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ft24_control
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Kinda working again

This commit is contained in:
Tim Korjakow 2023-10-23 15:14:11 +02:00
parent a4aa13d6a2
commit 98854acbf6
7 changed files with 69 additions and 235 deletions
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38
src/dcaiti_control/config/dcaiti_config.yml
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@ -2,40 +2,34 @@ controller_manager:
ros__parameters:
update_rate: 30
diff_cont:
type: diff_drive_controller/DiffDriveController
ackermann_steering_controller:
type: 'ackermann_steering_controller/AckermannSteeringController'
joint_broad:
type: joint_state_broadcaster/JointStateBroadcaster
diff_cont:
ackermann_steering_controller:
ros__parameters:
publish_rate: 30.0 # You can set this higher than the controller manager update rate, but it will be throttled
base_frame_id: base_link
publish_limited_velocity: true
in_chained_mode: false
left_wheel_names: ['left_wheel_joint']
right_wheel_names: ['right_wheel_joint']
wheel_separation: 0.215
wheel_radius: 0.049338032
reference_timeout: 2.0
front_steering: true
open_loop: false
velocity_rolling_window_size: 10
position_feedback: true
use_stamped_vel: false
rear_wheels_names: [rear_right_wheel_joint, rear_left_wheel_joint]
front_wheels_names: [front_right_steer_joint, front_left_steer_joint]
linear:
x:
has_velocity_limits : true
max_velocity : 1.0 # m/s
min_velocity : -0.5 # m/s
has_acceleration_limits: true
max_acceleration : 0.6 # m/s^2
min_acceleration : -0.3 # m/s^2
angular:
z:
has_velocity_limits : true
max_velocity : 1.0 # rad/s
has_acceleration_limits: true
max_acceleration : 0.8 # rad/s^2
wheelbase: 3.24644
front_wheel_track: 2.12321
rear_wheel_track: 1.76868
front_wheels_radius: 0.45
rear_wheels_radius: 0.45
joint_limits:

2
src/dcaiti_control/description/bbox_camera.xacro
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@ -45,7 +45,7 @@
</clip>
</camera>
<always_on>1</always_on>
<update_rate>50</update_rate>
<update_rate>20</update_rate>
<visualize>false</visualize>
</sensor>
</gazebo>

12
src/dcaiti_control/description/colours.xacro
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@ -19,4 +19,16 @@
<material name="red">
<color rgba="1 0 0 1"/>
</material>
<material name="gray">
<color rgba="0.753 0.753 0.753 1"/>
</material>
<material name="grey">
<color rgba="0.753 0.753 0.753 1"/>
</material>
<material name="silver">
<color rgba="0.88 0.88 0.88 1"/>
</material>
</robot>

60
src/dcaiti_control/description/lidar.xacro
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@ -6,7 +6,7 @@
<joint name="laser_joint" type="fixed">
<parent link="chassis"/>
<child link="laser_frame"/>
<origin xyz="0.1 0 0.175" rpy="0 0 0"/>
<origin xyz="0.1 0 0.35" rpy="0 0 0"/>
</joint>
@ -31,31 +31,37 @@
<gazebo reference="laser_frame">
<material>Gazebo/Red</material>
<sensor name="laser" type="ray">
<pose> 0 0 0 0 0 0 </pose>
<visualize>false</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>360*5</samples>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
</scan>
<range>
<min>0.3</min>
<max>100</max>
</range>
</ray>
<plugin name="laser_controller" filename="libgazebo_ros_ray_sensor.so">
<ros>
<argument>~/out:=scan</argument>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>laser_frame</frame_name>
</plugin>
<sensor name='gpu_lidar' type='gpu_lidar'>
<topic>lidar</topic>
<update_rate>10</update_rate>
<ignition_frame_id>laser_frame</ignition_frame_id>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-1.396263</min_angle>
<max_angle>1.396263</max_angle>
</horizontal>
<vertical>
<samples>128</samples>
<resolution>1</resolution>
<min_angle>${-10*deg_to_rad}</min_angle>
<max_angle>${10*deg_to_rad}</max_angle>
</vertical>
</scan>
<range>
<min>0.08</min>
<max>60.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<alwaysOn>true</alwaysOn>
</sensor>
</gazebo>
</gazebo>
</robot>

6
src/dcaiti_control/description/robot.urdf.xacro
View File

@ -36,8 +36,8 @@
<xacro:property name="steer_mass" value="1" />
<!-- Axle positions -->
<xacro:property name="axle_offset" value="-0.5" />
<xacro:property name="steer_offset" value="-0.5" />
<xacro:property name="axle_offset" value="0.5" />
<xacro:property name="steer_offset" value="0.5" />
@ -55,5 +55,7 @@
</xacro:unless>
<xacro:include filename="robot_core.xacro" />
<xacro:include filename="bbox_camera.xacro" />
<xacro:include filename="lidar.xacro" />
</robot>

28
src/dcaiti_control/description/robot_core.xacro
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@ -18,17 +18,17 @@
<visual>
<origin xyz="0 0 0.035"/>
<geometry>
<box size="0.265 0.175 0.07"/>
<box size="${base_length} ${base_width} 0.07"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin xyz="0 0 0.035"/>
<geometry>
<box size="0.265 0.175 0.07"/>
<box size="${base_length} ${base_width} 0.07"/>
</geometry>
</collision>
<xacro:inertial_box mass="3.3" x="0.265" y="0.175" z="0.07">
<xacro:inertial_box mass="3.3" x="${base_length}" y="${base_width}" z="0.07">
<origin xyz="0 0 0.035" rpy="0 0 0"/>
</xacro:inertial_box>
</link>
@ -37,28 +37,6 @@
<material>Gazebo/White</material>
</gazebo>
<!-- Front steer and rear wheel joints required for ackermann_steering_controller -->
<xacro:front_steer
name="front"
parent="base"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_steer>
<xacro:rear_wheel
name="rear"
parent="base"
wheel_radius="${wheel_radius/4}"
wheel_thickness="${wheel_thickness/2}"
wheel_mass="${wheel_mass/32}">
<origin xyz="${-base_length/2+axle_offset} 0 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel>
<!-- Steerable front wheels -->
<xacro:front_wheel_lr

158
src/dcaiti_control/description/steerbot.urdf.xacro
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@ -1,158 +0,0 @@
<?xml version="1.0"?>
<!--
Robot model adapted from https://github.com/CIR-KIT/steer_drive_ros/blob/kinetic-devel/steer_drive_controller/test/common/urdf/steerbot.xacro
Modifications:
Remove base_footprint link. Useful for navigation but not necessary for a simple example.
Added materials for URDF
Updated inertials
Geometry:
The Ackermann steering controllers require the longitudinal
separation between the front and back wheel axes and the
lateral separation between the left and right front steering axes.
For this model:
wheel_separation_h = base_length - 2 * axle_offset = 0.4
wheel_separation_w = base_width + 2 * axle_offset = 0.4
-->
<robot name="steer_bot" xmlns:xacro="http://wiki.ros.org/xacro">
<!-- Include xacro for inertials, materials and wheels -->
<xacro:include filename="wheel.xacro"/>
<xacro:include filename="inertial_macros.xacro"/>
<xacro:property name="robot_namespace" value="/steer_bot"/>
<!-- Gazebo plugins -->
<gazebo>
<!-- Load ros_control plugin using the steer_bot_hardware_gazebo
implementation of the hardware_interface::RobotHW -->
<plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<robotNamespace>${robot_namespace}</robotNamespace>
</plugin>
</gazebo>
<!-- Math constants -->
<xacro:property name="deg_to_rad" value="0.01745329251994329577"/>
<!-- Robot base dimensions -->
<xacro:property name="base_length" value="10.0" />
<xacro:property name="base_width" value="10.0" />
<xacro:property name="base_height" value="0.1" />
<xacro:property name="base_mass" value="5.0" />
<!-- Wheel link dimensions -->
<xacro:property name="wheel_radius" value="0.1" />
<xacro:property name="wheel_thickness" value="0.08" />
<xacro:property name="wheel_mass" value="1" />
<!-- Steering link dimensions -->
<xacro:property name="steer_radius" value="0.05" />
<xacro:property name="steer_thickness" value="0.02" />
<xacro:property name="steer_mass" value="1" />
<!-- Axle positions -->
<xacro:property name="axle_offset" value="-0.5" />
<xacro:property name="steer_offset" value="-0.5" />
<!-- Base link -->
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
<material name="green" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
</collision>
<xacro:solid_cuboid_inertial
rpy="0 0 0" xyz="0 0 0"
mass="${base_mass}"
x="${base_length}" y="${base_width}" z="${base_height}" />
</link>
<!-- Front steer and rear wheel joints required for ackermann_steering_controller -->
<xacro:front_steer
name="front"
parent="base"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_steer>
<xacro:rear_wheel
name="rear"
parent="base"
wheel_radius="${wheel_radius/4}"
wheel_thickness="${wheel_thickness/2}"
wheel_mass="${wheel_mass/32}">
<origin xyz="${-base_length/2+axle_offset} 0 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel>
<!-- Steerable front wheels -->
<xacro:front_wheel_lr
name="front_right"
parent="base"
reflect="-1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_wheel_lr>
<xacro:front_wheel_lr
name="front_left"
parent="base"
reflect="1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}"
steer_radius="${steer_radius}"
steer_thickness="${steer_thickness}"
steer_mass="${steer_mass}"
base_length="${base_length}"
base_width="${base_width}"
axle_offset="${axle_offset}"
steer_height="${wheel_radius+steer_offset}">
</xacro:front_wheel_lr>
<!-- Rear wheels -->
<xacro:rear_wheel_lr
name="rear_right"
parent="base"
reflect="-1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}">
<origin xyz="${-base_length/2+axle_offset} ${-base_width/2-axle_offset} 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel_lr>
<xacro:rear_wheel_lr
name="rear_left"
parent="base"
reflect="1"
wheel_radius="${wheel_radius}"
wheel_thickness="${wheel_thickness}"
wheel_mass="${wheel_mass}">
<origin xyz="${-base_length/2+axle_offset} ${+base_width/2+axle_offset} 0" rpy="${-90 * deg_to_rad} 0 0"/>
</xacro:rear_wheel_lr>
<!-- Colour -->
<gazebo reference="base_link">
<material>Gazebo/Green</material>
</gazebo>
</robot>