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Feature/eduard #1

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merged 7 commits into from
Oct 7, 2022
Merged

Feature/eduard #1

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81ecb5f
Create ROS2 package.
Knueppl Sep 5, 2022
e47ad2c
Add wheels to robot model Eduard.
Knueppl Sep 5, 2022
fdfad3d
Add plugin for controlling wheels by ROS twist message.
Knueppl Sep 7, 2022
9c878fe
Rename eduard model to Eduard Offroad.
Knueppl Sep 7, 2022
6006221
Introduce different geometry for left right mecanum wheels.
Knueppl Sep 7, 2022
da1985c
Switch rear wheels of Eduard mecanum robot.
Knueppl Sep 7, 2022
c6c8f98
Remove automatically spawning of Eduard.
Knueppl Oct 7, 2022
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18 changes: 18 additions & 0 deletions CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(edu_simulation)

find_package(ament_cmake REQUIRED)

# install(DIRECTORY world
# DESTINATION share/${PROJECT_NAME}
# )

ament_package()

install(DIRECTORY model
DESTINATION share/${PROJECT_NAME}/
)

install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
47 changes: 47 additions & 0 deletions launch/eduard.launch.py
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import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess, DeclareLaunchArgument
from launch_ros.actions import Node
from launch.substitutions import LaunchConfiguration
from launch.actions import SetEnvironmentVariable
from launch.substitutions import EnvironmentVariable

def generate_launch_description():
robot_name = 'edu_simulation'
world_file_name = 'empty.world'

# full path to sdf and world file

# world = os.path.join(get_package_share_directory(robot_name), 'world', world_file_name)
model_path = os.path.join(get_package_share_directory(robot_name), 'model')
world = "worlds/empty.world"
robot_sdf = os.path.join(model_path, 'eduard/eduard.sdf')

# read sdf contents because to spawn an entity in
# gazebo we need to provide entire sdf as string on command line

# xml = open(robot_sdf, 'r').read()

# double quotes need to be with escape sequence
# xml = xml.replace('"', '\\"')

# this is argument format for spwan_entity service
# spwan_args = '{name: \"eduard\", xml: \"' + xml + '\" }'

# create and return launch description object
return LaunchDescription([
#SetEnvironmentVariable(name='GAZEBO_MODEL_PATH', value=[EnvironmentVariable('GAZEBO_MODEL_PATH'), ':' + model_path]),
SetEnvironmentVariable(name='GAZEBO_MODEL_PATH', value=model_path),
# start gazebo, notice we are using libgazebo_ros_factory.so instead of libgazebo_ros_init.so
# That is because only libgazebo_ros_factory.so contains the service call to /spawn_entity
ExecuteProcess(
cmd=['gazebo', '--verbose', world ],#'-s', 'libgazebo_ros_factory.so'],
output='screen'),

# tell gazebo to spwan your robot in the world by calling service
# ExecuteProcess(
# cmd=['ros2', 'service', 'call', '/spawn_entity', 'gazebo_msgs/SpawnEntity', spwan_args],
# output='screen'),
])
325 changes: 325 additions & 0 deletions model/eduard_mecanum/eduard.sdf
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<?xml version='1.0'?>
<sdf version='1.5'>
<model name="eduard-mecanum">
<static>false</static>
<pose>0 0 0 0 0 0</pose>
<!-- chassis -->
<link name="chassis">
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>5.0</mass>
<inertia>
<ixx>9.885e-1</ixx>
<iyy>2.099e0</iyy>
<izz>1.317e0</izz>
<ixy>-7.521e-4</ixy>
<ixz>1.126e-3</ixz>
<iyz>6.915e-3</iyz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://eduard_offroad/mesh/eduard-chassis.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0.06 0 0 0</pose>
<geometry>
<box>
<size>0.38 0.22 0.12</size>
</box>
</geometry>
</collision>
</link>

<!-- wheel front left -->
<link name="wheel_front_left">
<pose>0.125 0.18 0.02 1.570796327 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>3.0e-5</ixx>
<iyy>3.0e-5</iyy>
<izz>5.0e-5</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://eduard_mecanum/mesh/mecanum-wheel-left-eduard.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.055</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.9</coefficient>
<surface_radius>0.0865</surface_radius>
<use_patch_radius>false</use_patch_radius>
<ode>
<slip>0.02</slip>
</ode>
</torsional>
<!-- <ode>
<mu>0.45</mu>
<mu2>0.45</mu2>
<fdir1>1 1 1</fdir1>
<slip1>0.02</slip1>
<slip2>0.02</slip2>
</ode> -->
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>

<!-- wheel front right -->
<link name="wheel_front_right">
<pose>0.125 -0.18 0.02 -1.570796327 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>3.0e-5</ixx>
<iyy>3.0e-5</iyy>
<izz>5.0e-5</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://eduard_mecanum/mesh/mecanum-wheel-right-eduard.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.055</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.9</coefficient>
<surface_radius>0.0865</surface_radius>
<use_patch_radius>false</use_patch_radius>
<ode>
<slip>0.02</slip>
</ode>
</torsional>
<!-- <ode>
<mu>0.45</mu>
<mu2>0.45</mu2>
<fdir1>1 1 1</fdir1>
<slip1>0.02</slip1>
<slip2>0.02</slip2>
</ode> -->
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>

<!-- wheel rear left -->
<link name="wheel_rear_left">
<pose>-0.125 0.18 0.02 1.570796327 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>3.0e-5</ixx>
<iyy>3.0e-5</iyy>
<izz>5.0e-5</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://eduard_mecanum/mesh/mecanum-wheel-right-eduard.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.055</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.9</coefficient>
<surface_radius>0.0865</surface_radius>
<use_patch_radius>false</use_patch_radius>
<ode>
<slip>0.02</slip>
</ode>
</torsional>
<!-- <ode>
<mu>0.45</mu>
<mu2>0.45</mu2>
<fdir1>1 1 1</fdir1>
<slip1>0.02</slip1>
<slip2>0.02</slip2>
</ode> -->
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>

<!-- wheel rear right -->
<link name="wheel_rear_right">
<pose>-0.125 -0.18 0.02 -1.570796327 0 0</pose>
<inertial>
<pose>0 0 0 0 0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>3.0e-5</ixx>
<iyy>3.0e-5</iyy>
<izz>5.0e-5</izz>
<ixy>0</ixy>
<ixz>0</ixz>
<iyz>0</iyz>
</inertia>
</inertial>
<visual name="visual">
<geometry>
<mesh>
<uri>model://eduard_mecanum/mesh/mecanum-wheel-left-eduard.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<cylinder>
<radius>0.05</radius>
<length>0.055</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<friction>
<torsional>
<coefficient>0.9</coefficient>
<surface_radius>0.0865</surface_radius>
<use_patch_radius>false</use_patch_radius>
<ode>
<slip>0.02</slip>
</ode>
</torsional>
<!-- <ode>
<mu>0.45</mu>
<mu2>0.45</mu2>
<fdir1>1 1 1</fdir1>
<slip1>0.02</slip1>
<slip2>0.02</slip2>
</ode> -->
</friction>
<contact>
<ode>
<min_depth>0.005</min_depth>
</ode>
</contact>
</surface>
</collision>
</link>

<!-- Joints. -->
<joint type="revolute" name="axis_front_left">
<pose>0 0 0 0 0 0</pose>
<child>wheel_front_left</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint type="revolute" name="axis_front_right">
<pose>0 0 0 0 0 0</pose>
<child>wheel_front_right</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint type="revolute" name="axis_rear_left">
<pose>0 0 0 0 0 0</pose>
<child>wheel_rear_left</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>
<joint type="revolute" name="axis_rear_right">
<pose>0 0 0 0 0 0</pose>
<child>wheel_rear_right</child>
<parent>chassis</parent>
<axis>
<xyz>0 0 1</xyz>
</axis>
</joint>

<!-- plugins to control robot behavior -->
<plugin name="gazebo_ros_planar_move" filename="libgazebo_ros_planar_move.so">
<ros>
<!-- Add a namespace -->
<!-- <namespace>/demo</namespace> -->
<!-- Remap the default topic -->
<!-- <remapping>cmd_vel:=custom_cmd_vel</remapping> -->
<!-- <remapping>odom:=custom_odom</remapping> -->
</ros>
<update_rate>100</update_rate>
<publish_rate>10</publish_rate>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>chassis</robot_base_frame>
<covariance_x>0.0001</covariance_x>
<covariance_y>0.0001</covariance_y>
<covariance_yaw>0.01</covariance_yaw>
</plugin>
</model>
</sdf>
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