hvpandya · hvpandya · May 30, 2019
diff --git a/simple_description/CMakeLists.txt 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
@@ -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: <Fixed 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: <Fixed 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: 000000ff00000000fd000000040000000000000156000004cbfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004cb000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000004cbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000004cb000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009bd0000003efc0100000002fb0000000800540069006d00650100000000000009bd000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000074c000004cb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  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
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="use_gui" default="true"/>
+  <arg name="rviz_config" default="$(find simple_description)/config/simple_base_display.rviz"/>
+
+  <!-- load robot_description to param_server -->
+  <param name="robot_description" command="$(find xacro)/xacro $(find simple_description)/urdfs/simple_base.urdf.xacro"/>
+
+  <!-- publish fake joint state/values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg use_gui)"/>
+  </node>
+
+  <!-- publish tf -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
+
+  <!-- rviz for visualization -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rviz_config)"/>
+</launch>
diff --git a/simple_description/package.xml b/simple_description/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>simple_description</name>
+  <version>0.0.0</version>
+  <description>The simple_description package</description>
+
+  <author email="[email protected]">Harsh Pandya</author>
+  <maintainer email="[email protected]">Harsh Pandya</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+</package>
diff --git a/simple_description/urdfs/simple_base.gazebo.xacro b/simple_description/urdfs/simple_base.gazebo.xacro
@@ -0,0 +1,174 @@
+<?xml version="1.0"?>
+<robot name="kuka_arm" xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--Import urdf elements-->
+  <xacro:include filename="$(find simple_description)/urdfs/simple_base.urdf.xacro"/>
+
+  <!-- gazebo link properties -->
+  <gazebo reference="base_link">
+    <material>Gazebo/DarkGrey</material>
+  </gazebo>
+  <gazebo reference="right_wheel_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="left_wheel_link">
+    <material>Gazebo/Orange</material>
+  </gazebo>
+  <gazebo reference="caster_wheel_link">
+    <material>Gazebo/DarkGray</material>
+    <mu1 value="0.0"/>
+    <mu2 value="0.0"/>
+  </gazebo>
+  <gazebo reference="laser_link">
+    <material>Gazebo/Blue</material>
+  </gazebo>
+  <gazebo reference="camera_link">
+    <material>Gazebo/Blue</material>
+  </gazebo>
+
+  <!-- planar lidar -->
+  <gazebo reference="laser_link">
+    <sensor type="ray" name="head_hokuyo_sensor">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>false</visualize>
+      <update_rate>20</update_rate>
+      <ray>
+        <scan>
+          <horizontal>
+            <samples>720</samples>
+            <resolution>1</resolution>
+            <min_angle>-1.570796</min_angle>
+            <max_angle>1.570796</max_angle>
+          </horizontal>
+        </scan>
+        <range>
+          <min>0.10</min>
+          <max>20.0</max>
+          <resolution>0.01</resolution>
+        </range>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.01</stddev>
+        </noise>
+      </ray>
+      <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
+        <topicName>scan</topicName>
+        <frameName>/laser_link</frameName>
+        <robotNamespace>simple_base</robotNamespace>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+  <!-- rgbd camera -->
+  <link name="camera_rgb_frame"/>
+  <link name="camera_rgb_optical_frame"/>
+  <link name="camera_depth_frame"/>
+  <link name="camera_depth_optical_frame"/>
+
+  <joint name="camera_rgb_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.022 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_rgb_frame"/>
+  </joint>
+  <joint name="camera_rgb_optical_joint" type="fixed">
+    <origin rpy="${-M_PI/2} 0 ${-M_PI/2}" xyz="0 0 0"/>
+    <parent link="camera_rgb_frame"/>
+    <child link="camera_rgb_optical_frame"/>
+  </joint>
+  <joint name="camera_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.049 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_depth_frame"/>
+  </joint>
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin rpy="${-M_PI/2} 0 ${-M_PI/2}" xyz="0 0 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_depth_optical_frame"/>
+  </joint>
+
+  <gazebo reference="camera_rgb_frame">
+    <sensor type="depth" name="rgbd_camera">
+      <always_on>true</always_on>
+      <update_rate>30.0</update_rate>
+      <camera>
+        <horizontal_fov>${70.0*M_PI/180.0}</horizontal_fov>
+        <image>
+          <format>B8G8R8</format>
+          <width>640</width>
+          <height>480</height>
+        </image>
+        <clip>
+          <near>0.1</near>
+          <far>10.0</far>
+        </clip>
+      </camera>
+      <plugin name="rgbd_camera_controller" filename="libgazebo_ros_openni_kinect.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>30.0</updateRate>
+        <cameraName>camera</cameraName>
+        <imageTopicName>color/image_raw</imageTopicName>
+        <cameraInfoTopicName>color/camera_info</cameraInfoTopicName>
+        <depthImageTopicName>depth/image_raw</depthImageTopicName>
+        <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+        <pointCloudTopicName>depth/points</pointCloudTopicName>
+        <frameName>/camera_rgb_optical_frame</frameName>
+        <pointCloudCutoff>0.1</pointCloudCutoff>
+        <pointCloudCutoffMax>10.0</pointCloudCutoffMax>
+        <distortionK1>0.00000001</distortionK1>
+        <distortionK2>0.00000001</distortionK2>
+        <distortionK3>0.00000001</distortionK3>
+        <distortionT1>0.00000001</distortionT1>
+        <distortionT2>0.00000001</distortionT2>
+        <CxPrime>0</CxPrime>
+        <Cx>0</Cx>
+        <Cy>0</Cy>
+        <focalLength>0</focalLength>
+        <hackBaseline>0</hackBaseline>
+        <robotNamespace>simple_base</robotNamespace>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+  <!-- imu plugin -->
+  <gazebo reference="imu_link">
+    <gravity>true</gravity>
+    <sensor name="imu_sensor" type="imu">
+      <always_on>true</always_on>
+      <update_rate>100</update_rate>
+      <visualize>true</visualize>
+      <topic>__default_topic__</topic>
+      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
+        <topicName>imu</topicName>
+        <bodyName>/imu_link</bodyName>
+        <updateRateHZ>100</updateRateHZ>
+        <gaussianNoise>0.05</gaussianNoise>
+        <xyzOffset>0 0 0</xyzOffset>
+        <rpyOffset>0 0 0</rpyOffset>
+        <frameName>/imu_link</frameName>
+        <robotNamespace>simple_base</robotNamespace>
+      </plugin>
+      <pose>0 0 0 0 0 0</pose>
+    </sensor>
+  </gazebo>
+
+  <!-- diff drive controller -->
+  <gazebo>
+    <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
+      <alwaysOn>true</alwaysOn>
+      <updateRate>100</updateRate>
+      <leftJoint>left_wheel_joint</leftJoint>
+      <rightJoint>right_wheel_joint</rightJoint>
+      <wheelSeparation>0.425</wheelSeparation>
+      <wheelDiameter>0.2</wheelDiameter>
+      <torque>0.1</torque>
+      <commandTopic>cmd_vel</commandTopic>
+      <odometryTopic>wheel_odom</odometryTopic>
+      <odometryFrame>/odom</odometryFrame>
+      <robotBaseFrame>/base_footprint</robotBaseFrame>
+      <publishWheelTF>true</publishWheelTF>
+      <publishOdomTF>false</publishOdomTF>
+      <robotNamespace>simple_base</robotNamespace>
+    </plugin>
+  </gazebo>
+
+</robot>