├── .github └── workflows │ └── industrial_ci.yml ├── .gitignore ├── CHANGELOG.rst ├── CMakeLists.txt ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── launch ├── config │ └── urdf.rviz └── display.launch.py ├── meshes ├── dae │ ├── body │ │ ├── raspimouse_body.dae │ │ ├── raspimouse_top_plate.dae │ │ └── rt-logo.png │ ├── sensor │ │ ├── urg_bottom_origin.dae │ │ └── urg_optical_axis_center_origin.dae │ └── wheel │ │ └── raspimouse_wheel.dae └── stl │ ├── RasPiMouse_MultiLiDARMount.stl │ ├── RasPiMouse_TopPlate.stl │ ├── RasPiMouse_base-metric.stl │ ├── RasPiMouse_sensor-metric.stl │ ├── RasPiMouse_wheel-metric.stl │ ├── RasPiMouse_wheel-mm.stl │ ├── URG-04LX-UG01.stl │ ├── color │ ├── RasPiMouse_body_black.stl │ ├── RasPiMouse_body_gray.stl │ ├── RasPiMouse_body_green.stl │ ├── RasPiMouse_body_red.stl │ ├── RasPiMouse_wheel_black.stl │ └── RasPiMouse_wheel_gray.stl │ └── robotis_lds01.stl ├── model.config ├── package.xml ├── raspimouse_description ├── __init__.py └── robot_description_loader.py ├── test ├── dummy_controllers.yaml └── test_robot_description_loader.py └── urdf ├── body ├── body.gazebo.xacro ├── body.urdf.xacro └── option.urdf.xacro ├── common.xacro ├── raspimouse.urdf.xacro ├── sensors ├── lidar.gazebo.xacro ├── lidar.urdf.xacro ├── lightsens.gazebo.xacro ├── lightsens.urdf.xacro └── rgb_camera.xacro └── wheel ├── diffdrive.gazebo.xacro ├── diffdrive.gazebo_ros2_control.xacro └── wheel.urdf.xacro /.github/workflows/industrial_ci.yml: -------------------------------------------------------------------------------- 1 | name: industrial_ci 2 | 3 | on: 4 | push: 5 | paths-ignore: 6 | - 'docs/**' 7 | - '**.md' 8 | pull_request: 9 | paths-ignore: 10 | - 'docs/**' 11 | - '**.md' 12 | schedule: 13 | - cron: "0 2 * * 0" # Weekly on Sundays at 02:00 14 | 15 | jobs: 16 | industrial_ci: 17 | strategy: 18 | matrix: 19 | ROS_DISTRO: [jazzy] 20 | ROS_REPO: [ros] 21 | runs-on: ubuntu-latest 22 | steps: 23 | - uses: actions/checkout@v4 24 | - uses: "ros-industrial/industrial_ci@master" 25 | env: 26 | ROS_DISTRO: ${{ matrix.ROS_DISTRO }} 27 | ROS_REPO: ${{ matrix.ROS_REPO }} 28 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | bin/ 3 | lib/ 4 | msg_gen/ 5 | srv_gen/ 6 | msg/*Action.msg 7 | msg/*ActionFeedback.msg 8 | msg/*ActionGoal.msg 9 | msg/*ActionResult.msg 10 | msg/*Feedback.msg 11 | msg/*Goal.msg 12 | msg/*Result.msg 13 | msg/_*.py 14 | 15 | # Generated by dynamic reconfigure 16 | *.cfgc 17 | /cfg/cpp/ 18 | /cfg/*.py 19 | 20 | # Ignore generated docs 21 | *.dox 22 | *.wikidoc 23 | 24 | # eclipse stuff 25 | .project 26 | .cproject 27 | 28 | # qcreator stuff 29 | CMakeLists.txt.user 30 | 31 | srv/_*.py 32 | *.pcd 33 | *.pyc 34 | qtcreator-* 35 | *.user 36 | 37 | /planning/cfg 38 | /planning/docs 39 | /planning/src 40 | 41 | *~ 42 | 43 | # Emacs 44 | .#* 45 | 46 | # Catkin custom files 47 | CATKIN_IGNORE 48 | 49 | # SketchUp backup files 50 | *~.skp 51 | 52 | # Swap files 53 | *.swp 54 | 55 | # MacOS metadata files 56 | .DS_store 57 | -------------------------------------------------------------------------------- /CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package raspimouse_description 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 2.0.0 (2024-11-08) 6 | ------------------ 7 | * Support ROS 2 Jazzy (`#55 `_) 8 | Co-authored-by: Kazushi Kurasawa 9 | * Replace `ign` to `gz` 10 | * Updated the remapping for subscription to reflect the removal of `unstamped` from `ros2_controllers `_ 11 | * Contributors: YusukeKato 12 | 13 | 1.2.0 (2024-03-05) 14 | ------------------ 15 | * シミュレータ環境でscanトピックをpublish (`#52 `_) 16 | * camera_downwardがtrueのときRGBカメラが斜め下を向くように変更 (`#50 `_) 17 | Co-authored-by: Shota Aoki 18 | * READMEにRGBカメラを表示するコマンドを追記 (`#47 `_) 19 | * Gazebo上で画像トピックを配信できるように変更 (`#46 `_) 20 | * RGBカメラのモデルを表示できるように変更 (`#45 `_) 21 | Co-authored-by: Shota Aoki 22 | * cmd_velとodomのトピック名をremapping (`#44 `_) 23 | * controller managerが起動するように変更 (`#43 `_) 24 | Co-authored-by: Shota Aoki 25 | * robot_description_loaderを実装 (`#42 `_) 26 | Co-authored-by: Daisuke Sato 27 | * Contributors: YusukeKato 28 | 29 | 1.1.0 (2023-11-07) 30 | ------------------ 31 | * READMEにRGBカメラを表示するコマンドを追記 (`#47 `_) 32 | * Gazebo上で画像トピックを配信できるように変更 (`#46 `_) 33 | * RGBカメラのモデルを表示できるように変更 (`#45 `_) 34 | Co-authored-by: Shota Aoki 35 | * cmd_velとodomのトピック名をremapping (`#44 `_) 36 | * controller managerが起動するように変更 (`#43 `_) 37 | Co-authored-by: Shota Aoki 38 | * robot_description_loaderを実装 (`#42 `_) 39 | Co-authored-by: Daisuke Sato 40 | * Contributors: YusukeKato 41 | 42 | 1.0.1 (2023-01-31) 43 | ------------------ 44 | * Updates README 45 | * Update the license year to 2022 46 | * Adds LiDAR (`#38 `_) 47 | * Update library to rviz2 (`#36 `_) 48 | * Update tread (ROS 2) (`#32 `_) 49 | * Update README for ROS 2 (`#26 `_) 50 | * Support ROS 2 Foxy (`#24 `_) 51 | * Create LICENSE 52 | * Contributors: Daisuke Sato, Shota Aoki, Shuhei Kozasa 53 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(raspimouse_description) 3 | 4 | # Default to C99 5 | if(NOT CMAKE_C_STANDARD) 6 | set(CMAKE_C_STANDARD 99) 7 | endif() 8 | 9 | # Default to C++14 10 | if(NOT CMAKE_CXX_STANDARD) 11 | set(CMAKE_CXX_STANDARD 14) 12 | endif() 13 | 14 | if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") 15 | add_compile_options(-Wall -Wextra -Wpedantic) 16 | endif() 17 | 18 | find_package(ament_cmake REQUIRED) 19 | 20 | install(DIRECTORY 21 | launch 22 | meshes 23 | urdf 24 | DESTINATION share/${PROJECT_NAME}/ 25 | ) 26 | 27 | ament_python_install_package(${PROJECT_NAME}) 28 | install(PROGRAMS 29 | ${PROJECT_NAME}/robot_description_loader.py 30 | DESTINATION lib/${PROJECT_NAME}) 31 | 32 | if(BUILD_TESTING) 33 | find_package(ament_lint_auto REQUIRED) 34 | ament_lint_auto_find_test_dependencies() 35 | 36 | find_package(ament_cmake_pytest REQUIRED) 37 | ament_add_pytest_test(test_robot_description_loader test/test_robot_description_loader.py) 38 | endif() 39 | 40 | ament_package() 41 | -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # Contribution Guide 2 | 3 | 本リポジトリへのコントリビュート方法について記載しています。 4 | 5 | ## Issues 6 | 7 | リポジトリの品質向上にご協力頂きありがとうございます。 8 | 9 | Issueの作成を簡単にするテンプレートを用意しているので活用してください。 10 | 11 | ## Pull Requests 12 | 13 | Pull Requestの作成ありがとうございます。 14 | 提出したPull Request（PR）には次のルールが適用されます。 15 | 16 | - PRの内容には本リポジトリのライセンス（[LICENSE](./LICENSE)と[README.md](./README.md)に記載されています）が適用されます 17 | - PRは`rt-net`のメンバーによるレビューを経てからマージされます 18 | - すべてのPRがマージされるわけではなく、希望に添えない場合もありますのでご容赦ください 19 | - リポジトリにテストが設定されている場合はできるだけテストを通してください 20 | - 何かしらの理由（テストに間違いがある場合など）でテストを通さずPRを出す場合はその旨をPRに記載してください 21 | - マージする際にはPR内の全コミットが1つのコミットに`squash`されます 22 | - [コミットをスカッシュしてマージする | GitHub Docs](https://docs.github.com/ja/pull-requests/collaborating-with-pull-requests/incorporating-changes-from-a-pull-request/about-pull-request-merges#squash-and-merge-your-commits) 23 | - 1つのPRでリクエストする変更はできるだけシンプルにしてください 24 | - 異なる内容の変更を含む場合はPRを分割してください 25 | - 例えば、複数の機能追加したり、機能追加とリファクタリングを同時にする場合はそれぞれ別々のPRとしてください 26 | - squashマージしても履歴を辿りやすくするためです 27 | 28 | ## LICENSE 29 | 30 | Any contribution that you make to this repository will 31 | be under the MIT license, as dictated by that 32 | [license](https://opensource.org/licenses/MIT). 33 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | The MIT License (MIT) 2 | 3 | Copyright (c) 2016-2020 RT Corporation 4 | 5 | Permission is hereby granted, free of charge, to any person obtaining a copy of 6 | this software and associated documentation files (the "Software"), to deal in 7 | the Software without restriction, including without limitation the rights to 8 | use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 9 | the Software, and to permit persons to whom the Software is furnished to do so, 10 | subject to the following conditions: 11 | 12 | The above copyright notice and this permission notice shall be included in all 13 | copies or substantial portions of the Software. 14 | 15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 17 | FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 18 | COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 19 | IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 20 | CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 21 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # raspimouse_description 2 | 3 | [![industrial_ci](https://github.com/rt-net/raspimouse_description/actions/workflows/industrial_ci.yml/badge.svg?branch=ros2)](https://github.com/rt-net/raspimouse_description/actions/workflows/industrial_ci.yml) 4 | 5 | ROS package with URDF description macro for [Raspberry Pi Mouse](https://rt-net.jp/products/raspberrypimousev3/) 6 | 7 | ![display_launch](https://rt-net.github.io/images/raspberry-pi-mouse/display_launch.png) 8 | 9 | This ROS package was separated from [rt-net/raspimouse_sim](https://github.com/rt-net/raspimouse_sim). 10 | See details from [rt-net/raspimouse_sim#42](https://github.com/rt-net/raspimouse_sim/pull/42). 11 | 12 | The main development branch for ROS 1 is [`master`](https://github.com/rt-net/raspimouse_description/tree/master). 13 | The main development branch for ROS 2 is [`ros2`](https://github.com/rt-net/raspimouse_description/tree/ros2). 14 | 15 | ## Supported ROS distributions 16 | 17 | - Humble ([`humble`](https://github.com/rt-net/raspimouse_description/tree/humble)) 18 | - Jazzy ([`jazzy`](https://github.com/rt-net/raspimouse_description/tree/jazzy)) 19 | 20 | ## Installation 21 | 22 | ```sh 23 | # Clone raspimouse_description and install dependencies 24 | cd ~/ros2_ws/src 25 | git clone -b $ROS_DISTRO https://github.com/rt-net/raspimouse_description 26 | rosdep install -r -y -i --from-paths . 27 | 28 | # Build the package 29 | cd ~/ros2_ws 30 | colcon build --symlink-install 31 | source install/setup.bash 32 | ``` 33 | 34 | ## How to Use 35 | 36 | Display a Raspberry Pi Mouse robot model on RViz2 with the following command: 37 | 38 | ```sh 39 | ros2 launch raspimouse_description display.launch.py 40 | ``` 41 | 42 | You can also display a LiDAR mounted robot model with the following command: 43 | 44 | ```sh 45 | ros2 launch raspimouse_description display.launch.py lidar:=rplidar 46 | ``` 47 | 48 | The `lidar` option supports `urg`, `lds`, and `rplidar`. 49 | 50 | Similarly, display a RGB Camera mounted robot model with the following command: 51 | 52 | ```sh 53 | ros2 launch raspimouse_description display.launch.py use_rgb_camera:=true 54 | ``` 55 | ![](https://rt-net.github.io/images/raspberry-pi-mouse/mouse_with_rgb_camera.png) 56 | 57 | RGB Camera can be pointed down with the following command: 58 | 59 | ```sh 60 | ros2 launch raspimouse_description display.launch.py use_rgb_camera:=true camera_downward:=true 61 | ``` 62 | 63 | ![](https://rt-net.github.io/images/raspberry-pi-mouse/mouse_with_rgb_camera_downward.png) 64 | 65 | 66 | ## LICENSE 67 | 68 | (C) 2016-2022 RT Corporation 69 | 70 | This repository is licensed under the MIT license, see [LICENSE](./LICENSE). 71 | Unless attributed otherwise, everything in this repository is under the MIT license. 72 | 73 | ### Acknowledgements 74 | 75 | Special thanks to https://gbiggs.github.io/rosjp_urdf_tutorial_text/index.html 76 | 77 | The file [robotis_lds01.stl](./meshes/stl/robotis_lds01.stl) is released from ROBOTIS and licensed under the [Apache License 2.0](https://github.com/ROBOTIS-GIT/turtlebot3/blob/a3c515b350a752b93ed8de4a009442e80e9d787d/LICENSE). 78 | The original file is released in [turtlebot3_description package](https://github.com/ROBOTIS-GIT/turtlebot3/blob/a3c515b350a752b93ed8de4a009442e80e9d787d/turtlebot3_description/meshes/sensors/lds.stl). 79 | -------------------------------------------------------------------------------- /launch/config/urdf.rviz: -------------------------------------------------------------------------------- 1 | Panels: 2 | - Class: rviz_common/Displays 3 | Help Height: 78 4 | Name: Displays 5 | Property Tree Widget: 6 | Expanded: 7 | - /Global Options1 8 | - /Status1 9 | - /RobotModel1 10 | - /TF1 11 | Splitter Ratio: 0.5 12 | Tree Height: 802 13 | - Class: rviz_common/Selection 14 | Name: Selection 15 | - Class: rviz_common/Tool Properties 16 | Expanded: 17 | - /2D Goal Pose1 18 | - /Publish Point1 19 | Name: Tool Properties 20 | Splitter Ratio: 0.5886790156364441 21 | - Class: rviz_common/Views 22 | Expanded: 23 | - /Current View1 24 | Name: Views 25 | Splitter Ratio: 0.5 26 | Visualization Manager: 27 | Class: "" 28 | Displays: 29 | - Alpha: 0.5 30 | Cell Size: 1 31 | Class: rviz_default_plugins/Grid 32 | Color: 160; 160; 164 33 | Enabled: true 34 | Line Style: 35 | Line Width: 0.029999999329447746 36 | Value: Lines 37 | Name: Grid 38 | Normal Cell Count: 0 39 | Offset: 40 | X: 0 41 | Y: 0 42 | Z: 0 43 | Plane: XY 44 | Plane Cell Count: 10 45 | Reference Frame: 46 | Value: true 47 | - Alpha: 1 48 | Class: rviz_default_plugins/RobotModel 49 | Collision Enabled: false 50 | Description File: "" 51 | Description Source: Topic 52 | Description Topic: 53 | Depth: 5 54 | Durability Policy: Volatile 55 | History Policy: Keep Last 56 | Reliability Policy: Reliable 57 | Value: /robot_description 58 | Enabled: true 59 | Links: 60 | All Links Enabled: true 61 | Expand Joint Details: false 62 | Expand Link Details: false 63 | Expand Tree: false 64 | Link Tree Style: Links in Alphabetic Order 65 | base_footprint: 66 | Alpha: 1 67 | Show Axes: false 68 | Show Trail: false 69 | base_link: 70 | Alpha: 1 71 | Show Axes: false 72 | Show Trail: false 73 | Value: true 74 | left_wheel: 75 | Alpha: 1 76 | Show Axes: false 77 | Show Trail: false 78 | Value: true 79 | lf: 80 | Alpha: 1 81 | Show Axes: false 82 | Show Trail: false 83 | Value: true 84 | ls: 85 | Alpha: 1 86 | Show Axes: false 87 | Show Trail: false 88 | Value: true 89 | rf: 90 | Alpha: 1 91 | Show Axes: false 92 | Show Trail: false 93 | Value: true 94 | right_wheel: 95 | Alpha: 1 96 | Show Axes: false 97 | Show Trail: false 98 | Value: true 99 | rs: 100 | Alpha: 1 101 | Show Axes: false 102 | Show Trail: false 103 | Value: true 104 | Name: RobotModel 105 | TF Prefix: "" 106 | Update Interval: 0 107 | Value: true 108 | Visual Enabled: true 109 | - Class: rviz_default_plugins/TF 110 | Enabled: true 111 | Frame Timeout: 15 112 | Frames: 113 | All Enabled: true 114 | base_footprint: 115 | Value: true 116 | base_link: 117 | Value: true 118 | left_wheel: 119 | Value: true 120 | lf: 121 | Value: true 122 | ls: 123 | Value: true 124 | rf: 125 | Value: true 126 | right_wheel: 127 | Value: true 128 | rs: 129 | Value: true 130 | Marker Scale: 0.30000001192092896 131 | Name: TF 132 | Show Arrows: true 133 | Show Axes: true 134 | Show Names: true 135 | Tree: 136 | base_footprint: 137 | base_link: 138 | left_wheel: 139 | {} 140 | lf: 141 | {} 142 | ls: 143 | {} 144 | rf: 145 | {} 146 | right_wheel: 147 | {} 148 | rs: 149 | {} 150 | Update Interval: 0 151 | Value: true 152 | Enabled: true 153 | Global Options: 154 | Background Color: 48; 48; 48 155 | Fixed Frame: base_link 156 | Frame Rate: 30 157 | Name: root 158 | Tools: 159 | - Class: rviz_default_plugins/Interact 160 | Hide Inactive Objects: true 161 | - Class: rviz_default_plugins/MoveCamera 162 | - Class: rviz_default_plugins/Select 163 | - Class: rviz_default_plugins/FocusCamera 164 | - Class: rviz_default_plugins/Measure 165 | Line color: 128; 128; 0 166 | - Class: rviz_default_plugins/SetInitialPose 167 | Topic: 168 | Depth: 5 169 | Durability Policy: Volatile 170 | History Policy: Keep Last 171 | Reliability Policy: Reliable 172 | Value: /initialpose 173 | - Class: rviz_default_plugins/SetGoal 174 | Topic: 175 | Depth: 5 176 | Durability Policy: Volatile 177 | History Policy: Keep Last 178 | Reliability Policy: Reliable 179 | Value: /goal_pose 180 | - Class: rviz_default_plugins/PublishPoint 181 | Single click: true 182 | Topic: 183 | Depth: 5 184 | Durability Policy: Volatile 185 | History Policy: Keep Last 186 | Reliability Policy: Reliable 187 | Value: /clicked_point 188 | Transformation: 189 | Current: 190 | Class: rviz_default_plugins/TF 191 | Value: true 192 | Views: 193 | Current: 194 | Class: rviz_default_plugins/Orbit 195 | Distance: 0.2948347330093384 196 | Enable Stereo Rendering: 197 | Stereo Eye Separation: 0.05999999865889549 198 | Stereo Focal Distance: 1 199 | Swap Stereo Eyes: false 200 | Value: false 201 | Focal Point: 202 | X: 0.01689356379210949 203 | Y: 0.00432221544906497 204 | Z: 0.048864349722862244 205 | Focal Shape Fixed Size: true 206 | Focal Shape Size: 0.05000000074505806 207 | Invert Z Axis: false 208 | Name: Current View 209 | Near Clip Distance: 0.009999999776482582 210 | Pitch: 0.23039847612380981 211 | Target Frame: 212 | Value: Orbit (rviz) 213 | Yaw: 0.7253983616828918 214 | Saved: ~ 215 | Window Geometry: 216 | Displays: 217 | collapsed: false 218 | Height: 1031 219 | Hide Left Dock: false 220 | Hide Right Dock: false 221 | QMainWindow State: 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222 | Selection: 223 | collapsed: false 224 | Tool Properties: 225 | collapsed: false 226 | Views: 227 | collapsed: false 228 | Width: 1920 229 | X: 0 230 | Y: 25 231 | -------------------------------------------------------------------------------- /launch/display.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 RT Corporation 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | 16 | from ament_index_python.packages import get_package_share_directory 17 | from launch import LaunchDescription 18 | from launch.actions import DeclareLaunchArgument 19 | from launch.conditions import IfCondition 20 | from launch.substitutions import LaunchConfiguration 21 | from launch_ros.actions import Node, PushRosNamespace 22 | from raspimouse_description.robot_description_loader import RobotDescriptionLoader 23 | 24 | 25 | def generate_launch_description(): 26 | declare_arg_lidar = DeclareLaunchArgument( 27 | 'lidar', 28 | default_value='none', 29 | description='Set "none", "urg", "lds", or "rplidar".') 30 | declare_arg_lidar_frame = DeclareLaunchArgument( 31 | 'lidar_frame', 32 | default_value='laser', 33 | description='Set lidar link name.') 34 | declare_arg_namespace = DeclareLaunchArgument( 35 | 'namespace', 36 | default_value='', 37 | description='Set namespace for tf tree.') 38 | declare_arg_use_rviz = DeclareLaunchArgument( 39 | 'use_rviz', 40 | default_value='true', 41 | description='Set "true" to launch rviz.') 42 | declare_arg_use_rgb_camera = DeclareLaunchArgument( 43 | 'use_rgb_camera', 44 | default_value='false', 45 | description='Set "true" to mount rgb camera.') 46 | declare_arg_camera_downward = DeclareLaunchArgument( 47 | 'camera_downward', 48 | default_value='false', 49 | description='Set "true" to point the camera downwards.') 50 | 51 | description_loader = RobotDescriptionLoader() 52 | description_loader.lidar = LaunchConfiguration('lidar') 53 | description_loader.lidar_frame = LaunchConfiguration('lidar_frame') 54 | description_loader.use_rgb_camera = LaunchConfiguration('use_rgb_camera') 55 | description_loader.camera_downward = LaunchConfiguration('camera_downward') 56 | 57 | push_ns = PushRosNamespace([LaunchConfiguration('namespace')]) 58 | 59 | rsp = Node(package='robot_state_publisher', 60 | executable='robot_state_publisher', 61 | output='both', 62 | parameters=[{'robot_description': description_loader.load()}]) 63 | 64 | jsp = Node( 65 | package='joint_state_publisher_gui', 66 | executable='joint_state_publisher_gui', 67 | output='screen', 68 | condition=IfCondition(LaunchConfiguration('use_rviz'))) 69 | 70 | rviz_config_file = get_package_share_directory( 71 | 'raspimouse_description') + '/launch/config/urdf.rviz' 72 | rviz_node = Node(package='rviz2', 73 | executable='rviz2', 74 | name='rviz2', 75 | output='log', 76 | arguments=['-d', rviz_config_file], 77 | condition=IfCondition(LaunchConfiguration('use_rviz'))) 78 | 79 | return LaunchDescription([ 80 | declare_arg_lidar, 81 | declare_arg_lidar_frame, 82 | declare_arg_namespace, 83 | declare_arg_use_rviz, 84 | declare_arg_use_rgb_camera, 85 | declare_arg_camera_downward, 86 | push_ns, 87 | rsp, 88 | jsp, 89 | rviz_node, 90 | ]) 91 | -------------------------------------------------------------------------------- /meshes/dae/body/rt-logo.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rt-net/raspimouse_description/a4cb46f2e29c92f09d69e5256acba77c4eebfde8/meshes/dae/body/rt-logo.png -------------------------------------------------------------------------------- /meshes/dae/sensor/urg_bottom_origin.dae: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | Daisuke 6 | Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b 7 | 8 | 2016-10-28T19:25:19 9 | 2016-10-28T19:25:19 10 | 11 | Z_UP 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 0 0 0 1 25 | 26 | 27 | 0 0 0 1 28 | 29 | 30 | 0.01576805 0.01576805 0.01576805 1 31 | 32 | 33 | 0.03125 0.03125 0.03125 1 34 | 35 | 36 | 250 37 | 38 | 39 | 1 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | -0.01978629 -0.01878917 0.007999956 -0.01999998 -0.01999998 0.008738756 -0.01999998 -0.01877045 0.007999956 -0.01957947 -0.0188446 0.007999956 -0.01938503 -0.0189352 0.007999956 -0.01920968 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 81 |

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1034 610 1034 613 1034 291 1035 613 1035 616 1035 288 1036 616 1036 619 1036 285 1037 619 1037 622 1037 282 1038 622 1038 625 1038 279 1039 625 1039 628 1039 276 1040 628 1040 631 1040 273 1041 631 1041 634 1041 270 1042 634 1042 637 1042 267 1043 637 1043 640 1043 264 1044 640 1044 643 1044 261 1045 643 1045 646 1045 249 1046 646 1046 649 1046 248 1047 649 1047 652 1047 250 1048 652 1048 653 1048 251 1049 653 1049 654 1049 252 1050 654 1050 258 1050 253 1051 258 1051 257 1051 254 1052 257 1052 256 1052 255 1053 254 1053 256 1053 342 1054 565 1054 339 1054 339 1055 568 1055 336 1055 336 1056 571 1056 333 1056 333 1057 574 1057 330 1057 330 1058 577 1058 327 1058 327 1059 580 1059 324 1059 324 1060 583 1060 321 1060 321 1061 586 1061 318 1061 318 1062 589 1062 315 1062 315 1063 592 1063 312 1063 312 1064 595 1064 309 1064 309 1065 598 1065 306 1065 306 1066 601 1066 303 1066 303 1067 604 1067 300 1067 300 1068 607 1068 297 1068 297 1069 610 1069 294 1069 294 1070 613 1070 291 1070 291 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1108 228 1108 262 1108 262 1109 228 1109 265 1109 265 1110 228 1110 268 1110 268 1111 228 1111 271 1111 271 1112 228 1112 657 1112 274 1113 657 1113 277 1113 274 1114 271 1114 657 1114 656 1115 343 1115 657 1115 656 1116 346 1116 343 1116 656 1117 350 1117 346 1117 656 1118 353 1118 350 1118 656 1119 356 1119 353 1119 656 1120 359 1120 356 1120 656 1121 362 1121 359 1121 656 1122 365 1122 362 1122 656 1123 368 1123 365 1123 656 1124 371 1124 368 1124 656 1125 374 1125 371 1125 656 1126 377 1126 374 1126 656 1127 380 1127 377 1127 656 1128 383 1128 380 1128 656 1129 386 1129 383 1129 656 1130 389 1130 386 1130 656 1131 392 1131 389 1131 656 1132 395 1132 392 1132 656 1133 398 1133 395 1133 656 1134 401 1134 398 1134 656 1135 404 1135 401 1135 656 1136 407 1136 404 1136 656 1137 410 1137 407 1137 656 1138 413 1138 410 1138 656 1139 416 1139 413 1139 656 1140 419 1140 416 1140 656 1141 422 1141 419 1141 656 1142 425 1142 422 1142 656 1143 428 1143 425 1143 656 1144 431 1144 428 1144 656 1145 434 1145 431 1145 656 1146 437 1146 434 1146 656 1147 440 1147 437 1147 656 1148 443 1148 440 1148 656 1149 446 1149 443 1149 656 1150 449 1150 446 1150 656 1151 452 1151 449 1151 656 1152 661 1152 452 1152 452 1153 661 1153 455 1153 455 1154 661 1154 458 1154 458 1155 661 1155 461 1155 461 1156 661 1156 464 1156 464 1157 661 1157 467 1157 467 1158 661 1158 470 1158 470 1159 661 1159 473 1159 473 1160 661 1160 476 1160 476 1161 661 1161 479 1161 479 1162 661 1162 482 1162 482 1163 661 1163 485 1163 485 1164 661 1164 488 1164 488 1165 661 1165 491 1165 491 1166 661 1166 494 1166 494 1167 661 1167 497 1167 497 1168 661 1168 500 1168 500 1169 661 1169 503 1169 503 1170 661 1170 506 1170 506 1171 661 1171 509 1171 509 1172 661 1172 512 1172 512 1173 661 1173 515 1173 515 1174 661 1174 518 1174 518 1175 661 1175 521 1175 521 1176 661 1176 524 1176 524 1177 661 1177 527 1177 527 1178 661 1178 530 1178 530 1179 661 1179 533 1179 533 1180 661 1180 536 1180 536 1181 661 1181 539 1181 539 1182 661 1182 542 1182 542 1183 661 1183 545 1183 545 1184 661 1184 548 1184 548 1185 661 1185 551 1185 551 1186 661 1186 554 1186 554 1187 661 1187 557 1187 557 1188 661 1188 560 1188 560 1189 661 1189 563 1189 563 1190 661 1190 660 1190 566 1191 660 1191 569 1191 566 1192 563 1192 660 1192 244 1193 635 1193 660 1193 244 1194 638 1194 635 1194 244 1195 641 1195 638 1195 244 1196 644 1196 641 1196 244 1197 647 1197 644 1197 244 1198 650 1198 647 1198 244 1199 243 1199 650 1199 635 1200 632 1200 660 1200 660 1201 632 1201 629 1201 626 1202 660 1202 629 1202 626 1203 623 1203 660 1203 660 1204 623 1204 620 1204 617 1205 660 1205 620 1205 617 1206 614 1206 660 1206 660 1207 614 1207 611 1207 608 1208 660 1208 611 1208 608 1209 605 1209 660 1209 660 1210 605 1210 602 1210 599 1211 660 1211 602 1211 599 1212 596 1212 660 1212 660 1213 596 1213 593 1213 590 1214 660 1214 593 1214 590 1215 587 1215 660 1215 660 1216 587 1216 584 1216 581 1217 660 1217 584 1217 581 1218 578 1218 660 1218 660 1219 578 1219 575 1219 572 1220 660 1220 575 1220 572 1221 569 1221 660 1221 343 1222 340 1222 657 1222 657 1223 340 1223 337 1223 334 1224 657 1224 337 1224 334 1225 331 1225 657 1225 657 1226 331 1226 328 1226 325 1227 657 1227 328 1227 325 1228 322 1228 657 1228 657 1229 322 1229 319 1229 316 1230 657 1230 319 1230 316 1231 313 1231 657 1231 657 1232 313 1232 310 1232 307 1233 657 1233 310 1233 307 1234 304 1234 657 1234 657 1235 304 1235 301 1235 298 1236 657 1236 301 1236 298 1237 295 1237 657 1237 657 1238 295 1238 292 1238 289 1239 657 1239 292 1239 289 1240 286 1240 657 1240 657 1241 286 1241 283 1241 280 1242 657 1242 283 1242 280 1243 277 1243 657 1243 37 1244 39 1244 659 1244 41 1245 659 1245 76 1245 41 1246 37 1246 659 1246 39 1247 108 1247 659 1247 659 1248 108 1248 107 1248 106 1249 659 1249 107 1249 106 1250 105 1250 659 1250 659 1251 105 1251 104 1251 103 1252 659 1252 104 1252 103 1253 658 1253 659 1253 103 1254 102 1254 658 1254 658 1255 102 1255 101 1255 100 1256 658 1256 101 1256 100 1257 99 1257 658 1257 658 1258 99 1258 98 1258 97 1259 658 1259 98 1259 97 1260 96 1260 658 1260 658 1261 96 1261 95 1261 94 1262 658 1262 95 1262 94 1263 93 1263 658 1263 658 1264 93 1264 92 1264 91 1265 658 1265 92 1265 91 1266 90 1266 658 1266 658 1267 90 1267 89 1267 88 1268 658 1268 89 1268 88 1269 655 1269 658 1269 88 1270 87 1270 655 1270 655 1271 87 1271 86 1271 85 1272 655 1272 86 1272 85 1273 84 1273 655 1273 655 1274 84 1274 83 1274 82 1275 655 1275 83 1275 82 1276 81 1276 655 1276 655 1277 81 1277 80 1277 79 1278 655 1278 80 1278 79 1279 203 1279 655 1279 79 1280 204 1280 203 1280 79 1281 78 1281 204 1281 204 1282 78 1282 205 1282 205 1283 78 1283 77 1283 206 1284 77 1284 76 1284 659 1285 206 1285 76 1285 659 1286 207 1286 206 1286 659 1287 208 1287 207 1287 659 1288 209 1288 208 1288 659 1289 210 1289 209 1289 659 1290 211 1290 210 1290 659 1291 212 1291 211 1291 659 1292 213 1292 212 1292 659 1293 214 1293 213 1293 659 1294 215 1294 214 1294 659 1295 662 1295 215 1295 215 1296 662 1296 216 1296 216 1297 662 1297 217 1297 217 1298 662 1298 148 1298 148 1299 662 1299 146 1299 146 1300 662 1300 150 1300 150 1301 662 1301 185 1301 185 1302 662 1302 186 1302 186 1303 662 1303 187 1303 187 1304 662 1304 188 1304 188 1305 662 1305 189 1305 189 1306 662 1306 190 1306 190 1307 662 1307 191 1307 191 1308 662 1308 192 1308 192 1309 662 1309 193 1309 193 1310 662 1310 194 1310 194 1311 662 1311 655 1311 195 1312 655 1312 196 1312 195 1313 194 1313 655 1313 205 1314 77 1314 206 1314 203 1315 202 1315 655 1315 655 1316 202 1316 201 1316 200 1317 655 1317 201 1317 200 1318 199 1318 655 1318 655 1319 199 1319 198 1319 197 1320 655 1320 198 1320 197 1321 196 1321 655 1321

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0.7276337 0.3124685 -0.6106656 -6.50764 -0.01081678 0.8953429 0.4452453 5.343665 0 0 0 1 115 | 116 | 117 | 118 | -0.2908648 -0.7711005 0.5663933 4.076245 0.9551712 -0.1998834 0.2183913 1.005454 -0.05518909 0.6045247 0.7946722 5.903862 0 0 0 1 119 | 120 | 121 | 122 | 0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081672 0.8953428 0.4452453 5.343665 0 0 0 1 123 | 124 | 125 | 126 | -0.2908649 -0.7711004 0.5663933 4.076245 0.9551712 -0.1998834 0.2183914 1.005454 -0.05518909 0.6045246 0.7946722 5.903862 0 0 0 1 127 | 128 | 129 | 130 | 0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081672 0.8953428 0.4452453 5.343665 0 0 0 1 131 | 132 | 133 | 134 | -0.2908649 -0.7711004 0.5663933 4.076245 0.9551712 -0.1998834 0.2183914 1.005454 -0.05518909 0.6045246 0.7946722 5.903862 0 0 0 1 135 | 136 | 137 | 138 | 0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081672 0.8953428 0.4452453 5.343665 0 0 0 1 139 | 140 | 141 | 142 | -0.2908649 -0.7711004 0.5663933 4.076245 0.9551712 -0.1998834 0.2183914 1.005454 -0.05518909 0.6045246 0.7946722 5.903862 0 0 0 1 143 | 144 | 145 | 146 | 0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081672 0.8953428 0.4452453 5.343665 0 0 0 1 147 | 148 | 149 | 150 | -0.2908649 -0.7711004 0.5663933 4.076245 0.9551712 -0.1998834 0.2183914 1.005454 -0.05518909 0.6045246 0.7946722 5.903862 0 0 0 1 151 | 152 | 153 | 154 | 0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081672 0.8953428 0.4452453 5.343665 0 0 0 1 155 | 156 | 157 | 158 | -0.2908649 -0.7711004 0.5663933 4.076245 0.9551712 -0.1998834 0.2183914 1.005454 -0.05518909 0.6045246 0.7946722 5.903862 0 0 0 1 159 | 160 | 161 | 162 | 0.6858805 -0.31737 0.6548619 7.481132 0.7276338 0.3124684 -0.6106656 -6.50764 -0.01081671 0.8953428 0.4452454 5.343665 0 0 0 1 163 | 164 | 165 | 166 | -0.2908651 -0.7711003 0.5663932 4.076245 0.9551711 -0.1998836 0.2183915 1.005454 -0.05518912 0.6045246 0.7946722 5.903862 0 0 0 1 167 | 168 | 169 | 170 | 0.6858805 -0.31737 0.6548619 7.481132 0.7276338 0.3124684 -0.6106656 -6.50764 -0.01081671 0.8953428 0.4452454 5.343665 0 0 0 1 171 | 172 | 173 | 174 | -0.2908651 -0.7711003 0.5663932 4.076245 0.9551711 -0.1998836 0.2183915 1.005454 -0.05518912 0.6045246 0.7946722 5.903862 0 0 0 1 175 | 176 | 177 | 178 | 0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081672 0.8953428 0.4452453 5.343665 0 0 0 1 179 | 180 | 181 | 182 | -0.2908649 -0.7711004 0.5663933 4.076245 0.9551712 -0.1998834 0.2183914 1.005454 -0.05518909 0.6045246 0.7946722 5.903862 0 0 0 1 183 | 184 | 185 | 186 | 0.6858805 -0.31737 0.6548619 7.481132 0.7276338 0.3124684 -0.6106656 -6.50764 -0.01081671 0.8953428 0.4452454 5.343665 0 0 0 1 187 | 188 | 189 | 190 | -0.2908651 -0.7711003 0.5663932 4.076245 0.9551711 -0.1998836 0.2183915 1.005454 -0.05518912 0.6045246 0.7946722 5.903862 0 0 0 1 191 | 192 | 193 | 194 | 0.6858805 -0.31737 0.6548619 7.481132 0.7276338 0.3124684 -0.6106656 -6.50764 -0.01081671 0.8953428 0.4452454 5.343665 0 0 0 1 195 | 196 | 197 | 198 | -0.2908651 -0.7711003 0.5663932 4.076245 0.9551711 -0.1998836 0.2183915 1.005454 -0.05518912 0.6045246 0.7946722 5.903862 0 0 0 1 199 | 200 | 201 | 202 | 0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124685 -0.6106656 -6.50764 -0.01081678 0.8953429 0.4452453 5.343665 0 0 0 1 203 | 204 | 205 | 206 | -0.2908648 -0.7711005 0.5663933 4.076245 0.9551712 -0.1998834 0.2183913 1.005454 -0.05518909 0.6045247 0.7946722 5.903862 0 0 0 1 207 | 208 | 209 | 210 | 0.6858805 -0.31737 0.6548618 7.481132 0.7276337 0.3124684 -0.6106656 -6.50764 -0.01081672 0.8953428 0.4452453 5.343665 0 0 0 1 211 | 212 | 213 | 214 | -0.2908649 -0.7711004 0.5663933 4.076245 0.9551712 -0.1998834 0.2183914 1.005454 -0.05518909 0.6045246 0.7946722 5.903862 0 0 0 1 215 | 216 | 217 | 218 | 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 219 | 220 | 221 | 222 | 223 | 224 | 225 | 226 | 227 | 228 | 229 | 230 | 231 | 232 | 233 | -------------------------------------------------------------------------------- /meshes/stl/RasPiMouse_MultiLiDARMount.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rt-net/raspimouse_description/a4cb46f2e29c92f09d69e5256acba77c4eebfde8/meshes/stl/RasPiMouse_MultiLiDARMount.stl -------------------------------------------------------------------------------- /meshes/stl/RasPiMouse_TopPlate.stl: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rt-net/raspimouse_description/a4cb46f2e29c92f09d69e5256acba77c4eebfde8/meshes/stl/RasPiMouse_TopPlate.stl -------------------------------------------------------------------------------- /meshes/stl/RasPiMouse_base-metric.stl: -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/rt-net/raspimouse_description/a4cb46f2e29c92f09d69e5256acba77c4eebfde8/meshes/stl/robotis_lds01.stl -------------------------------------------------------------------------------- /model.config: -------------------------------------------------------------------------------- 1 | 2 | 3 | RaspberryPiMouse 4 | 1.0 5 | urdf/raspimouse.urdf.xacro 6 | 7 | rt-net 8 | shop@rt-net.jp 9 | 10 | 11 | RaspberryPiMouse 12 | 13 | 14 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | raspimouse_description 5 | 2.0.0 6 | The raspimouse_description package 7 | RT Corporation 8 | 9 | MIT 10 | 11 | Daisuke Sato 12 | Shota Aoki 13 | Yusuke Kato 14 | Kazushi Kurasawa 15 | 16 | ament_cmake 17 | 18 | joint_state_publisher_gui 19 | joint_state_publisher 20 | robot_state_publisher 21 | rviz2 22 | urdf 23 | xacro 24 | launch 25 | gz_ros2_control 26 | realsense2_description 27 | 28 | ament_lint_auto 29 | ament_lint_common 30 | 31 | 32 | ament_cmake 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /raspimouse_description/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rt-net/raspimouse_description/a4cb46f2e29c92f09d69e5256acba77c4eebfde8/raspimouse_description/__init__.py -------------------------------------------------------------------------------- /raspimouse_description/robot_description_loader.py: -------------------------------------------------------------------------------- 1 | # The MIT License (MIT) 2 | # 3 | # Copyright 2023 RT Corporation 4 | # 5 | # Permission is hereby granted, free of charge, to any person obtaining a copy of 6 | # this software and associated documentation files (the "Software"), to deal in 7 | # the Software without restriction, including without limitation the rights to 8 | # use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 9 | # the Software, and to permit persons to whom the Software is furnished to do so, 10 | # subject to the following conditions: 11 | # 12 | # The above copyright notice and this permission notice shall be included in all 13 | # copies or substantial portions of the Software. 14 | # 15 | # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 17 | # FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 18 | # COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 19 | # IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 20 | # CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 21 | 22 | import os 23 | 24 | from ament_index_python.packages import get_package_share_directory 25 | from launch.substitutions import Command 26 | 27 | 28 | class RobotDescriptionLoader(): 29 | 30 | def __init__(self): 31 | self.robot_description_path = os.path.join( 32 | get_package_share_directory('raspimouse_description'), 33 | 'urdf', 34 | 'raspimouse.urdf.xacro') 35 | self.lidar = 'none' 36 | self.lidar_frame = 'laser' 37 | self.use_gazebo = 'false' 38 | self.use_rgb_camera = 'false' 39 | self.camera_downward = 'false' 40 | self.gz_control_config_package = '' 41 | self.gz_control_config_file_path = '' 42 | 43 | def load(self): 44 | return Command([ 45 | 'xacro ', 46 | self.robot_description_path, 47 | ' lidar:=', self.lidar, 48 | ' lidar_frame:=', self.lidar_frame, 49 | ' use_gazebo:=', self.use_gazebo, 50 | ' use_rgb_camera:=', self.use_rgb_camera, 51 | ' camera_downward:=', self.camera_downward, 52 | ' gz_control_config_package:=', self.gz_control_config_package, 53 | ' gz_control_config_file_path:=', self.gz_control_config_file_path 54 | ]) 55 | -------------------------------------------------------------------------------- /test/dummy_controllers.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/rt-net/raspimouse_description/a4cb46f2e29c92f09d69e5256acba77c4eebfde8/test/dummy_controllers.yaml -------------------------------------------------------------------------------- /test/test_robot_description_loader.py: -------------------------------------------------------------------------------- 1 | # The MIT License (MIT) 2 | # 3 | # Copyright 2023 RT Corporation 4 | # 5 | # Permission is hereby granted, free of charge, to any person obtaining a copy of 6 | # this software and associated documentation files (the "Software"), to deal in 7 | # the Software without restriction, including without limitation the rights to 8 | # use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of 9 | # the Software, and to permit persons to whom the Software is furnished to do so, 10 | # subject to the following conditions: 11 | # 12 | # The above copyright notice and this permission notice shall be included in all 13 | # copies or substantial portions of the Software. 14 | # 15 | # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 | # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS 17 | # FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR 18 | # COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER 19 | # IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN 20 | # CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 21 | 22 | import math 23 | 24 | from launch.launch_context import LaunchContext 25 | import pytest 26 | 27 | from raspimouse_description.robot_description_loader import \ 28 | RobotDescriptionLoader 29 | 30 | 31 | def exec_load(loader): 32 | # Command substitutionの実行方法はCommandのテストを参考にした 33 | # https://github.com/ros2/launch/blob/074cd2903ddccd61bce8f40a0f58da0b7c200481/launch/test/launch/substitutions/test_command.py#L47 34 | context = LaunchContext() 35 | return loader.load().perform(context) 36 | 37 | 38 | def test_load_description(): 39 | # xacroの読み込みが成功することを期待 40 | rdl = RobotDescriptionLoader() 41 | assert exec_load(rdl) 42 | 43 | 44 | def test_change_description_path(): 45 | # xacroのファイルパスを変更し、読み込みが失敗することを期待 46 | rdl = RobotDescriptionLoader() 47 | rdl.robot_description_path = 'hoge' 48 | with pytest.raises(Exception) as e: 49 | exec_load(rdl) 50 | assert e.value 51 | 52 | 53 | def test_lidar_none(): 54 | # lidarが変更されて、xacroに何もセットされないことを期待 55 | rdl = RobotDescriptionLoader() 56 | rdl.lidar = 'none' 57 | assert 'laser' not in exec_load(rdl) 58 | 59 | 60 | def test_lidar_urg(): 61 | # lidarが変更されて、xacroにURGがセットされることを期待 62 | rdl = RobotDescriptionLoader() 63 | rdl.lidar = 'urg' 64 | assert 'urg_mount_link' in exec_load(rdl) 65 | 66 | 67 | def test_lidar_lds(): 68 | # lidarが変更されて、xacroにLDSがセットされることを期待 69 | rdl = RobotDescriptionLoader() 70 | rdl.lidar = 'lds' 71 | assert 'lds_multi_mount_link' in exec_load(rdl) 72 | 73 | 74 | def test_lidar_rplidar(): 75 | # lidarが変更されて、xacroにRPLiDARがセットされることを期待 76 | rdl = RobotDescriptionLoader() 77 | rdl.lidar = 'rplidar' 78 | assert 'rplidar_multi_mount_link' in exec_load(rdl) 79 | 80 | 81 | def test_lidar_frame(): 82 | # lidar_frameが変更されて、xacroにlaserがセットされることを期待 83 | rdl = RobotDescriptionLoader() 84 | rdl.lidar = 'urg' 85 | rdl.lidar_frame = 'laser' 86 | assert 'laser' in exec_load(rdl) 87 | 88 | 89 | def test_use_gazebo(): 90 | # use_gazeboが変更され、xacroにgazebo_ros2_controlがセットされることを期待 91 | rdl = RobotDescriptionLoader() 92 | rdl.use_gazebo = 'true' 93 | rdl.gz_control_config_package = 'raspimouse_description' 94 | rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml' 95 | assert 'gz_ros2_control/GazeboSimSystem' in exec_load(rdl) 96 | 97 | 98 | def test_use_rgb_camera(): 99 | # use_rgb_cameraが変更され、xacroにRGB Cameraがセットされることを期待 100 | rdl = RobotDescriptionLoader() 101 | rdl.use_rgb_camera = 'true' 102 | rdl.gz_control_config_package = 'raspimouse_description' 103 | rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml' 104 | assert 'realsense2_description/meshes/d435.dae' in exec_load(rdl) 105 | 106 | 107 | def test_camera_link(): 108 | # use_gazeboとuse_rgb_cameraが変更され、xacroにcamera linkがセットされることを期待 109 | rdl = RobotDescriptionLoader() 110 | rdl.use_gazebo = 'true' 111 | rdl.use_rgb_camera = 'true' 112 | rdl.gz_control_config_package = 'raspimouse_description' 113 | rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml' 114 | assert 'camera_link' in exec_load(rdl) 115 | 116 | 117 | def test_camera_downward(): 118 | # camera_downwardが変更され、カメラが斜め30度下を向くことを期待 119 | rdl = RobotDescriptionLoader() 120 | rdl.use_gazebo = 'true' 121 | rdl.use_rgb_camera = 'true' 122 | rdl.camera_downward = 'true' 123 | rdl.gz_control_config_package = 'raspimouse_description' 124 | rdl.gz_control_config_file_path = 'test/dummy_controllers.yaml' 125 | camera_angle = math.radians(30) 126 | assert '0 0 0 0 ' + str(camera_angle) + ' 0' in exec_load(rdl) 127 | -------------------------------------------------------------------------------- /urdf/body/body.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 0.1 6 | 0.1 7 | 8 | 9 | -------------------------------------------------------------------------------- /urdf/body/body.urdf.xacro: -------------------------------------------------------------------------------- 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 | 31 | 32 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /urdf/body/option.urdf.xacro: -------------------------------------------------------------------------------- 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 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | -------------------------------------------------------------------------------- /urdf/common.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 19 | 20 | 21 | 24 | 25 | 26 | 29 | 30 | 31 | 32 | -------------------------------------------------------------------------------- /urdf/raspimouse.urdf.xacro: -------------------------------------------------------------------------------- 1 | 2 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 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 | 41 | 42 | 43 | 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 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 108 | 109 | 110 | 114 | 115 | 119 | 120 | 121 | 122 | 123 | 124 | $(arg robot_namespace) 125 | 126 | 127 | 128 | 129 | 133 | 137 | 141 | 145 | 146 | 147 | 148 | 149 | 150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | 158 | 159 | 160 | 161 | 162 | 163 | 164 | 165 | 166 | -------------------------------------------------------------------------------- /urdf/sensors/lidar.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 0 0 0 0 0 0 8 | ${sensor_link_name} 9 | ${sensor_link_name} 10 | scan 11 | 1 12 | $(arg laser_visual) 13 | 10 14 | 15 | 16 | 17 | 720 18 | 1 19 | ${base_rad-rad_range/2} 20 | ${base_rad+rad_range/2} 21 | 22 | 23 | 24 | ${min_range} 25 | ${max_range} 26 | 0.01 27 | 28 | 29 | gaussian 30 | 0.0 31 | 0.03 32 | 33 | 34 | 35 | 36 | 37 | 38 | -------------------------------------------------------------------------------- /urdf/sensors/lidar.urdf.xacro: -------------------------------------------------------------------------------- 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 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 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 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | 98 | 99 | 100 | 101 | 102 | 103 | 104 | 105 | 106 | 107 | 108 | 109 | 110 | 111 | 112 | 113 | 114 | 115 | 116 | 117 | 118 | 119 | 120 | 121 | 122 | 123 | 124 | 125 | -------------------------------------------------------------------------------- /urdf/sensors/lightsens.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | Gazebo/Gray 7 | 8 | 0 0 0 0 0 0 9 | false 10 | 20 11 | 12 | 13 | 14 | 1 15 | 1 16 | ${base_rad-rad_range/2} 17 | ${base_rad+rad_range/2} 18 | 19 | 20 | 21 | ${min_range} 22 | ${max_range} 23 | 0.001 24 | 25 | 26 | gaussian 27 | 0.0 28 | 0.01 29 | 30 | 31 | 32 | ${robot_namespace} 33 | ${prefix}_scan 34 | ${robotdescription_namespace}${prefix} 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /urdf/sensors/lightsens.urdf.xacro: -------------------------------------------------------------------------------- 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 | 29 | 30 | 31 | 32 | 33 | -------------------------------------------------------------------------------- /urdf/sensors/rgb_camera.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 13 | 14 | 15 | 16 | 17 | 22 | 23 | 24 | 25 | 26 | 27 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | ogre2 40 | 41 | 42 | 43 | 44 | 45 | 30.0 46 | true 47 | camera_link 48 | 49 | 0 0 0 0 ${DOWNWARD_CAMERA_ANGLE} 0 50 | 51 | 52 | 0 0 0 0 0 0 53 | 54 | /camera/color/image_raw 55 | 56 | 1.20428 57 | 58 | 1920 59 | 1080 60 | R8G8B8 61 | 62 | 63 | 0.02 64 | 300 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | -------------------------------------------------------------------------------- /urdf/wheel/diffdrive.gazebo.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 11 | 12 | 13 | 14 | 15 | 16 | diff_drive_controller/cmd_vel:=cmd_vel 17 | diff_drive_controller/odom:=odom 18 | 19 | $(find ${config_file_package})/${config_file_path} 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /urdf/wheel/diffdrive.gazebo_ros2_control.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 10 | 11 | 12 | 13 | gz_ros2_control/GazeboSimSystem 14 | 15 | 16 | 17 | 18 | -${WHEEL_VELOCITY_LIMIT} 19 | ${WHEEL_VELOCITY_LIMIT} 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | -${WHEEL_VELOCITY_LIMIT} 29 | ${WHEEL_VELOCITY_LIMIT} 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /urdf/wheel/wheel.urdf.xacro: -------------------------------------------------------------------------------- 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 | 31 | 32 | 33 | 2 34 | 2 35 | 0 36 | 0 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | --------------------------------------------------------------------------------