Merge pull request #3 from Arena-Rosnav/gazebo_integration_merge

Gazebo integration merge

maps/map_empty/map.yaml

@@ -3,8 +3,8 @@ image: map.png
 negate: 0
 occupied_thresh: 0.65
 origin:
-- -6.0
-- -6.0
-- 0.0
+  - 0.0
+  - 0.0
+  - 0.0
 resolution: 0.05
 type: indoor

obstacles/cuboid/model.config

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>cuboid</name>
+  <version>1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+
+  <author>
+   <name>My Name</name>
+   <email>[email protected]</email>
+  </author>
+
+  <description>
+    Set size!
+  </description>
+</model>

obstacles/cuboid/model.sdf

@@ -0,0 +1,23 @@
+<?xml version='1.0'?>
+<sdf version='1.4'>
+	<model name="cylinder">
+		<static>true</static>
+		<link name="left_wheel">
+		<pose>0.1 0.5 0 0 0 0</pose>
+		<collision name="collision">
+			<geometry>
+			<box>
+				<size>shape shape 2.2</size>
+			</box>
+			</geometry>
+		</collision>
+		<visual name="visual">
+			<geometry>
+			<box>
+				<size>shape shape 2.2</size>
+			</box>
+			</geometry>
+		</visual>
+		</link>
+	</model>
+</sdf>

obstacles/cylinder/model.config

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<model>
+  <name>cylinder</name>
+  <version>1.0</version>
+  <sdf version='1.4'>model.sdf</sdf>
+
+  <author>
+   <name>My Name</name>
+   <email>[email protected]</email>
+  </author>
+
+  <description>
+    set radius
+  </description>
+</model>

obstacles/cylinder/model.sdf

@@ -0,0 +1,25 @@
+<?xml version='1.0'?>
+<sdf version='1.4'>
+	<model name="cylinder">
+		<static>true</static>
+		<link name="left_wheel">
+		<pose>0.1 0.5 0 0 0 0</pose>
+		<collision name="collision">
+		  <geometry>
+		    <cylinder>
+		      <radius>shape</radius>
+		      <length>2.2</length>
+		    </cylinder>
+		  </geometry>
+		</collision>
+		<visual name="visual">
+		  <geometry>
+		    <cylinder>
+		      <radius>shape</radius>
+		      <length>2.2</length>
+		    </cylinder>
+		  </geometry>
+		</visual>
+		</link>
+	</model>
+</sdf>

obstacles/utils/collision-actor-plugin

@@ -0,0 +1,102 @@
+    <plugin name="actor_collisions_plugin" filename="libActorCollisionsPlugin.so">
+      <scaling collision="LHipJoint_LeftUpLeg_collision" scale="
+          0.01
+          0.001
+          0.001
+      "/>
+      <scaling collision="LeftUpLeg_LeftLeg_collision" scale="
+          8.0
+          8.0
+          1.0
+      "/>
+      <scaling collision="LeftLeg_LeftFoot_collision" scale="
+          8.0
+          8.0
+          1.0
+      "/>
+      <scaling collision="LeftFoot_LeftToeBase_collision" scale="
+          4.0
+          4.0
+          1.5
+      "/>
+      <scaling collision="RHipJoint_RightUpLeg_collision" scale="
+          0.01
+          0.001
+          0.001
+      "/>
+      <scaling collision="RightUpLeg_RightLeg_collision" scale="
+          8.0
+          8.0
+          1.0
+      "/>
+      <scaling collision="RightLeg_RightFoot_collision" scale="
+          8.0
+          8.0
+          1.0
+      "/>
+      <scaling collision="RightFoot_RightToeBase_collision" scale="
+          4.0
+          4.0
+          1.5
+      "/>
+      <scaling collision="LowerBack_Spine_collision" scale="
+          12.0
+          20.0
+          5.0
+      " pose="0.05 0 0 0 -0.2 0"/>
+      <scaling collision="Spine_Spine1_collision" scale="
+          0.01
+          0.001
+          0.001
+      "/>
+      <scaling collision="Neck_Neck1_collision" scale="
+          0.01
+          0.001
+          0.001
+      "/>
+      <scaling collision="Neck1_Head_collision" scale="
+          5.0
+          5.0
+          3.0
+      "/>
+      <scaling collision="LeftShoulder_LeftArm_collision" scale="
+          0.01
+          0.001
+          0.001
+      "/>
+      <scaling collision="LeftArm_LeftForeArm_collision" scale="
+          5.0
+          5.0
+          1.0
+      "/>
+      <scaling collision="LeftForeArm_LeftHand_collision" scale="
+          5.0
+          5.0
+          1.0
+      "/>
+      <scaling collision="LeftFingerBase_LeftHandIndex1_collision" scale="
+          4.0
+          4.0
+          3.0
+      "/>
+      <scaling collision="RightShoulder_RightArm_collision" scale="
+          0.01
+          0.001
+          0.001
+      "/>
+      <scaling collision="RightArm_RightForeArm_collision" scale="
+          5.0
+          5.0
+          1.0
+      "/>
+      <scaling collision="RightForeArm_RightHand_collision" scale="
+          5.0
+          5.0
+          1.0
+      "/>
+      <scaling collision="RightFingerBase_RightHandIndex1_collision" scale="
+          4.0
+          4.0
+          3.0
+      "/>
+      </plugin>

robot/agvota/agvota.model.yaml

@@ -21,11 +21,12 @@ plugins:
     body: base_footprint
     odom_frame_id: odom
     odom_pub: odom # topic odom is published on
+    twist_sub: cmd_vel
     pub_rate: 10
 
   - type: Laser
     name: static_laser
-    frame: scan_link
+    frame: laser_link
     topic: scan
     body: base_footprint
     broadcast_tf: true

robot/agvota/costmaps/global_costmap_params.yaml

@@ -1,6 +1,6 @@
 global_costmap:
   global_frame: map
-  robot_base_frame: base_footprint
+  robot_base_frame: base_link
   static_map: true
   width: 25.0
   height: 25.0

robot/agvota/costmaps/local_costmap_params.yaml

@@ -1,6 +1,6 @@
 local_costmap:
   global_frame: map
-  robot_base_frame: base_footprint
+  robot_base_frame: base_link
   update_frequency: 5.0
   publish_frequency: 5.0
   transform_tolerance: 0.3

robot/agvota/launch/control.launch

@@ -0,0 +1,6 @@
+<launch>
+  	<arg name="robot_namespace" />
+
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+	<!-- <node name="emergency_brake" pkg="gazebo_utils" type="emergency_brake_node.py"/> -->
+</launch>

robot/agvota/meshes/OTAv0.7data.txt

@@ -0,0 +1,27 @@
+Physical Properties for OTA-v0.7b
+General Properties:
+	Material:	{}
+	Density:	3,784 g/cm^3
+	Mass:	118,603 kg (Relative Error = 0,001805%)
+	Area:	12615772,176 mm^2 (Relative Error = 0,000375%)
+	Volume:	31345491,480 mm^3 (Relative Error = 0,001805%)
+Center of Gravity:
+	X:	-54,878 mm (Relative Error = 0,001805%)
+	Y:	-0,450 mm (Relative Error = 0,001805%)
+	Z:	157,972 mm (Relative Error = 0,001805%)
+Mass Moments of Inertia with respect to Center of Gravity(Calculated using negative integral)
+	Ixx        	6358362,809 kg mm^2 (Relative Error = 0,001805%)
+	Iyx Iyy    	5036,988 kg mm^2 (Relative Error = 0,001805%)	9876299,677 kg mm^2 (Relative Error = 0,001805%)
+	Izx Izy Izz	-323958,822 kg mm^2 (Relative Error = 0,001805%)	682,715 kg mm^2 (Relative Error = 0,001805%)	13970282,958 kg mm^2 (Relative Error = 0,001805%)
+Mass Moments of Inertia with respect to Global(Calculated using negative integral)
+	Ixx        	9318137,593 kg mm^2 (Relative Error = 0,001805%)
+	Iyx Iyy    	2107,420 kg mm^2 (Relative Error = 0,001805%)	13193234,386 kg mm^2 (Relative Error = 0,001805%)
+	Izx Izy Izz	704231,566 kg mm^2 (Relative Error = 0,001805%)	9115,774 kg mm^2 (Relative Error = 0,001805%)	14327490,938 kg mm^2 (Relative Error = 0,001805%)
+Principal Moments of Inertia with respect to Center of Gravity
+	I1:	6344592,942 kg mm^2 (Relative Error = 0,001805%)
+	I2:	9876306,877 kg mm^2 (Relative Error = 0,001805%)
+	I3:	13984045,624 kg mm^2 (Relative Error = 0,001805%)
+Rotation from Global to Principal
+	Rx:	0,01 deg (Relative Error = 0,001805%)
+	Ry:	2,43 deg (Relative Error = 0,001805%)
+	Rz:	0,08 deg (Relative Error = 0,001805%)

robot/agvota/meshes/Wheel-OTAv0.7.txt

@@ -0,0 +1,27 @@
+Physical Properties for GSTN-200-30-H7
+General Properties:
+	Material:	{}
+	Density:	3,875 g/cm^3
+	Mass:	3,934 kg (Relative Error = 0,000900%)
+	Area:	159121,322 mm^2 (Relative Error = 0,001508%)
+	Volume:	1015176,861 mm^3 (Relative Error = 0,000900%)
+Center of Gravity:
+	X:	0,040 mm (Relative Error = 0,000900%)
+	Y:	-0,178 mm (Relative Error = 0,000900%)
+	Z:	0,000 mm (Relative Error = 0,000900%)
+Mass Moments of Inertia with respect to Center of Gravity(Calculated using negative integral)
+	Ixx        	16342,373 kg mm^2 (Relative Error = 0,000900%)
+	Iyx Iyy    	4,637 kg mm^2 (Relative Error = 0,000900%)	8826,353 kg mm^2 (Relative Error = 0,000900%)
+	Izx Izy Izz	-0,003 kg mm^2 (Relative Error = 0,000900%)	-0,051 kg mm^2 (Relative Error = 0,000900%)	8838,352 kg mm^2 (Relative Error = 0,000900%)
+Mass Moments of Inertia with respect to Global(Calculated using negative integral)
+	Ixx        	16342,498 kg mm^2 (Relative Error = 0,000900%)
+	Iyx Iyy    	4,665 kg mm^2 (Relative Error = 0,000900%)	8826,359 kg mm^2 (Relative Error = 0,000900%)
+	Izx Izy Izz	-0,003 kg mm^2 (Relative Error = 0,000900%)	-0,051 kg mm^2 (Relative Error = 0,000900%)	8838,484 kg mm^2 (Relative Error = 0,000900%)
+Principal Moments of Inertia with respect to Center of Gravity
+	I1:	16342,376 kg mm^2 (Relative Error = 0,000900%)
+	I2:	8826,350 kg mm^2 (Relative Error = 0,000900%)
+	I3:	8838,353 kg mm^2 (Relative Error = 0,000900%)
+Rotation from Global to Principal
+	Rx:	-0,24 deg (Relative Error = 0,000900%)
+	Ry:	-0,00 deg (Relative Error = 0,000900%)
+	Rz:	-0,04 deg (Relative Error = 0,000900%)