├── LICENSE ├── README.md ├── carbot_control ├── CMakeLists.txt ├── config │ └── xbox.config.yaml ├── launch │ └── carbot_control.launch ├── package.xml └── scripts │ ├── acker.py │ ├── cmd_vel_to_joint.py │ └── command_to_joint_state.py ├── carbot_description ├── CMakeLists.txt ├── config │ └── carbot.rviz ├── launch │ ├── carbot_bullet_sim.launch │ └── carbot_description.launch ├── package.xml └── urdf │ ├── carbot.gazebo │ └── carbot.xacro ├── carbot_gazebo ├── CMakeLists.txt ├── launch │ └── carbot_world.launch ├── package.xml └── worlds │ └── carbot.world └── carbot_gazebo_control ├── CMakeLists.txt ├── config └── carbot_gazebo_control.yaml ├── launch └── carbot_gazebo_control.launch └── package.xml /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | {project} Copyright (C) {year} {fullname} 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # carbot 2 | 3 | ros robot with car-like steering 4 | 5 | # Dependencies 6 | 7 | Currently in jade and kinetic it is necessary to 8 | 9 | git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git 10 | 11 | because it is not available as a deb. 12 | 13 | If using kinetic, get the kinetic branch: 14 | 15 | cd gazebo_ros_pkgs 16 | git checkout remotes/origin/kinetic-devel 17 | 18 | # gazebo simulation 19 | 20 | roslaunch carbot_gazebo_control carbot_gazebo_control.launch 21 | 22 | If it is the first time gazebo has launched, this may take a long time before you see 23 | 24 | [Spawn status: SpawnModel: Successfully spawned model] 25 | 26 | and the model appears in rviz and gazebo. 27 | 28 | Gazebo frequently doesn't exit cleanly after pressing ctrl-c, you may have to kill the roscore and restart it to run again. 29 | 30 | If it does exit cleanly it is a good idea to: 31 | 32 | rosparam delete / 33 | 34 | Or at least set sim_time to false. 35 | 36 | # commanding motion 37 | 38 | Any generator of cmd_vel messages can work here, though teleop twist keyboard and teleop joy are scaled inappropriately by default so need adjustment. 39 | 40 | Stop the car: 41 | 42 | rostopic pub /cmd_vel geometry_msgs/Twist "{linear: {x: 0.0, y0.0}, angular: {z: 0.0}}" -1 43 | 44 | Drive straight forward: 45 | 46 | rostopic pub /cmd_vel geometry_msgs/Twist "{linear: {x: 0.1}}" 47 | 48 | Turn to left: 49 | 50 | rostopic pub /cmd_vel geometry_msgs/Twist "{linear: {x: 0.1}, angular: {z: 0.02}}" 51 | 52 | Turn to right: 53 | 54 | rostopic pub /cmd_vel geometry_msgs/Twist "{linear: {x: 0.1}, angular: {z: -0.02}}" 55 | 56 | Trying to go to fast glitches the gazebo simulation- it's possible toroidal/capsule shaped wheels would do better. 57 | (The advice given in ode/bullte simulation tutorials for high speed car simulations don't model the spinning wheels physically interacting with the ground, it is handled with rays- but it's not clear if gazebo can handle that approach.) 58 | 59 | # linear.y vs. angular.z 60 | 61 | It's impossible to command a car/bicycle/ackerman vehicle to drive only sideways (linear.y) or rotate in place (angular.z) without also driving forward or backward (linear.x), 62 | so it is a matter of convention to have to always command some linear.x and then angular.z or linear.y which may or may not be achieveable depending on the distance of the steering wheels to the fixed wheels, and the joint limits of the steering wheels. 63 | 64 | It appears that commanding linear.x in combination with angular.z is the preferred method (and linear.y results even if desired to be zero). 65 | carbot also has a mode where linear.x and linear.y are commanded and there is a resulting angular.z. 66 | -------------------------------------------------------------------------------- /carbot_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(carbot_control) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | roscpp 9 | roslint 10 | rospy 11 | ) 12 | 13 | set(ROSLINT_PYTHON_OPTS "--ignore=''" "1>&2") 14 | roslint_python() 15 | 16 | ## System dependencies are found with CMake's conventions 17 | # find_package(Boost REQUIRED COMPONENTS system) 18 | 19 | 20 | ## Uncomment this if the package has a setup.py. This macro ensures 21 | ## modules and global scripts declared therein get installed 22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 23 | # catkin_python_setup() 24 | 25 | ################################################ 26 | ## Declare ROS messages, services and actions ## 27 | ################################################ 28 | 29 | ## To declare and build messages, services or actions from within this 30 | ## package, follow these steps: 31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 32 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 33 | ## * In the file package.xml: 34 | ## * add a build_depend tag for "message_generation" 35 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 36 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 37 | ## but can be declared for certainty nonetheless: 38 | ## * add a run_depend tag for "message_runtime" 39 | ## * In this file (CMakeLists.txt): 40 | ## * add "message_generation" and every package in MSG_DEP_SET to 41 | ## find_package(catkin REQUIRED COMPONENTS ...) 42 | ## * add "message_runtime" and every package in MSG_DEP_SET to 43 | ## catkin_package(CATKIN_DEPENDS ...) 44 | ## * uncomment the add_*_files sections below as needed 45 | ## and list every .msg/.srv/.action file to be processed 46 | ## * uncomment the generate_messages entry below 47 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 48 | 49 | ## Generate messages in the 'msg' folder 50 | # add_message_files( 51 | # FILES 52 | # Message1.msg 53 | # Message2.msg 54 | # ) 55 | 56 | ## Generate services in the 'srv' folder 57 | # add_service_files( 58 | # FILES 59 | # Service1.srv 60 | # Service2.srv 61 | # ) 62 | 63 | ## Generate actions in the 'action' folder 64 | # add_action_files( 65 | # FILES 66 | # Action1.action 67 | # Action2.action 68 | # ) 69 | 70 | ## Generate added messages and services with any dependencies listed here 71 | # generate_messages( 72 | # DEPENDENCIES 73 | # std_msgs # Or other packages containing msgs 74 | # ) 75 | 76 | ################################################ 77 | ## Declare ROS dynamic reconfigure parameters ## 78 | ################################################ 79 | 80 | ## To declare and build dynamic reconfigure parameters within this 81 | ## package, follow these steps: 82 | ## * In the file package.xml: 83 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 84 | ## * In this file (CMakeLists.txt): 85 | ## * add "dynamic_reconfigure" to 86 | ## find_package(catkin REQUIRED COMPONENTS ...) 87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 88 | ## and list every .cfg file to be processed 89 | 90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 91 | # generate_dynamic_reconfigure_options( 92 | # cfg/DynReconf1.cfg 93 | # cfg/DynReconf2.cfg 94 | # ) 95 | 96 | ################################### 97 | ## catkin specific configuration ## 98 | ################################### 99 | ## The catkin_package macro generates cmake config files for your package 100 | ## Declare things to be passed to dependent projects 101 | ## INCLUDE_DIRS: uncomment this if you package contains header files 102 | ## LIBRARIES: libraries you create in this project that dependent projects also need 103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 104 | ## DEPENDS: system dependencies of this project that dependent projects also need 105 | catkin_package( 106 | # INCLUDE_DIRS include 107 | # LIBRARIES carbot_control 108 | CATKIN_DEPENDS 109 | roscpp 110 | # DEPENDS system_lib 111 | ) 112 | 113 | ########### 114 | ## Build ## 115 | ########### 116 | 117 | ## Specify additional locations of header files 118 | ## Your package locations should be listed before other locations 119 | # include_directories(include) 120 | include_directories( 121 | ${catkin_INCLUDE_DIRS} 122 | ) 123 | 124 | ## Declare a C++ library 125 | # add_library(carbot_control 126 | # src/${PROJECT_NAME}/carbot_control.cpp 127 | # ) 128 | 129 | ## Add cmake target dependencies of the library 130 | ## as an example, code may need to be generated before libraries 131 | ## either from message generation or dynamic reconfigure 132 | # add_dependencies(carbot_control ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 133 | 134 | ## Declare a C++ executable 135 | # add_executable(carbot_control_node src/carbot_control_node.cpp) 136 | 137 | ## Add cmake target dependencies of the executable 138 | ## same as for the library above 139 | # add_dependencies(carbot_control_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 140 | 141 | ## Specify libraries to link a library or executable target against 142 | # target_link_libraries(carbot_control_node 143 | # ${catkin_LIBRARIES} 144 | # ) 145 | 146 | ############# 147 | ## Install ## 148 | ############# 149 | 150 | # all install targets should use catkin DESTINATION variables 151 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 152 | 153 | ## Mark executable scripts (Python etc.) for installation 154 | ## in contrast to setup.py, you can choose the destination 155 | install(PROGRAMS 156 | scripts/acker.py 157 | scripts/cmd_vel_to_joint.py 158 | scripts/command_to_joint_state.py 159 | DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 160 | ) 161 | 162 | ## Mark executables and/or libraries for installation 163 | # install(TARGETS carbot_control carbot_control_node 164 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 165 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 166 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 167 | # ) 168 | 169 | ## Mark cpp header files for installation 170 | # install(DIRECTORY include/${PROJECT_NAME}/ 171 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 172 | # FILES_MATCHING PATTERN "*.h" 173 | # PATTERN ".svn" EXCLUDE 174 | # ) 175 | 176 | ## Mark other files for installation (e.g. launch and bag files, etc.) 177 | # install(FILES 178 | # # myfile1 179 | # # myfile2 180 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 181 | # ) 182 | 183 | install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config) 184 | install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) 185 | 186 | ############# 187 | ## Testing ## 188 | ############# 189 | 190 | ## Add gtest based cpp test target and link libraries 191 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_carbot_control.cpp) 192 | # if(TARGET ${PROJECT_NAME}-test) 193 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 194 | # endif() 195 | 196 | ## Add folders to be run by python nosetests 197 | # catkin_add_nosetests(test) 198 | -------------------------------------------------------------------------------- /carbot_control/config/xbox.config.yaml: -------------------------------------------------------------------------------- 1 | axis_linear: 4 # Left thumb stick vertical 2 | scale_linear: 0.35 3 | scale_linear_turbo: 0.7 4 | 5 | axis_angular: 0 # Left thumb stick horizontal 6 | scale_angular: 0.17 7 | 8 | enable_button: 4 # Left trigger button 9 | enable_turbo_button: 5 # Right trigger button 10 | -------------------------------------------------------------------------------- /carbot_control/launch/carbot_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 16 | 17 | 18 | 19 | 21 | 22 | 23 | 24 | 26 | 27 | 28 | 30 | 31 | 32 | 34 | 35 | 36 | 38 | 39 | 40 | 42 | 43 | 44 | 45 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 55 | 56 | 57 | 58 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 68 | 69 | 70 | 71 | 72 | 73 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | -------------------------------------------------------------------------------- /carbot_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | carbot_control 4 | 0.0.0 5 | Control the carbot 6 | 7 | 8 | 9 | 10 | lucasw 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | roscpp 44 | roslint 45 | rospy 46 | carbot_description 47 | joy 48 | roscpp 49 | rospy 50 | teleop_twist_joy 51 | teleop_twist_keyboard 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | -------------------------------------------------------------------------------- /carbot_control/scripts/acker.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # Copyright 2016 Lucas Walter 3 | 4 | import math 5 | import numpy 6 | import rospy 7 | import tf2_py as tf2 8 | import tf2_ros 9 | 10 | from geometry_msgs.msg import Point, PointStamped, TransformStamped, Twist 11 | from sensor_msgs.msg import JointState 12 | from std_msgs.msg import Float64 13 | from tf import transformations 14 | from visualization_msgs.msg import Marker 15 | 16 | 17 | class Acker(): 18 | def __init__(self): 19 | self.rate = rospy.get_param("~rate", 20.0) 20 | self.period = 1.0 / self.rate 21 | 22 | self.tf_buffer = tf2_ros.Buffer() 23 | self.tf = tf2_ros.TransformListener(self.tf_buffer) 24 | self.br = tf2_ros.TransformBroadcaster() 25 | 26 | # get a dict of joints and their link locations 27 | # TODO(lucasw) need to know per wheel radius to compute velocity 28 | # correctly, for now assume all wheels are same radius 29 | self.joints = rospy.get_param("~steered_joints", 30 | [{'link': 'front_left_steer', 31 | 'steer_joint': 'front_left_steer_joint', 32 | 'steer_topic': '/carbot/front_left/steer_position_controller/command', 33 | 'wheel_joint': 'wheel_front_left_axle', 34 | 'wheel_topic': '/carbot/front_left/wheel_position_controller/command'}, 35 | {'link': 'front_right_steer', 36 | 'steer_joint': 'front_right_steer_joint', 37 | 'steer_topic': '/carbot/front_right/steer_position_controller/command', 38 | 'wheel_joint': 'wheel_front_right_axle', 39 | 'wheel_topic': '/carbot/front_right/wheel_position_controller/command'}, 40 | {'link': 'back_left', 41 | 'steer_joint': None, 42 | 'steer_topic': None, 43 | 'wheel_joint': 'wheel_back_left_axle', 44 | 'wheel_topic': '/carbot/back_left/wheel_position_controller/command'}, 45 | {'link': 'back_right', 46 | 'steer_joint': None, 47 | 'steer_topic': None, 48 | 'wheel_joint': 'wheel_back_right_axle', 49 | 'wheel_topic': '/carbot/back_right/wheel_position_controller/command'}]) 50 | 51 | self.wheel_radius = rospy.get_param("~wheel_radius", 0.15) 52 | # gazebo joint controller commands 53 | self.command_pub = {} 54 | # use this to store all the positions persistently 55 | self.wheel_joint_states = JointState() 56 | for wheel in self.joints: 57 | steer_topic = wheel['steer_topic'] 58 | if steer_topic is not None: 59 | self.command_pub[wheel['steer_joint']] = rospy.Publisher(steer_topic, 60 | Float64, queue_size=4) 61 | wheel_topic = wheel['wheel_topic'] 62 | if wheel_topic is not None: 63 | self.command_pub[wheel['wheel_joint']] = rospy.Publisher(wheel_topic, 64 | Float64, queue_size=4) 65 | 66 | # TODO(lucasw) read the current angle to initialize 67 | self.wheel_joint_states.name.append(wheel['wheel_joint']) 68 | self.wheel_joint_states.position.append(0.0) 69 | self.wheel_joint_states.velocity.append(0.0) 70 | 71 | # TODO(lucasw) initialize the current position from 72 | # another source 73 | self.ts = TransformStamped() 74 | self.ts.header.frame_id = "map" 75 | self.ts.child_frame_id = "base_link" 76 | self.ts.transform.rotation.w = 1.0 77 | # the angle of the base_link 78 | self.angle = 0 79 | 80 | # the fixed back axle- all the fixed wheels rotate around the y-axis 81 | # of the back axle 82 | self.back_axle_link = rospy.get_param("~back_axle_link", "back_axle") 83 | # TODO(lucasw) for now assume all the links have no rotation 84 | # with respect to each other, later do this robustly with tf lookups 85 | 86 | self.marker = Marker() 87 | self.marker.id = 0 88 | self.marker.type = Marker.LINE_STRIP 89 | self.marker.frame_locked = True 90 | self.marker.action = Marker.ADD 91 | self.marker.header.frame_id = self.back_axle_link 92 | self.marker.scale.x = 0.07 93 | self.marker.scale.y = 0.07 94 | self.marker.scale.z = 0.07 95 | self.marker.color.r = 0.5 96 | self.marker.color.g = 0.5 97 | self.marker.color.b = 0.5 98 | self.marker.color.a = 0.5 99 | self.marker.pose.orientation.w = 1.0 100 | 101 | self.marker_pub = rospy.Publisher("marker", Marker, queue_size=len(self.joints) * 2) 102 | self.point_pub = rospy.Publisher("spin_center", PointStamped, queue_size=1) 103 | # TODO(lucasw) would like there to be a gazebo plugin that takes 104 | # desired joint position and velocity, but I believe there is only 105 | # the simple command inputs that pid to a position or velocity, but not both. 106 | self.joint_pub = rospy.Publisher("steered_joint_states", JointState, queue_size=3) 107 | self.lead_steer = rospy.get_param("~steer", {'link': 'lead_steer', 108 | 'joint': 'lead_steer_joint', 109 | 'wheel_joint': 'wheel_lead_axle'}) 110 | self.twist_pub = rospy.Publisher("odom_cmd_vel", Twist, queue_size=3) 111 | # TODO(lucasw) circular publisher here- the steer command is on 112 | # joint_states, then published onto steered_joint_states, which updates 113 | # joint_states- but the joints are different. 114 | self.joint_sub = rospy.Subscriber("joint_states", JointState, 115 | self.lead_steer_callback, queue_size=4) 116 | 117 | self.timer = rospy.Timer(rospy.Duration(self.period), self.update) 118 | 119 | def update(self, event): 120 | pass 121 | 122 | # get the angle to to the wheel from the spin center 123 | def get_angle(self, link, spin_center, steer_angle, stamp): 124 | # lookup the position of each link in the back axle frame 125 | ts = self.tf_buffer.lookup_transform(spin_center.header.frame_id, link, 126 | stamp, rospy.Duration(4.0)) 127 | 128 | dy = ts.transform.translation.y - spin_center.point.y 129 | dx = ts.transform.translation.x - spin_center.point.x 130 | angle = math.atan2(dx, abs(dy)) 131 | if steer_angle < 0: 132 | angle = -angle 133 | 134 | # visualize the trajectory forward or back of the current wheel 135 | # given the spin center 136 | radius = math.sqrt(dx * dx + dy * dy) 137 | self.marker.points = [] 138 | for pt_angle in numpy.arange(abs(angle) - 1.0, abs(angle) + 1.0 + 0.025, 0.05): 139 | pt = Point() 140 | pt.x = spin_center.point.x + radius * math.sin(pt_angle) 141 | if steer_angle < 0: 142 | pt.y = spin_center.point.y - radius * math.cos(pt_angle) 143 | else: 144 | pt.y = spin_center.point.y + radius * math.cos(pt_angle) 145 | self.marker.ns = link 146 | self.marker.header.stamp = stamp 147 | self.marker.points.append(pt) 148 | self.marker_pub.publish(self.marker) 149 | return angle, radius 150 | 151 | # TODO(lucasw) want to receive a joint state that has position 152 | # and velocity and command a joint_state to achieve it, but ros_control 153 | # can only take a command for a single value, would need a pvt style 154 | # interface running upstream of ros_control, or make custom own ros_control 155 | # controller? 156 | def lead_steer_callback(self, msg): 157 | lead_steer_joint = self.lead_steer['joint'] 158 | if lead_steer_joint not in msg.name: 159 | rospy.logwarn("no %s joint in joint state msg" % (lead_steer_joint)) 160 | rospy.logwarn(msg) 161 | return 162 | lead_wheel_joint = self.lead_steer['wheel_joint'] 163 | if lead_wheel_joint not in msg.name: 164 | rospy.logwarn("no %s joint in joint state msg" % (lead_wheel_joint)) 165 | rospy.logwarn(msg) 166 | return 167 | 168 | dt = (msg.header.stamp - self.wheel_joint_states.header.stamp).to_sec() 169 | if self.wheel_joint_states.header.stamp.to_sec() == 0.0: 170 | dt = 0 171 | 172 | steer_ind = msg.name.index(lead_steer_joint) 173 | wheel_ind = msg.name.index(lead_wheel_joint) 174 | if len(msg.velocity) < wheel_ind: 175 | # rospy.logwarn("no velocity for wheel_ind %d", wheel_ind) 176 | return 177 | 178 | steer_angle = msg.position[steer_ind] 179 | lead_wheel_angular_velocity = msg.velocity[wheel_ind] 180 | # steer_velocity = msg.velocity[steer_ind] 181 | # steer_effort = msg.effort[steer_ind] 182 | 183 | joint_states = JointState() 184 | joint_states.header = msg.header 185 | self.wheel_joint_states.header = msg.header 186 | odom_cmd_vel = Twist() 187 | 188 | # TODO(lucaw) possibly eliminate this pathway and have 189 | # special case code below to mix in this special case. 190 | if steer_angle == 0.0: 191 | # TODO(lucasw) assume no rotation of link holding this joint 192 | # with respect to the back axle link 193 | for i in range(len(self.joints)): 194 | steer_joint = self.joints[i]['steer_joint'] 195 | if steer_joint is not None: 196 | joint_states.name.append(steer_joint) 197 | joint_states.position.append(steer_angle) 198 | # joint_states.velocity.append(steer_velocity) 199 | # joint_states.effort.append(steer_effort) 200 | if steer_joint in self.command_pub.keys(): 201 | self.command_pub[steer_joint].publish(steer_angle) 202 | 203 | wheel_joint = self.joints[i]['wheel_joint'] 204 | ind = self.wheel_joint_states.name.index(wheel_joint) 205 | # TODO(lucasw) this assumes all wheels have the same radius 206 | self.wheel_joint_states.position[ind] += lead_wheel_angular_velocity * dt 207 | self.wheel_joint_states.velocity[ind] = lead_wheel_angular_velocity 208 | if wheel_joint in self.command_pub.keys(): 209 | self.command_pub[wheel_joint].publish(self.wheel_joint_states.position[ind]) 210 | 211 | # TODO(lucasw) combine these into one message 212 | self.joint_pub.publish(joint_states) 213 | self.joint_pub.publish(self.wheel_joint_states) 214 | 215 | # upate odometry 216 | # TODO(lucasw) this doesn't model skid steering at all, it assume an 217 | # off-axis wheel driving forward will drive the robot forward because 218 | # all the wheels balance. 219 | distance = self.wheel_radius * lead_wheel_angular_velocity * dt 220 | if dt > 0: 221 | odom_cmd_vel.linear.x = distance / dt 222 | self.twist_pub.publish(odom_cmd_vel) 223 | 224 | self.ts.transform.translation.x += distance * math.cos(self.angle) 225 | self.ts.transform.translation.y += distance * math.sin(-self.angle) 226 | 227 | # set the quaternion to current angle 228 | quat = transformations.quaternion_from_euler(0, 0, -self.angle) 229 | self.ts.transform.rotation.x = quat[0] 230 | self.ts.transform.rotation.y = quat[1] 231 | self.ts.transform.rotation.z = quat[2] 232 | self.ts.transform.rotation.w = quat[3] 233 | 234 | self.ts.header.stamp = msg.header.stamp 235 | # convert self.angle to quaternion 236 | self.br.sendTransform(self.ts) 237 | return 238 | 239 | # find spin center given steer joint 240 | steer_ts = self.tf_buffer.lookup_transform(self.back_axle_link, self.lead_steer['link'], 241 | msg.header.stamp, rospy.Duration(4.0)) 242 | 243 | spin_center = PointStamped() 244 | # R cos(steer_angle) = y 245 | # R sin(steer_angle) = x 246 | # x = steer_ts.position.x 247 | # R = steer_ts.position.x / sin(steer_angle) 248 | y = steer_ts.transform.translation.x / math.tan(-steer_angle) 249 | spin_center.point.y = y + steer_ts.transform.translation.y 250 | spin_center.header.stamp = msg.header.stamp 251 | spin_center.header.frame_id = self.back_axle_link 252 | self.point_pub.publish(spin_center) 253 | 254 | angle, lead_radius = self.get_angle(self.lead_steer['link'], spin_center, 255 | steer_angle, msg.header.stamp) 256 | # TODO(lucasw) assume no rotation for now- zero steer angle 257 | # means the steer joint is aligned with x axis of the robot 258 | # TODO(lucasw) 259 | for i in range(len(self.joints)): 260 | joint = self.joints[i]['steer_joint'] 261 | link = self.joints[i]['link'] 262 | 263 | angle, radius = self.get_angle(link, spin_center, steer_angle, msg.header.stamp) 264 | fr = radius / lead_radius 265 | 266 | # print link, angle, dx, dy 267 | if joint is not None: 268 | joint_states.name.append(joint) 269 | joint_states.position.append(angle) 270 | 271 | if joint in self.command_pub.keys(): 272 | self.command_pub[joint].publish(angle) 273 | 274 | wheel_joint = self.joints[i]['wheel_joint'] 275 | ind = self.wheel_joint_states.name.index(wheel_joint) 276 | # TODO(lucasw) lead_wheel_angular_velocity for this joint needs 277 | # to be scaled by different in distance to spin center 278 | self.wheel_joint_states.position[ind] += lead_wheel_angular_velocity * fr * dt 279 | self.wheel_joint_states.velocity[ind] = lead_wheel_angular_velocity * fr 280 | if wheel_joint in self.command_pub.keys(): 281 | self.command_pub[wheel_joint].publish(self.wheel_joint_states.position[ind]) 282 | 283 | # update odometry 284 | # There may be another odometric frame in the future, based off 285 | # actual encoder values rather than desired 286 | # TODO(lucasw) need a steer joint at the base_link and set it 287 | # to this angle 288 | steer_angle, radius = self.get_angle("base_link", spin_center, 289 | steer_angle, msg.header.stamp) 290 | fr = radius / lead_radius 291 | # distance traveled along the radial path in base_link 292 | distance = self.wheel_radius * lead_wheel_angular_velocity * fr * dt 293 | angle_traveled = distance / radius 294 | # the distance traveled in the base_link frame: 295 | dx_in_ts = distance * math.cos(steer_angle) 296 | dy_in_ts = -distance * math.sin(steer_angle) 297 | if dt > 0: 298 | odom_cmd_vel.linear.x = dx_in_ts / dt 299 | odom_cmd_vel.linear.y = dy_in_ts / dt 300 | # print math.degrees(steer_angle), distance, odom_cmd_vel.linear.x, \ 301 | # odom_cmd_vel.linear.y, radius, math.degrees(angle_traveled) 302 | self.twist_pub.publish(odom_cmd_vel) 303 | 304 | # then need to rotate x and y by self.angle 305 | dx_in_parent = distance * math.cos(self.angle + steer_angle) 306 | dy_in_parent = -distance * math.sin(self.angle + steer_angle) 307 | # then can add the rotated x and y to self.ts.transform.translation 308 | self.ts.transform.translation.x += dx_in_parent 309 | self.ts.transform.translation.y += dy_in_parent 310 | 311 | # set the quaternion to current angle 312 | quat = transformations.quaternion_from_euler(0, 0, -self.angle) 313 | self.ts.transform.rotation.x = quat[0] 314 | self.ts.transform.rotation.y = quat[1] 315 | self.ts.transform.rotation.z = quat[2] 316 | self.ts.transform.rotation.w = quat[3] 317 | 318 | self.ts.header.stamp = msg.header.stamp 319 | # convert self.angle to quaternion 320 | self.br.sendTransform(self.ts) 321 | 322 | self.joint_pub.publish(joint_states) 323 | self.joint_pub.publish(self.wheel_joint_states) 324 | 325 | if steer_angle > 0: 326 | self.angle += angle_traveled 327 | else: 328 | self.angle -= angle_traveled 329 | 330 | 331 | if __name__ == '__main__': 332 | rospy.init_node("acker") 333 | acker = Acker() 334 | rospy.spin() 335 | -------------------------------------------------------------------------------- /carbot_control/scripts/cmd_vel_to_joint.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # Lucas Walter 3 | # June 2016 4 | # 5 | # Subscribe to a cmd_vel Twist message and interpret the linear 6 | # and angular components into a joint state for the virtual steer joint. 7 | 8 | import math 9 | import rospy 10 | import tf2_py as tf2 11 | import tf2_ros 12 | 13 | from geometry_msgs.msg import PointStamped, Twist 14 | from sensor_msgs.msg import JointState 15 | # from tf import transformations 16 | 17 | 18 | class CmdVelToJoint(): 19 | def __init__(self): 20 | self.rate = rospy.get_param("~rate", 20.0) 21 | self.period = 1.0 / self.rate 22 | 23 | # angular mode maps angular z directly to steering angle 24 | # (adjusted appropriately) 25 | # non-angular mode is somewhat suspect, but it turns 26 | # a linear y into a command to turn just so that the 27 | # achieved linear x and y match the desired, though 28 | # the vehicle has to turn to do so. 29 | self.angular_mode = rospy.get_param("~angular_mode", True) 30 | 31 | self.tf_buffer = tf2_ros.Buffer() 32 | self.tf = tf2_ros.TransformListener(self.tf_buffer) 33 | 34 | self.steer_link = rospy.get_param("~steer_link", "lead_steer") 35 | self.steer_joint = rospy.get_param("~steer_joint", "lead_steer_joint") 36 | # +/- this angle 37 | self.min_steer_angle = rospy.get_param("~min_steer_angle", -0.7) 38 | self.max_steer_angle = rospy.get_param("~max_steer_angle", 0.7) 39 | 40 | self.wheel_joint = rospy.get_param("~wheel_joint", "wheel_lead_axle") 41 | self.wheel_radius = rospy.get_param("~wheel_radius", 0.15) 42 | # the spin center is always on the fixed axle y axis of the fixed axle, 43 | # it is assume zero rotation on the steer_joint puts the steering 44 | # at zero rotation with respect to fixed axle x axis (or xz plane) 45 | self.fixed_axle_link = rospy.get_param("~fixed_axle_link", "back_axle") 46 | 47 | self.point_pub = rospy.Publisher("cmd_vel_spin_center", PointStamped, queue_size=1) 48 | self.steer_pub = rospy.Publisher("steer_joint_states", JointState, queue_size=1) 49 | # TODO(lucasw) is there a way to get TwistStamped out of standard 50 | # move_base publishers? 51 | self.joint_state = JointState() 52 | self.joint_state.name.append(self.steer_joint) 53 | self.joint_state.position.append(0.0) 54 | self.joint_state.velocity.append(0.0) 55 | self.joint_state.name.append(self.wheel_joint) 56 | self.joint_state.position.append(0.0) 57 | self.joint_state.velocity.append(0.0) 58 | self.cmd_vel = Twist() 59 | rospy.Subscriber("cmd_vel", Twist, self.cmd_vel_callback, queue_size=2) 60 | self.timer = rospy.Timer(rospy.Duration(self.period), self.update) 61 | 62 | def cmd_vel_callback(self, msg): 63 | self.cmd_vel = msg 64 | 65 | def update(self, event): 66 | # if self.cmd_vel is None: 67 | # return 68 | 69 | # get the transform from the back axle to the steer link 70 | try: 71 | fixed_to_steer = self.tf_buffer.lookup_transform(self.fixed_axle_link, 72 | self.steer_link, 73 | rospy.Time(), 74 | rospy.Duration(4.0)) 75 | except tf2.ExtrapolationException as e: 76 | rospy.logwarn(e) 77 | return 78 | except tf2.LookupException as e: 79 | rospy.logwarn(e) 80 | return 81 | 82 | self.joint_state.header.stamp = fixed_to_steer.header.stamp 83 | 84 | # TODO(lucasw) use same time as fixed_to_steer above 85 | fixed_to_base = self.tf_buffer.lookup_transform(self.fixed_axle_link, 86 | "base_link", 87 | rospy.Time(), 88 | rospy.Duration(4.0)) 89 | # if the cmd_vel is pure linear x, then the joint state is at zero 90 | # steer angle (no skid steering modelled). 91 | linear_x = self.cmd_vel.linear.x 92 | linear_y = self.cmd_vel.linear.y 93 | angular_z = self.cmd_vel.angular.z 94 | wheel_angular_velocity = 0 95 | if self.angular_mode or linear_y == 0.0: 96 | self.joint_state.position[0] = 0.0 97 | self.joint_state.velocity[0] = 0.0 98 | wheel_angular_velocity = linear_x / self.wheel_radius 99 | # handle angular z 100 | # the proper steer angle is a function of linear.x- 101 | # linear_x = angular_z * radius 102 | if self.angular_mode and angular_z != 0.0 and linear_x != 0.0: 103 | base_turn_radius = abs(linear_x) / abs(angular_z) 104 | # can't have a turn radius smaller then translation x 105 | if base_turn_radius < fixed_to_base.transform.translation.x: 106 | base_turn_radius = fixed_to_base.transform.translation.x 107 | # TODO(lucasw) logwarn? 108 | # base_turn_radius * sin(fixed_to_base_angle) = fixed_to_base.transform.translation.x 109 | try: 110 | fixed_to_base_angle = math.asin(fixed_to_base.transform.translation.x / base_turn_radius) 111 | except Exception as ex: 112 | rospy.logwarn(f"{base_turn_radius}, {fixed_to_base.transform.translation.x}, {ex}") 113 | return 114 | # spin center relative to fixed axle 115 | spin_center_y = base_turn_radius * math.cos(fixed_to_base_angle) 116 | steer_angle = math.atan2(fixed_to_steer.transform.translation.x, 117 | spin_center_y) 118 | if angular_z > 0.0: 119 | spin_center_y = -spin_center_y 120 | steer_angle = -steer_angle 121 | if linear_x < 0.0: 122 | spin_center_y = -spin_center_y 123 | steer_angle = -steer_angle 124 | self.joint_state.position[0] = steer_angle 125 | elif linear_x == 0.0: 126 | # TODO(lucasw) what to do here? 127 | # Could do nothing, but that doesn't reflect the intent of the cmd_vel 128 | # source - next best thing may be to set the steer angle to 129 | # the maximum (which needs to be given to this node). 130 | 131 | # if the robot was near an obstacle this strategy doesn't work at all 132 | # so need to be able to select it with a mode. 133 | wheel_angular_velocity = linear_y / self.wheel_radius 134 | if linear_y > 0: 135 | self.joint_state.position[0] = self.min_steer_angle 136 | else: 137 | self.joint_state.position[0] = self.max_steer_angle 138 | self.joint_state.velocity[0] = 0.0 139 | else: 140 | # need to calculate the steer angle 141 | # the angle traveled around the spin center 142 | lin_y = self.cmd_vel.linear.y 143 | lin_x = linear_x 144 | lin_mag = math.sqrt(lin_x * lin_x + lin_y * lin_y) 145 | base_y = fixed_to_base.transform.translation.y 146 | base_x = fixed_to_base.transform.translation.x 147 | ty = lin_y + base_y 148 | tx = lin_x + base_x 149 | # this includes the angle base_link traveled and an offset angle 150 | # from fixed back link to base link 151 | lin_angle = math.atan2(lin_y, lin_x) 152 | # this connects the spin center to base_y + lin_y/2, base_x + lin_x/2 153 | radius_2 = (lin_x / 2.0 + base_x) / math.sin(lin_angle) 154 | spin_angle_traveled = 2.0 * math.atan2(lin_mag / 2.0, radius_2) 155 | # need to account for angle between back link and base link 156 | base_offset_angle = lin_angle - spin_angle_traveled / 2.0 157 | base_spin_radius = radius_2 / math.cos(spin_angle_traveled / 2.0) 158 | 159 | # this angle applies to all links on the vehicle, but each link 160 | # will have a different spin radius depending on where they are relative 161 | # to base link. 162 | back_spin_radius = base_spin_radius * math.cos(base_offset_angle) + base_y 163 | spin_center = PointStamped() 164 | spin_center.point.y = back_spin_radius 165 | spin_center.header.stamp = rospy.Time.now() 166 | spin_center.header.frame_id = self.fixed_axle_link 167 | self.point_pub.publish(spin_center) 168 | 169 | steer_spin_radius_dx = fixed_to_steer.transform.translation.x 170 | steer_spin_radius_dy = back_spin_radius - fixed_to_steer.transform.translation.y 171 | # TODO(lucasw) need to handle steer angle > max steer angle 172 | steer_angle = math.atan2(steer_spin_radius_dx, steer_spin_radius_dy) 173 | steer_spin_radius = math.sqrt(steer_spin_radius_dx**2 + steer_spin_radius_dy**2) 174 | distance_traveled = steer_spin_radius * spin_angle_traveled 175 | wheel_angular_velocity = distance_traveled / self.wheel_radius 176 | # print distance_traveled, self.cmd_vel.linear.x, self.cmd_vel.linear.y 177 | self.joint_state.position[0] = -steer_angle 178 | self.joint_state.velocity[0] = 0.0 179 | 180 | # print math.degrees(lin_angle), math.degrees(spin_angle_traveled), \ 181 | # math.degrees(steer_angle), back_spin_radius, base_x 182 | # print base_offset_angle, base_spin_radius, back_spin_radius, base_x, base_y 183 | # print spin_angle_traveled, math.degrees(spin_angle_traveled), spin_radius 184 | 185 | # TODO(lucasw) assuming fixed period for now, could 186 | # measure actual dt with event parameter. 187 | self.joint_state.position[1] += wheel_angular_velocity * self.period 188 | self.joint_state.velocity[1] = wheel_angular_velocity 189 | 190 | self.steer_pub.publish(self.joint_state) 191 | 192 | 193 | if __name__ == '__main__': 194 | rospy.init_node("cmd_vel_to_joint") 195 | cmd_vel_to_joint = CmdVelToJoint() 196 | rospy.spin() 197 | -------------------------------------------------------------------------------- /carbot_control/scripts/command_to_joint_state.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # Lucas Walter 3 | # make a joint exactly what the command wants it to be- this only works 4 | # for position control. 5 | 6 | import rospy 7 | 8 | from sensor_msgs.msg import JointState 9 | from std_msgs.msg import Float64 10 | 11 | 12 | class CommandToJointState: 13 | def __init__(self): 14 | self.joint_name = rospy.get_param("~joint_name") 15 | self.joint_state = JointState() 16 | self.joint_state.name.append(self.joint_name) 17 | self.joint_state.position.append(0.0) 18 | self.joint_state.velocity.append(0.0) 19 | self.joint_pub = rospy.Publisher("joint_states", JointState, queue_size=1) 20 | self.command_sub = rospy.Subscriber("command", Float64, 21 | self.command_callback, queue_size=1) 22 | 23 | def command_callback(self, msg): 24 | self.joint_state.position[0] = msg.data 25 | self.joint_state.header.stamp = rospy.Time.now() 26 | self.joint_pub.publish(self.joint_state) 27 | 28 | 29 | if __name__ == '__main__': 30 | rospy.init_node('command_to_joint_state') 31 | command_to_joint_state = CommandToJointState() 32 | rospy.spin() 33 | -------------------------------------------------------------------------------- /carbot_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(carbot_description) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED COMPONENTS 8 | # joint_state_publisher 9 | # robot_state_publisher 10 | # rviz 11 | ) 12 | 13 | ## System dependencies are found with CMake's conventions 14 | # find_package(Boost REQUIRED COMPONENTS system) 15 | 16 | 17 | ## Uncomment this if the package has a setup.py. This macro ensures 18 | ## modules and global scripts declared therein get installed 19 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 20 | # catkin_python_setup() 21 | 22 | ################################################ 23 | ## Declare ROS messages, services and actions ## 24 | ################################################ 25 | 26 | ## To declare and build messages, services or actions from within this 27 | ## package, follow these steps: 28 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 29 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 30 | ## * In the file package.xml: 31 | ## * add a build_depend tag for "message_generation" 32 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 33 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 34 | ## but can be declared for certainty nonetheless: 35 | ## * add a run_depend tag for "message_runtime" 36 | ## * In this file (CMakeLists.txt): 37 | ## * add "message_generation" and every package in MSG_DEP_SET to 38 | ## find_package(catkin REQUIRED COMPONENTS ...) 39 | ## * add "message_runtime" and every package in MSG_DEP_SET to 40 | ## catkin_package(CATKIN_DEPENDS ...) 41 | ## * uncomment the add_*_files sections below as needed 42 | ## and list every .msg/.srv/.action file to be processed 43 | ## * uncomment the generate_messages entry below 44 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 45 | 46 | ## Generate messages in the 'msg' folder 47 | # add_message_files( 48 | # FILES 49 | # Message1.msg 50 | # Message2.msg 51 | # ) 52 | 53 | ## Generate services in the 'srv' folder 54 | # add_service_files( 55 | # FILES 56 | # Service1.srv 57 | # Service2.srv 58 | # ) 59 | 60 | ## Generate actions in the 'action' folder 61 | # add_action_files( 62 | # FILES 63 | # Action1.action 64 | # Action2.action 65 | # ) 66 | 67 | ## Generate added messages and services with any dependencies listed here 68 | # generate_messages( 69 | # DEPENDENCIES 70 | # std_msgs # Or other packages containing msgs 71 | # ) 72 | 73 | ################################################ 74 | ## Declare ROS dynamic reconfigure parameters ## 75 | ################################################ 76 | 77 | ## To declare and build dynamic reconfigure parameters within this 78 | ## package, follow these steps: 79 | ## * In the file package.xml: 80 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 81 | ## * In this file (CMakeLists.txt): 82 | ## * add "dynamic_reconfigure" to 83 | ## find_package(catkin REQUIRED COMPONENTS ...) 84 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 85 | ## and list every .cfg file to be processed 86 | 87 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 88 | # generate_dynamic_reconfigure_options( 89 | # cfg/DynReconf1.cfg 90 | # cfg/DynReconf2.cfg 91 | # ) 92 | 93 | ################################### 94 | ## catkin specific configuration ## 95 | ################################### 96 | ## The catkin_package macro generates cmake config files for your package 97 | ## Declare things to be passed to dependent projects 98 | ## INCLUDE_DIRS: uncomment this if you package contains header files 99 | ## LIBRARIES: libraries you create in this project that dependent projects also need 100 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 101 | ## DEPENDS: system dependencies of this project that dependent projects also need 102 | catkin_package( 103 | # INCLUDE_DIRS include 104 | # LIBRARIES carbot_description 105 | # CATKIN_DEPENDS joint_state_publisher robot_state_publisher rviz 106 | # DEPENDS system_lib 107 | ) 108 | 109 | ########### 110 | ## Build ## 111 | ########### 112 | 113 | ## Specify additional locations of header files 114 | ## Your package locations should be listed before other locations 115 | # include_directories(include) 116 | include_directories( 117 | ${catkin_INCLUDE_DIRS} 118 | ) 119 | 120 | ## Declare a C++ library 121 | # add_library(carbot_description 122 | # src/${PROJECT_NAME}/carbot_description.cpp 123 | # ) 124 | 125 | ## Add cmake target dependencies of the library 126 | ## as an example, code may need to be generated before libraries 127 | ## either from message generation or dynamic reconfigure 128 | # add_dependencies(carbot_description ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 129 | 130 | ## Declare a C++ executable 131 | # add_executable(carbot_description_node src/carbot_description_node.cpp) 132 | 133 | ## Add cmake target dependencies of the executable 134 | ## same as for the library above 135 | # add_dependencies(carbot_description_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 136 | 137 | ## Specify libraries to link a library or executable target against 138 | # target_link_libraries(carbot_description_node 139 | # ${catkin_LIBRARIES} 140 | # ) 141 | 142 | ############# 143 | ## Install ## 144 | ############# 145 | 146 | # all install targets should use catkin DESTINATION variables 147 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 148 | 149 | ## Mark executable scripts (Python etc.) for installation 150 | ## in contrast to setup.py, you can choose the destination 151 | # install(PROGRAMS 152 | # scripts/my_python_script 153 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 154 | # ) 155 | 156 | ## Mark executables and/or libraries for installation 157 | # install(TARGETS carbot_description carbot_description_node 158 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 159 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 160 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 161 | # ) 162 | 163 | ## Mark cpp header files for installation 164 | # install(DIRECTORY include/${PROJECT_NAME}/ 165 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 166 | # FILES_MATCHING PATTERN "*.h" 167 | # PATTERN ".svn" EXCLUDE 168 | # ) 169 | 170 | ## Mark other files for installation (e.g. launch and bag files, etc.) 171 | # install(FILES 172 | # # myfile1 173 | # # myfile2 174 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 175 | # ) 176 | 177 | install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config) 178 | install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) 179 | install(DIRECTORY urdf/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf) 180 | 181 | ############# 182 | ## Testing ## 183 | ############# 184 | 185 | ## Add gtest based cpp test target and link libraries 186 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_carbot_description.cpp) 187 | # if(TARGET ${PROJECT_NAME}-test) 188 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 189 | # endif() 190 | 191 | ## Add folders to be run by python nosetests 192 | # catkin_add_nosetests(test) 193 | -------------------------------------------------------------------------------- /carbot_description/config/carbot.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /TF1/Frames1 9 | - /RobotModel1 10 | - /RobotModel1/Joints1 11 | Splitter Ratio: 0.652173996 12 | Tree Height: 558 13 | - Class: rviz/Selection 14 | Name: Selection 15 | - Class: rviz/Tool Properties 16 | Expanded: 17 | - /2D Pose Estimate1 18 | - /2D Nav Goal1 19 | - /Publish Point1 20 | Name: Tool Properties 21 | Splitter Ratio: 0.588679016 22 | - Class: rviz/Views 23 | Expanded: 24 | - /Current View1 25 | Name: Views 26 | Splitter Ratio: 0.5 27 | - Class: rviz/Time 28 | Experimental: false 29 | Name: Time 30 | SyncMode: 0 31 | SyncSource: "" 32 | Visualization Manager: 33 | Class: "" 34 | Displays: 35 | - Alpha: 0.5 36 | Cell Size: 1 37 | Class: rviz/Grid 38 | Color: 109; 112; 164 39 | Enabled: true 40 | Line Style: 41 | Line Width: 0.0299999993 42 | Value: Lines 43 | Name: Grid 44 | Normal Cell Count: 0 45 | Offset: 46 | X: 0 47 | Y: 0 48 | Z: 0 49 | Plane: XY 50 | Plane Cell Count: 100 51 | Reference Frame: map 52 | Value: true 53 | - Class: rviz/TF 54 | Enabled: false 55 | Frame Timeout: 15 56 | Frames: 57 | All Enabled: false 58 | Marker Scale: 1 59 | Name: TF 60 | Show Arrows: true 61 | Show Axes: true 62 | Show Names: true 63 | Tree: 64 | {} 65 | Update Interval: 0 66 | Value: false 67 | - Alpha: 0.5 68 | Class: rviz/RobotModel 69 | Collision Enabled: true 70 | Enabled: true 71 | Joints: 72 | All Links Enabled: true 73 | Expand Joint Details: false 74 | Expand Link Details: false 75 | Expand Tree: false 76 | Link Tree Style: Joints in Alphabetic Order 77 | back_axle_joint: 78 | Show Axes: false 79 | Value: true 80 | back_left_axle: 81 | Show Axes: false 82 | Value: true 83 | back_right_axle: 84 | Show Axes: false 85 | Value: true 86 | base_steer_joint: 87 | Show Axes: false 88 | Show Joint Axis: false 89 | camera_joint: 90 | Show Axes: false 91 | Value: true 92 | camera_optical_joint: 93 | Show Axes: false 94 | chassis_joint: 95 | Show Axes: false 96 | Value: true 97 | front_axle_joint: 98 | Show Axes: false 99 | Value: true 100 | front_left_steer_joint: 101 | Show Axes: false 102 | Show Joint Axis: false 103 | Value: true 104 | front_right_steer_joint: 105 | Show Axes: false 106 | Show Joint Axis: false 107 | Value: true 108 | lead_steer_joint: 109 | Show Axes: false 110 | Show Joint Axis: false 111 | test_joint: 112 | Show Axes: false 113 | Value: true 114 | wheel_back_left_axle: 115 | Show Axes: false 116 | Show Joint Axis: false 117 | Value: true 118 | wheel_back_left_hubcap_joint: 119 | Show Axes: false 120 | Value: true 121 | wheel_back_right_axle: 122 | Show Axes: false 123 | Show Joint Axis: false 124 | Value: true 125 | wheel_back_right_hubcap_joint: 126 | Show Axes: false 127 | Value: true 128 | wheel_front_left_axle: 129 | Show Axes: false 130 | Show Joint Axis: false 131 | Value: true 132 | wheel_front_left_hubcap_joint: 133 | Show Axes: false 134 | Value: true 135 | wheel_front_right_axle: 136 | Show Axes: false 137 | Show Joint Axis: false 138 | Value: true 139 | wheel_front_right_hubcap_joint: 140 | Show Axes: false 141 | Value: true 142 | wheel_lead_axle: 143 | Show Axes: false 144 | Show Joint Axis: false 145 | Name: RobotModel 146 | Robot Description: /robot_description 147 | TF Prefix: "" 148 | Update Interval: 0.0500000007 149 | Value: true 150 | Visual Enabled: true 151 | - Class: rviz/Axes 152 | Enabled: false 153 | Length: 0.5 154 | Name: Steer 155 | Radius: 0.100000001 156 | Reference Frame: lead_steer 157 | Value: false 158 | - Alpha: 1 159 | Class: rviz/PointStamped 160 | Color: 204; 41; 204 161 | Enabled: true 162 | History Length: 1 163 | Name: PointStamped 164 | Radius: 0.200000003 165 | Topic: /spin_center 166 | Unreliable: false 167 | Value: true 168 | - Class: rviz/Marker 169 | Enabled: true 170 | Marker Topic: /marker 171 | Name: Wheel Trajectories 172 | Namespaces: 173 | {} 174 | Queue Size: 100 175 | Value: true 176 | - Alpha: 0.5 177 | Class: rviz/PointStamped 178 | Color: 72; 204; 52 179 | Enabled: true 180 | History Length: 1 181 | Name: PointStamped 182 | Radius: 0.200000003 183 | Topic: /cmd_vel_spin_center 184 | Unreliable: false 185 | Value: true 186 | - Class: rviz/Camera 187 | Enabled: false 188 | Image Rendering: background and overlay 189 | Image Topic: /carbot/camera1/image_raw 190 | Name: Camera 191 | Overlay Alpha: 0.5 192 | Queue Size: 2 193 | Transport Hint: raw 194 | Unreliable: false 195 | Value: false 196 | Visibility: 197 | Axes: true 198 | Grid: true 199 | Image: true 200 | PointStamped: true 201 | RobotModel: true 202 | Steer: true 203 | TF: true 204 | Value: true 205 | Wheel Trajectories: true 206 | Zoom Factor: 1 207 | - Class: rviz/Image 208 | Enabled: false 209 | Image Topic: /carbot/camera1/image_raw 210 | Max Value: 1 211 | Median window: 5 212 | Min Value: 0 213 | Name: Image 214 | Normalize Range: true 215 | Queue Size: 2 216 | Transport Hint: raw 217 | Unreliable: false 218 | Value: false 219 | - Class: rviz/Axes 220 | Enabled: false 221 | Length: 1 222 | Name: Axes 223 | Radius: 0.100000001 224 | Reference Frame: wheel_back_right_hubcap 225 | Value: false 226 | Enabled: true 227 | Global Options: 228 | Background Color: 48; 48; 48 229 | Fixed Frame: base_link 230 | Frame Rate: 30 231 | Name: root 232 | Tools: 233 | - Class: rviz/Interact 234 | Hide Inactive Objects: true 235 | - Class: rviz/MoveCamera 236 | - Class: rviz/Select 237 | - Class: rviz/FocusCamera 238 | - Class: rviz/Measure 239 | - Class: rviz/SetInitialPose 240 | Topic: /initialpose 241 | - Class: rviz/SetGoal 242 | Topic: /move_base_simple/goal 243 | - Class: rviz/PublishPoint 244 | Single click: true 245 | Topic: /clicked_point 246 | Value: true 247 | Views: 248 | Current: 249 | Class: rviz/Orbit 250 | Distance: 5.01617289 251 | Enable Stereo Rendering: 252 | Stereo Eye Separation: 0.0599999987 253 | Stereo Focal Distance: 1 254 | Swap Stereo Eyes: false 255 | Value: false 256 | Focal Point: 257 | X: -0.370979607 258 | Y: -0.354086548 259 | Z: -0.386208355 260 | Name: Current View 261 | Near Clip Distance: 0.00999999978 262 | Pitch: 0.479796708 263 | Target Frame: 264 | Value: Orbit (rviz) 265 | Yaw: 0.65539372 266 | Saved: ~ 267 | Window Geometry: 268 | Camera: 269 | collapsed: false 270 | Displays: 271 | collapsed: false 272 | Height: 864 273 | Hide Left Dock: false 274 | Hide Right Dock: true 275 | Image: 276 | collapsed: false 277 | QMainWindow State: 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278 | Selection: 279 | collapsed: false 280 | Time: 281 | collapsed: false 282 | Tool Properties: 283 | collapsed: false 284 | Views: 285 | collapsed: true 286 | Width: 861 287 | X: 594 288 | Y: 24 289 | -------------------------------------------------------------------------------- /carbot_description/launch/carbot_bullet_sim.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 19 | 20 | -------------------------------------------------------------------------------- /carbot_description/launch/carbot_description.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 10 | 11 | 13 | 14 | 15 | ["carbot/joint_states", 16 | "carbot/front_right/joint_states", 17 | "carbot/front_left/joint_states", 18 | "carbot/back_left/joint_states", 19 | "carbot/back_right/joint_states", 20 | "steer_joint_states"] 21 | 22 | 25 | 26 | 27 | 28 | 31 | 32 | 35 | 36 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /carbot_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | carbot_description 4 | 0.0.0 5 | urdf and sim launch files for the carbot 6 | 7 | 8 | 9 | 10 | Lucas Walter 11 | 12 | 13 | 14 | 15 | 16 | GPLv3 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | bullet_server 44 | joint_state_publisher 45 | robot_state_publisher 46 | rviz 47 | tf 48 | xacro 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | -------------------------------------------------------------------------------- /carbot_description/urdf/carbot.gazebo: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | /carbot 8 | /robot_description 9 | gazebo_ros_control/DefaultRobotHWSim 10 | 11 | 12 | 13 | 14 | 15 | 10.0 16 | 17 | 1.5 18 | 19 | 640 20 | 480 21 | R8G8B8 22 | 23 | 24 | 0.05 25 | 50 26 | 27 | 28 | gaussian 29 | 32 | 0.0 33 | 0.007 34 | 35 | 36 | 37 | true 38 | 0.0 39 | carbot/camera1 40 | image_raw 41 | camera_info 42 | camera_link_optical 43 | 46 | 0.0 47 | 0.0 48 | 0.0 49 | 0.0 50 | 0.0 51 | 0.0 52 | 53 | 54 | 55 | 56 | -------------------------------------------------------------------------------- /carbot_description/urdf/carbot.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | transmission_interface/SimpleTransmission 101 | 102 | EffortJointInterface 103 | 104 | 105 | EffortJointInterface 106 | 1 107 | 108 | 109 | 110 | 111 | 800 112 | 100 113 | 114 | 115 | 116 | 117 | 118 | 119 | 121 | 122 | 124 | 125 | 126 | 127 | 128 | 129 | 130 | 132 | 133 | 134 | 135 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | transmission_interface/SimpleTransmission 147 | 148 | EffortJointInterface 149 | 150 | 151 | EffortJointInterface 152 | 1 153 | 154 | 155 | 156 | 158 | 159 | 160 | 161 | 163 | 164 | 165 | 166 | 167 | 168 | 171 | 172 | 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 193 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 205 | 206 | 207 | 211 | 212 | 213 | 214 | 215 | 216 | 217 | 218 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 231 | 233 | 234 | 236 | 237 | 238 | 239 | 240 | 241 | 242 | 244 | 246 | 247 | 248 | 250 | 251 | 252 | 253 | 254 | 255 | 256 | 257 | 258 | 260 | 261 | 262 | 263 | 264 | 265 | 266 | 267 | 269 | 270 | 272 | 273 | 274 | 275 | 276 | 277 | 278 | -------------------------------------------------------------------------------- /carbot_gazebo/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(carbot_gazebo) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED) 8 | 9 | ## System dependencies are found with CMake's conventions 10 | # find_package(Boost REQUIRED COMPONENTS system) 11 | 12 | 13 | ## Uncomment this if the package has a setup.py. This macro ensures 14 | ## modules and global scripts declared therein get installed 15 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 16 | # catkin_python_setup() 17 | 18 | ################################################ 19 | ## Declare ROS messages, services and actions ## 20 | ################################################ 21 | 22 | ## To declare and build messages, services or actions from within this 23 | ## package, follow these steps: 24 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 25 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 26 | ## * In the file package.xml: 27 | ## * add a build_depend tag for "message_generation" 28 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 29 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 30 | ## but can be declared for certainty nonetheless: 31 | ## * add a run_depend tag for "message_runtime" 32 | ## * In this file (CMakeLists.txt): 33 | ## * add "message_generation" and every package in MSG_DEP_SET to 34 | ## find_package(catkin REQUIRED COMPONENTS ...) 35 | ## * add "message_runtime" and every package in MSG_DEP_SET to 36 | ## catkin_package(CATKIN_DEPENDS ...) 37 | ## * uncomment the add_*_files sections below as needed 38 | ## and list every .msg/.srv/.action file to be processed 39 | ## * uncomment the generate_messages entry below 40 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 41 | 42 | ## Generate messages in the 'msg' folder 43 | # add_message_files( 44 | # FILES 45 | # Message1.msg 46 | # Message2.msg 47 | # ) 48 | 49 | ## Generate services in the 'srv' folder 50 | # add_service_files( 51 | # FILES 52 | # Service1.srv 53 | # Service2.srv 54 | # ) 55 | 56 | ## Generate actions in the 'action' folder 57 | # add_action_files( 58 | # FILES 59 | # Action1.action 60 | # Action2.action 61 | # ) 62 | 63 | ## Generate added messages and services with any dependencies listed here 64 | # generate_messages( 65 | # DEPENDENCIES 66 | # std_msgs # Or other packages containing msgs 67 | # ) 68 | 69 | ################################################ 70 | ## Declare ROS dynamic reconfigure parameters ## 71 | ################################################ 72 | 73 | ## To declare and build dynamic reconfigure parameters within this 74 | ## package, follow these steps: 75 | ## * In the file package.xml: 76 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 77 | ## * In this file (CMakeLists.txt): 78 | ## * add "dynamic_reconfigure" to 79 | ## find_package(catkin REQUIRED COMPONENTS ...) 80 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 81 | ## and list every .cfg file to be processed 82 | 83 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 84 | # generate_dynamic_reconfigure_options( 85 | # cfg/DynReconf1.cfg 86 | # cfg/DynReconf2.cfg 87 | # ) 88 | 89 | ################################### 90 | ## catkin specific configuration ## 91 | ################################### 92 | ## The catkin_package macro generates cmake config files for your package 93 | ## Declare things to be passed to dependent projects 94 | ## INCLUDE_DIRS: uncomment this if you package contains header files 95 | ## LIBRARIES: libraries you create in this project that dependent projects also need 96 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 97 | ## DEPENDS: system dependencies of this project that dependent projects also need 98 | catkin_package( 99 | # INCLUDE_DIRS include 100 | # LIBRARIES carbot_gazebo 101 | # CATKIN_DEPENDS other_catkin_pkg 102 | # DEPENDS system_lib 103 | ) 104 | 105 | ########### 106 | ## Build ## 107 | ########### 108 | 109 | ## Specify additional locations of header files 110 | ## Your package locations should be listed before other locations 111 | # include_directories(include) 112 | 113 | ## Declare a C++ library 114 | # add_library(carbot_gazebo 115 | # src/${PROJECT_NAME}/carbot_gazebo.cpp 116 | # ) 117 | 118 | ## Add cmake target dependencies of the library 119 | ## as an example, code may need to be generated before libraries 120 | ## either from message generation or dynamic reconfigure 121 | # add_dependencies(carbot_gazebo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 122 | 123 | ## Declare a C++ executable 124 | # add_executable(carbot_gazebo_node src/carbot_gazebo_node.cpp) 125 | 126 | ## Add cmake target dependencies of the executable 127 | ## same as for the library above 128 | # add_dependencies(carbot_gazebo_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 129 | 130 | ## Specify libraries to link a library or executable target against 131 | # target_link_libraries(carbot_gazebo_node 132 | # ${catkin_LIBRARIES} 133 | # ) 134 | 135 | ############# 136 | ## Install ## 137 | ############# 138 | 139 | # all install targets should use catkin DESTINATION variables 140 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 141 | 142 | ## Mark executable scripts (Python etc.) for installation 143 | ## in contrast to setup.py, you can choose the destination 144 | # install(PROGRAMS 145 | # scripts/my_python_script 146 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 147 | # ) 148 | 149 | ## Mark executables and/or libraries for installation 150 | # install(TARGETS carbot_gazebo carbot_gazebo_node 151 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 152 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 153 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 154 | # ) 155 | 156 | ## Mark cpp header files for installation 157 | # install(DIRECTORY include/${PROJECT_NAME}/ 158 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 159 | # FILES_MATCHING PATTERN "*.h" 160 | # PATTERN ".svn" EXCLUDE 161 | # ) 162 | 163 | ## Mark other files for installation (e.g. launch and bag files, etc.) 164 | # install(FILES 165 | # # myfile1 166 | # # myfile2 167 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 168 | # ) 169 | 170 | install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) 171 | install(DIRECTORY worlds/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds) 172 | 173 | ############# 174 | ## Testing ## 175 | ############# 176 | 177 | ## Add gtest based cpp test target and link libraries 178 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_carbot_gazebo.cpp) 179 | # if(TARGET ${PROJECT_NAME}-test) 180 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 181 | # endif() 182 | 183 | ## Add folders to be run by python nosetests 184 | # catkin_add_nosetests(test) 185 | -------------------------------------------------------------------------------- /carbot_gazebo/launch/carbot_world.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 33 | 34 | 35 | -------------------------------------------------------------------------------- /carbot_gazebo/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | carbot_gazebo 4 | 0.0.0 5 | gazebo config files for carbot 6 | 7 | 8 | Lucas Walter 9 | 10 | 11 | 12 | 13 | 14 | TODO 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | catkin 41 | 42 | carbot_control 43 | gazebo_plugins 44 | gazebo_ros 45 | carbot_description 46 | xacro 47 | 48 | 49 | 50 | 51 | 52 | 53 | -------------------------------------------------------------------------------- /carbot_gazebo/worlds/carbot.world: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | model://ground_plane 8 | 9 | 10 | 11 | 12 | model://sun 13 | 14 | 15 | 16 | 17 | 18 | 4.927360 -4.376610 3.740080 0.000000 0.275643 2.356190 19 | orbit 20 | 21 | 22 | 23 | 24 | 25 | -------------------------------------------------------------------------------- /carbot_gazebo_control/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.0.2) 2 | project(carbot_gazebo_control) 3 | 4 | ## Find catkin macros and libraries 5 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) 6 | ## is used, also find other catkin packages 7 | find_package(catkin REQUIRED) 8 | 9 | ## System dependencies are found with CMake's conventions 10 | # find_package(Boost REQUIRED COMPONENTS system) 11 | 12 | 13 | ## Uncomment this if the package has a setup.py. This macro ensures 14 | ## modules and global scripts declared therein get installed 15 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html 16 | # catkin_python_setup() 17 | 18 | ################################################ 19 | ## Declare ROS messages, services and actions ## 20 | ################################################ 21 | 22 | ## To declare and build messages, services or actions from within this 23 | ## package, follow these steps: 24 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in 25 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). 26 | ## * In the file package.xml: 27 | ## * add a build_depend tag for "message_generation" 28 | ## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET 29 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in 30 | ## but can be declared for certainty nonetheless: 31 | ## * add a run_depend tag for "message_runtime" 32 | ## * In this file (CMakeLists.txt): 33 | ## * add "message_generation" and every package in MSG_DEP_SET to 34 | ## find_package(catkin REQUIRED COMPONENTS ...) 35 | ## * add "message_runtime" and every package in MSG_DEP_SET to 36 | ## catkin_package(CATKIN_DEPENDS ...) 37 | ## * uncomment the add_*_files sections below as needed 38 | ## and list every .msg/.srv/.action file to be processed 39 | ## * uncomment the generate_messages entry below 40 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) 41 | 42 | ## Generate messages in the 'msg' folder 43 | # add_message_files( 44 | # FILES 45 | # Message1.msg 46 | # Message2.msg 47 | # ) 48 | 49 | ## Generate services in the 'srv' folder 50 | # add_service_files( 51 | # FILES 52 | # Service1.srv 53 | # Service2.srv 54 | # ) 55 | 56 | ## Generate actions in the 'action' folder 57 | # add_action_files( 58 | # FILES 59 | # Action1.action 60 | # Action2.action 61 | # ) 62 | 63 | ## Generate added messages and services with any dependencies listed here 64 | # generate_messages( 65 | # DEPENDENCIES 66 | # std_msgs # Or other packages containing msgs 67 | # ) 68 | 69 | ################################################ 70 | ## Declare ROS dynamic reconfigure parameters ## 71 | ################################################ 72 | 73 | ## To declare and build dynamic reconfigure parameters within this 74 | ## package, follow these steps: 75 | ## * In the file package.xml: 76 | ## * add a build_depend and a run_depend tag for "dynamic_reconfigure" 77 | ## * In this file (CMakeLists.txt): 78 | ## * add "dynamic_reconfigure" to 79 | ## find_package(catkin REQUIRED COMPONENTS ...) 80 | ## * uncomment the "generate_dynamic_reconfigure_options" section below 81 | ## and list every .cfg file to be processed 82 | 83 | ## Generate dynamic reconfigure parameters in the 'cfg' folder 84 | # generate_dynamic_reconfigure_options( 85 | # cfg/DynReconf1.cfg 86 | # cfg/DynReconf2.cfg 87 | # ) 88 | 89 | ################################### 90 | ## catkin specific configuration ## 91 | ################################### 92 | ## The catkin_package macro generates cmake config files for your package 93 | ## Declare things to be passed to dependent projects 94 | ## INCLUDE_DIRS: uncomment this if you package contains header files 95 | ## LIBRARIES: libraries you create in this project that dependent projects also need 96 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need 97 | ## DEPENDS: system dependencies of this project that dependent projects also need 98 | catkin_package( 99 | # INCLUDE_DIRS include 100 | # LIBRARIES carbot_gazebo_control 101 | # CATKIN_DEPENDS other_catkin_pkg 102 | # DEPENDS system_lib 103 | ) 104 | 105 | ########### 106 | ## Build ## 107 | ########### 108 | 109 | ## Specify additional locations of header files 110 | ## Your package locations should be listed before other locations 111 | # include_directories(include) 112 | 113 | ## Declare a C++ library 114 | # add_library(carbot_gazebo_control 115 | # src/${PROJECT_NAME}/carbot_gazebo_control.cpp 116 | # ) 117 | 118 | ## Add cmake target dependencies of the library 119 | ## as an example, code may need to be generated before libraries 120 | ## either from message generation or dynamic reconfigure 121 | # add_dependencies(carbot_gazebo_control ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 122 | 123 | ## Declare a C++ executable 124 | # add_executable(carbot_gazebo_control_node src/carbot_gazebo_control_node.cpp) 125 | 126 | ## Add cmake target dependencies of the executable 127 | ## same as for the library above 128 | # add_dependencies(carbot_gazebo_control_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 129 | 130 | ## Specify libraries to link a library or executable target against 131 | # target_link_libraries(carbot_gazebo_control_node 132 | # ${catkin_LIBRARIES} 133 | # ) 134 | 135 | ############# 136 | ## Install ## 137 | ############# 138 | 139 | # all install targets should use catkin DESTINATION variables 140 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html 141 | 142 | ## Mark executable scripts (Python etc.) for installation 143 | ## in contrast to setup.py, you can choose the destination 144 | # install(PROGRAMS 145 | # scripts/my_python_script 146 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 147 | # ) 148 | 149 | ## Mark executables and/or libraries for installation 150 | # install(TARGETS carbot_gazebo_control carbot_gazebo_control_node 151 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 152 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 153 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 154 | # ) 155 | 156 | ## Mark cpp header files for installation 157 | # install(DIRECTORY include/${PROJECT_NAME}/ 158 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 159 | # FILES_MATCHING PATTERN "*.h" 160 | # PATTERN ".svn" EXCLUDE 161 | # ) 162 | 163 | ## Mark other files for installation (e.g. launch and bag files, etc.) 164 | # install(FILES 165 | # # myfile1 166 | # # myfile2 167 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} 168 | # ) 169 | 170 | install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config) 171 | install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) 172 | 173 | ############# 174 | ## Testing ## 175 | ############# 176 | 177 | ## Add gtest based cpp test target and link libraries 178 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_carbot_gazebo_control.cpp) 179 | # if(TARGET ${PROJECT_NAME}-test) 180 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) 181 | # endif() 182 | 183 | ## Add folders to be run by python nosetests 184 | # catkin_add_nosetests(test) 185 | -------------------------------------------------------------------------------- /carbot_gazebo_control/config/carbot_gazebo_control.yaml: -------------------------------------------------------------------------------- 1 | carbot: 2 | # these controller will be loaded as gazebo plugins, so the /gazebo 3 | # node will be in control of them. 4 | # Publish all joint states ----------------------------------- 5 | joint_state_controller: 6 | type: joint_state_controller/JointStateController 7 | publish_rate: 50 8 | 9 | # Position Controllers --------------------------------------- 10 | front_left: 11 | steer_position_controller: 12 | type: effort_controllers/JointPositionController 13 | joint: front_left_steer_joint 14 | pid: {p: 40.0, i: 0.001, d: 0.5, i_clamp_min: -1.0, i_clamp_max: 1.0} 15 | wheel_position_controller: 16 | type: effort_controllers/JointPositionController 17 | joint: wheel_front_left_axle 18 | pid: {p: 20.0, i: 0.001, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0} 19 | front_right: 20 | steer_position_controller: 21 | type: effort_controllers/JointPositionController 22 | joint: front_right_steer_joint 23 | pid: {p: 40.0, i: 0.001, d: 0.5, i_clamp_min: -1.0, i_clamp_max: 1.0} 24 | # TODO(lucasw) are these better off velocity controllers? 25 | wheel_position_controller: 26 | type: effort_controllers/JointPositionController 27 | joint: wheel_front_right_axle 28 | pid: {p: 20.0, i: 0.001, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0} 29 | back_left: 30 | wheel_position_controller: 31 | type: effort_controllers/JointPositionController 32 | joint: wheel_back_left_axle 33 | pid: {p: 20.0, i: 0.001, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0} 34 | back_right: 35 | wheel_position_controller: 36 | type: effort_controllers/JointPositionController 37 | joint: wheel_back_right_axle 38 | pid: {p: 20.0, i: 0.001, d: 1.0, i_clamp_min: -1.0, i_clamp_max: 1.0} 39 | -------------------------------------------------------------------------------- /carbot_gazebo_control/launch/carbot_gazebo_control.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | -------------------------------------------------------------------------------- /carbot_gazebo_control/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | carbot_gazebo_control 4 | 0.0.0 5 | Control the carbot in gazebo 6 | 7 | 8 | 9 | 10 | lucasw 11 | 12 | 13 | 14 | 15 | 16 | TODO 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | catkin 43 | carbot_gazebo 44 | controller_manager 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | --------------------------------------------------------------------------------