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add caster models #104

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add caster models #104

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e2d2f1d
Update README.md
HarukiOgawa1 Apr 29, 2024
ace424e
Update README.md
HarukiOgawa1 May 1, 2024
a6fd54f
Merge branch 'deploy'
Aug 27, 2024
51442e2
add caster models
yasuohayashibara Aug 29, 2024
4988732
add vehicle
yasuohayashibara Aug 29, 2024
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88 changes: 88 additions & 0 deletions simulator/simulator/launch/gazebo_simulator_active_caster.launch.py
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import os.path as osp
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import (
DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess
)
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
VEHICLE_NAME = "ai_car_active_caster"
launch_args = (
DeclareLaunchArgument(
"world_name",
default_value="shihou_course",
description="World Name",
),
DeclareLaunchArgument(
"vehicle_name",
default_value="ai_car_active_caster",
description="Vehicle Name",
),
DeclareLaunchArgument(
"world_path",
default_value=[
osp.join(get_package_share_directory("simulator"), "worlds", ""),
LaunchConfiguration("world_name"), "/",
LaunchConfiguration("vehicle_name"), ".model"
],
description="Path to world file.",
),
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="If true, use simulation (Gazebo) clock",
),
)

tf_static_publisher = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
osp.join(get_package_share_directory("vehicle"),
"launch/extrinsic_tfstatic_broadcaster_no_namespace.launch.py"),
),
launch_arguments={
"vehicle_name": VEHICLE_NAME,
"use_sim_time": LaunchConfiguration("use_sim_time"),
}.items(),
)
# ExecuteProcess(
# cmd=["export", "GAZEBO_MODEL_PATH=$(ros2 pkg prefix vehicle)/share/vehicle/xacro"],
# shell=True),
gzserver = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
osp.join(get_package_share_directory("gazebo_ros"),
"launch/gzserver.launch.py"),
),
launch_arguments={
"world": LaunchConfiguration("world_path"),
"world_name": LaunchConfiguration("world_name"),
}.items(),
)
gzclient = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
osp.join(get_package_share_directory("gazebo_ros"),
"launch/gzclient.launch.py"),
),
)
set_use_sim_time = ExecuteProcess(
cmd=['ros2', 'param', 'set', '/gazebo',
'use_sim_time', LaunchConfiguration("use_sim_time")],
output='screen'
)

return LaunchDescription([
*launch_args,
tf_static_publisher,
gzserver,
gzclient,
set_use_sim_time,
Node(
package='controller_manager',
executable='spawner.py',
arguments=['position_controller'],
output='screen'
)
])
81 changes: 81 additions & 0 deletions simulator/simulator/launch/gazebo_simulator_caster_trail.launch.py
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import os.path as osp
from launch import LaunchDescription
from launch.actions import (
DeclareLaunchArgument, IncludeLaunchDescription, ExecuteProcess
)
from launch.substitutions import LaunchConfiguration
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
VEHICLE_NAME = "ai_car_caster_trail"
launch_args = (
DeclareLaunchArgument(
"world_name",
default_value="shihou_course",
description="World Name",
),
DeclareLaunchArgument(
"vehicle_name",
default_value="ai_car_caster_trail",
description="Vehicle Name",
),
DeclareLaunchArgument(
"world_path",
default_value=[
osp.join(get_package_share_directory("simulator"), "worlds", ""),
LaunchConfiguration("world_name"), "/",
LaunchConfiguration("vehicle_name"), ".model"
],
description="Path to world file.",
),
DeclareLaunchArgument(
"use_sim_time",
default_value="true",
description="If true, use simulation (Gazebo) clock",
),
)

tf_static_publisher = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
osp.join(get_package_share_directory("vehicle"),
"launch/extrinsic_tfstatic_broadcaster_no_namespace.launch.py"),
),
launch_arguments={
"vehicle_name": VEHICLE_NAME,
"use_sim_time": LaunchConfiguration("use_sim_time"),
}.items(),
)
# ExecuteProcess(
# cmd=["export", "GAZEBO_MODEL_PATH=$(ros2 pkg prefix vehicle)/share/vehicle/xacro"],
# shell=True),
gzserver = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
osp.join(get_package_share_directory("gazebo_ros"),
"launch/gzserver.launch.py"),
),
launch_arguments={
"world": LaunchConfiguration("world_path"),
"world_name": LaunchConfiguration("world_name"),
}.items(),
)
gzclient = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
osp.join(get_package_share_directory("gazebo_ros"),
"launch/gzclient.launch.py"),
),
)
set_use_sim_time = ExecuteProcess(
cmd=['ros2', 'param', 'set', '/gazebo',
'use_sim_time', LaunchConfiguration("use_sim_time")],
output='screen'
)

return LaunchDescription([
*launch_args,
tf_static_publisher,
gzserver,
gzclient,
set_use_sim_time,
])
11 changes: 11 additions & 0 deletions simulator/simulator/models/ai_car_active_caster/controller_position.yaml
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controller_manager:
ros__parameters:
update_rate: 30 # Hz

position_controller:
type: position_controllers/JointGroupPositionController

position_controller:
ros__parameters:
joints:
- caster_back_steering_joint
16 changes: 16 additions & 0 deletions simulator/simulator/models/ai_car_active_caster/model.config
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<?xml version="1.0"?>

<model>
<name>ai_car_active_caster</name>
<version>2.0</version>
<sdf version="1.5">model.sdf</sdf>

<author>
<name>Masaya Okada</name>
<email>[email protected]</email>
</author>

<description>
ai_car_active_caster
</description>
</model>
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