diff --git a/simple_description/CMakeLists.txt b/simple_description/CMakeLists.txt new file mode 100644 index 0000000..124ff7f --- /dev/null +++ b/simple_description/CMakeLists.txt @@ -0,0 +1,5 @@ +cmake_minimum_required(VERSION 2.8.3) +project(simple_description) + +find_package(catkin REQUIRED) +catkin_package() diff --git a/simple_description/config/simple_base_display.rviz b/simple_description/config/simple_base_display.rviz new file mode 100644 index 0000000..abd8421 --- /dev/null +++ b/simple_description/config/simple_base_display.rviz @@ -0,0 +1,175 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 1088 + - 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 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - 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 + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + 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 + base_link: + Value: true + left_wheel_link: + Value: true + right_wheel_link: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + left_wheel_link: + {} + right_wheel_link: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + 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/Orbit + Distance: 3.0742945671081543 + 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: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.9153988361358643 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.705394744873047 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1385 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2493 + X: 67 + Y: 27 diff --git a/simple_description/launch/simple_base_display.launch b/simple_description/launch/simple_base_display.launch new file mode 100644 index 0000000..219753e --- /dev/null +++ b/simple_description/launch/simple_base_display.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/simple_description/package.xml b/simple_description/package.xml new file mode 100644 index 0000000..d06bb40 --- /dev/null +++ b/simple_description/package.xml @@ -0,0 +1,17 @@ + + + simple_description + 0.0.0 + The simple_description package + + Harsh Pandya + Harsh Pandya + + BSD + + catkin + joint_state_publisher + robot_state_publisher + rviz + xacro + diff --git a/simple_description/urdfs/simple_base.gazebo.xacro b/simple_description/urdfs/simple_base.gazebo.xacro new file mode 100644 index 0000000..43b02f2 --- /dev/null +++ b/simple_description/urdfs/simple_base.gazebo.xacro @@ -0,0 +1,174 @@ + + + + + + + + Gazebo/DarkGrey + + + Gazebo/Orange + + + Gazebo/Orange + + + Gazebo/DarkGray + + + + + Gazebo/Blue + + + Gazebo/Blue + + + + + + 0 0 0 0 0 0 + false + 20 + + + + 720 + 1 + -1.570796 + 1.570796 + + + + 0.10 + 20.0 + 0.01 + + + gaussian + 0.0 + 0.01 + + + + scan + /laser_link + simple_base + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 30.0 + + ${70.0*M_PI/180.0} + + B8G8R8 + 640 + 480 + + + 0.1 + 10.0 + + + + true + 30.0 + camera + color/image_raw + color/camera_info + depth/image_raw + depth/camera_info + depth/points + /camera_rgb_optical_frame + 0.1 + 10.0 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0.00000001 + 0 + 0 + 0 + 0 + 0 + simple_base + + + + + + + true + + true + 100 + true + __default_topic__ + + imu + /imu_link + 100 + 0.05 + 0 0 0 + 0 0 0 + /imu_link + simple_base + + 0 0 0 0 0 0 + + + + + + + true + 100 + left_wheel_joint + right_wheel_joint + 0.425 + 0.2 + 0.1 + cmd_vel + wheel_odom + /odom + /base_footprint + true + false + simple_base + + + + diff --git a/simple_description/urdfs/simple_base.urdf.xacro b/simple_description/urdfs/simple_base.urdf.xacro new file mode 100644 index 0000000..d8e75d2 --- /dev/null +++ b/simple_description/urdfs/simple_base.urdf.xacro @@ -0,0 +1,167 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simple_gazebo/CMakeLists.txt b/simple_gazebo/CMakeLists.txt new file mode 100644 index 0000000..492433d --- /dev/null +++ b/simple_gazebo/CMakeLists.txt @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 2.8.3) +project(simple_gazebo) + +find_package(catkin REQUIRED) + +catkin_package() diff --git a/simple_gazebo/launch/empty_world.launch b/simple_gazebo/launch/empty_world.launch new file mode 100644 index 0000000..853b1e7 --- /dev/null +++ b/simple_gazebo/launch/empty_world.launch @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/simple_gazebo/package.xml b/simple_gazebo/package.xml new file mode 100644 index 0000000..c544118 --- /dev/null +++ b/simple_gazebo/package.xml @@ -0,0 +1,15 @@ + + + simple_gazebo + 0.0.0 + The simple_gazebo package + + Harsh Pandya + Harsh Pandya + + BSD + + catkin + gazebo_ros + simple_description +