidar.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/ouster_lidar.xacro new file mode 100644 index 00000000..f854d13d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/sensors/ouster_lidar.xacro @@ -0,0 +1,72 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0.035925 0 0 0 + ${rate} + ${visualize} + 1 + + + + ${horiz_samples} + 1 + -3.1459 + 3.1459 + + + 128 + 1 + -${pi/4} + ${pi/4} + + + + 0.1 + 50 + 0.01 + + + gaussian + 0 + 0.01 + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/show.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/show.sh new file mode 100755 index 00000000..92818256 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/show.sh @@ -0,0 +1,8 @@ +#!/bin/bash +if [ "$#" -ne 1 ]; then + echo -e "Usage: show [FILENAME]\n FILENAME .. urdf file to be visualized in rviz" + exit 1 +fi + +echo "processing $1" +roslaunch urdf_tutorial display.launch model:=$1 diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/urdf2sdf.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/urdf2sdf.sh new file mode 100755 index 00000000..960c9af0 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/urdf2sdf.sh @@ -0,0 +1,35 @@ +#!/bin/bash +if [ "$#" -lt 1 ]; +then + echo -e "Usage: urdf2sdf.sh URDF-FILE [SDF-FILE] \nURDF-FILE .. urdf file to be transfered into the sdf file \nSDF-FILE .. optional filename for the converted sdf. If provided, output is not written to stdout but saved to this file." + exit 1 +fi + +# conversion file +tmp_file="__tmp.sdf" + +# some magic for hight precision constants script by MP +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" + +sdf8_version="$(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 ${sdf8_version}" >&2 + +# main converion +ign sdf --force-version "$sdf8_version" -p $1 | +"${DIR}/high_precision_constants.py" - | +sed -e 's#model://ctu_cras_norlab_lily_sensor_config_1/##g' > $tmp_file + +# handle tmp file +if [ "$#" -ge 2 ]; +then + # in case of saving to file, just rename it... + mv $tmp_file "${2%.*}.sdf" +else + # ... otherwise writing file to stdout + cat $tmp_file + + # and remove it. + rm $tmp_file +fi + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/utils.xacro new file mode 100644 index 00000000..1db58155 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/utils.xacro @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + true + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2sdf.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2sdf.sh new file mode 100755 index 00000000..ae5f4b7f --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2sdf.sh @@ -0,0 +1,28 @@ +#!/bin/bash +if [ "$#" -lt 1 ]; +then + echo -e "Usage: xacro2sdf.sh XACRO-FILE [SDF-FILE] \nXACROF-FILE .. xacro file to be transfered into the sdf file \nSDF-FILE .. optional filename for the output sdf. ptional filename for the converted sdf. If provided, output is not written to stdout but saved to this file." + exit 1 +fi + +# conversion file +tmp_file="___tmp.sdf" +pipe_file="__out.urdf" + +# both conversions +./xacro2urdf.sh $1 $pipe_file || exit $? +./urdf2sdf.sh $pipe_file $tmp_file || exit $? +rm $pipe_file + +# handle tmp file +if [ "$#" -ge 2 ]; +then + # in case of saving to file, just rename it... + mv $tmp_file "${2%.*}.sdf" +else + # ... otherwise writing file to stdout + cat $tmp_file + + # and remove it. + rm $tmp_file +fi \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2urdf.sh b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2urdf.sh new file mode 100755 index 00000000..c5fbc146 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/urdf/xacro2urdf.sh @@ -0,0 +1,25 @@ +#!/bin/bash +if [ "$#" -lt 1 ]; +then + echo -e "Usage: xacro2urdf.sh XACRO-FILE [URDF-FILE] \nXACRO-FILE .. xacro file to be transfered into the urdf file \nURDF-FILE .. optional filename for the converted urdf. Ff provided, output is not written to stdout but saved to this file." + exit 1 +fi + +# conversion file +tmp_file="__tmp.urdf" + +# main converion +xacro --xacro-ns $1 target:=ign > $tmp_file + +# handle tmp file +if [ "$#" -ge 2 ]; +then + # in case of saving to file, just rename it... + mv $tmp_file "${2%.*}.urdf" +else + # ... otherwise writing file to stdout + cat $tmp_file + + # and remove it. + rm $tmp_file +fi \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/worlds/example.sdf new file mode 100644 index 00000000..b8a1d6ee --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_1/worlds/example.sdf @@ -0,0 +1,182 @@ + + + + + 0.004 + 1.0 + + + + 0.2 0.2 0.2 + 0.8 0.8 0.8 + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 1 + 0.9 + 1 + 0.001 + + 0.0 0.0 -1.0 + + + + 0 0 4 0 0 0 + + 1000 + 0 + 0.1 + 0.005 + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + 5 + 10.1 + .1 + + 0 0 -1 + + + 0 0 4 0 0 0 + + 1000 + 0.1 + 0.2 + 0.005 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 5 + 10.1 + .1 + + 0 0 -1 + + + + true + staging_area + 0 0 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area + + + + + barrier_0_-1 + 8.0 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_0_1 + 8.0 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_1_-1 + 3.7 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_1_1 + 3.7 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_2_-1 + -0.5999999999999996 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_2_1 + -0.5999999999999996 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_3_-1 + -4.899999999999999 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_3_1 + -4.899999999999999 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_4_-1 + -9.2 -11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_4_1 + -9.2 11 0 0 0 0 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-9.5_-2 + 10.5 -8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-9.5_2 + 10.5 8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_-2 + -12 -8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_-1 + -12 -4.3 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_0 + -12 0.0 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_1 + -12 4.3 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + barrier_-32_2 + -12 8.6 0 0 0 1.5707963267948966 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Jersey Barrier + + + + + true + base_station + -8 0 0 0 0 -1.5708 + https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station + + + diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_2/CMakeLists.txt b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/CMakeLists.txt new file mode 100644 index 00000000..1a06bccb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_lily_sensor_config_2) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_2/launch/spawner.rb b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/launch/spawner.rb new file mode 100644 index 00000000..b111699e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/launch/spawner.rb @@ -0,0 +1,38 @@ +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + $num_breadcrumbs = 6 + base_spawn = `rospack find ctu_cras_norlab_lily_sensor_config_1`.chomp + "/launch/common.rb" + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{File.dirname(__FILE__)}. #{base_spawn} could not be found." + else + additionalSpawnPlugins = <<-HEREDOC + + /model/#{_name}/breadcrumb/deploy + #{$num_breadcrumbs} + 3.0 + true + + + + -0.4 0 0 -0.3 0 #{Math::PI/2} + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node + + + + + + HEREDOC + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, additionalSpawnPlugins) + end +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_lily_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=1 + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_lily_sensor_config_2/package.xml b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/package.xml new file mode 100644 index 00000000..f67dc5bf --- /dev/null +++ b/submitted_models/ctu_cras_norlab_lily_sensor_config_2/package.xml @@ -0,0 +1,28 @@ + + + ctu_cras_norlab_lily_sensor_config_2 + 1.0.0 + The ctu_cras_norlab_lily_sensor_config_2 package describes six-legged platform equipped with: + - 5 Basler Ace 2 Pro a2A1920-51gcPRO RGB cameras with 86° FOV lenses (Basler C125-0418-5M-P f4mm) + - Ouster OS0-128 lidar + - IMU + - Gas sensor + - 6 communication breadcrumbs + + + Petr Cizek + Jiri Kubik + David Valouch + Martin Pecka + + Jiri Kubik + Petr Cizek + David Valouch + + Apache Licence2.0 + + catkin + + roslaunch + ctu_cras_norlab_lily_sensor_config_1 +