Added first version of Sensorsim
This commit is contained in:
wittenator
106
description/assets/ft24_asm.dae
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106
description/assets/ft24_asm.dae
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52
description/bbox_camera.xacro
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52
description/bbox_camera.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<joint name="camera_joint" type="fixed">
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<parent link="laser_frame"/>
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<child link="camera_link"/>
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<origin xyz="0 -0.2 0" rpy="0 0 0"/>
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</joint>
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<link name="camera_link">
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<visual>
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<geometry>
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<box size="0.025 0.09 0.025"/>
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</geometry>
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<material name="black"/>
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</visual>
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</link>
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<joint name="camera_optical_joint" type="fixed">
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<parent link="camera_link"/>
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<child link="camera_link_optical"/>
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<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
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</joint>
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<link name="camera_link_optical"></link>
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<gazebo reference="camera_link">
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<material>Gazebo/Black</material>
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<sensor name="segmentation_camera" type="segmentation_camera">
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<ignition_frame_id>camera_link_optical</ignition_frame_id>
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<topic>semantic</topic>
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<camera>
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<horizontal_fov>1.047</horizontal_fov>
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<image>
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<width>640</width>
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<height>480</height>
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</image>
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<clip>
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<near>0.01</near>
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<far>60</far>
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</clip>
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</camera>
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<always_on>1</always_on>
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<update_rate>20</update_rate>
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<visualize>false</visualize>
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</sensor>
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</gazebo>
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</robot>
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34
description/colours.xacro
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34
description/colours.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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<material name="orange">
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<color rgba="1 0.3 0.1 1"/>
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</material>
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<material name="blue">
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<color rgba="0.2 0.2 1 1"/>
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</material>
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<material name="black">
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<color rgba="0 0 0 1"/>
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</material>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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<material name="gray">
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<color rgba="0.753 0.753 0.753 1"/>
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</material>
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<material name="grey">
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<color rgba="0.753 0.753 0.753 1"/>
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</material>
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<material name="silver">
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<color rgba="0.88 0.88 0.88 1"/>
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</material>
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</robot>
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77
description/inertial_macros.xacro
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77
description/inertial_macros.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
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<!-- These make use of xacro's mathematical functionality -->
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<xacro:macro name="inertial_sphere" params="mass radius *origin">
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<inertial>
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<xacro:insert_block name="origin"/>
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<mass value="${mass}" />
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<inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
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iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
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izz="${(2/5) * mass * (radius*radius)}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="inertial_box" params="mass x y z *origin">
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<inertial>
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<xacro:insert_block name="origin"/>
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<mass value="${mass}" />
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<inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
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iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
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izz="${(1/12) * mass * (x*x+y*y)}" />
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</inertial>
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</xacro:macro>
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<xacro:macro name="inertial_cylinder" params="mass length radius *origin">
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<inertial>
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<xacro:insert_block name="origin"/>
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<mass value="${mass}" />
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<inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
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iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
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izz="${(1/2) * mass * (radius*radius)}" />
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</inertial>
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</xacro:macro>
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<!-- Math constants -->
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<xacro:property name="math_pi" value="3.141592653589793" />
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<xacro:property name="math_pi_over_2" value="1.5707963267948966" />
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<xacro:property name="math_pi_over_4" value="0.785398163397448" />
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<!-- Inertial for solid cuboid with dimensions x y z -->
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<xacro:macro name="solid_cuboid_inertial" params="rpy xyz mass x y z">
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<inertial>
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<origin rpy="${rpy}" xyz="${xyz}"/>
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<mass value="${mass}" />
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<inertia
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ixx="${mass * (y * y + z * z) / 12.0}" ixy="0.0" ixz="0.0"
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iyy="${mass * (x * x + z * z) / 12.0}" iyz="0.0"
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izz="${mass * (x * x + y * y) / 12.0}" />
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</inertial>
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</xacro:macro>
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<!-- Inertial for solid cylinder with radius and length aligned to z-axis -->
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<xacro:macro name="solid_cylinder_inertial" params="rpy xyz mass radius length">
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<inertial>
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<origin rpy="${rpy}" xyz="${xyz}"/>
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<mass value="${mass}" />
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<inertia
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ixx="${mass * (3.0 * radius * radius + length * length) / 12.0}" ixy="0.0" ixz="0.0"
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iyy="${mass * (3.0 * radius * radius + length * length) / 12.0}" iyz="0.0"
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izz="${mass * (radius * radius) / 2.0}" />
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</inertial>
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</xacro:macro>
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<!-- A null inertial - used in placeholder links to esure the model will work in Gazebo -->
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<xacro:macro name="null_inertial">
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<inertial>
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<mass value="0.001"/>
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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</xacro:macro>
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</robot>
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67
description/lidar.xacro
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67
description/lidar.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<xacro:include filename="inertial_macros.xacro"/>
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<joint name="laser_joint" type="fixed">
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<parent link="chassis"/>
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<child link="laser_frame"/>
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<origin xyz="-1.1 0.0 1.0" rpy="0 0 0"/>
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</joint>
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<link name="laser_frame">
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<visual>
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<geometry>
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<cylinder radius="0.05" length="0.04"/>
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</geometry>
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<material name="red"/>
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</visual>
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<collision>
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<geometry>
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<cylinder radius="0.05" length="0.04"/>
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</geometry>
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</collision>
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<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</xacro:inertial_cylinder>
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</link>
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<gazebo reference="laser_frame">
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<material>Gazebo/Red</material>
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<sensor name='gpu_lidar' type='gpu_lidar'>
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<topic>lidar</topic>
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<update_rate>5</update_rate>
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<ignition_frame_id>laser_frame</ignition_frame_id>
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<ray>
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<scan>
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<horizontal>
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<samples>640</samples>
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<resolution>1</resolution>
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<min_angle>${-90*deg_to_rad}</min_angle>
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<max_angle>${90*deg_to_rad}</max_angle>
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</horizontal>
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<vertical>
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<samples>64</samples>
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<resolution>1</resolution>
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<min_angle>${-45*deg_to_rad}</min_angle>
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<max_angle>${0*deg_to_rad}</max_angle>
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</vertical>
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</scan>
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<range>
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<min>0.08</min>
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<max>60.0</max>
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<resolution>0.01</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<alwaysOn>true</alwaysOn>
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</sensor>
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</gazebo>
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</robot>
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24
description/robot.urdf.xacro
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24
description/robot.urdf.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sensor_sim">
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<!-- Define parameters-->
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<xacro:arg name="lidar_vertical_fov_upper" default="45"/>
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<xacro:arg name="lidar_vertical_fov_lower" default="-45"/>
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<xacro:arg name="lidar_horizontal_fov_upper" default="60"/>
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<xacro:arg name="lidar_horizontal_fov_lower" default="-60"/>
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<!-- Math constants -->
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<xacro:property name="deg_to_rad" value="0.01745329251994329577"/>
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<!-- Include the colours -->
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<xacro:include filename="colours.xacro" />
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<!-- Include the inertial macros -->
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<xacro:include filename="inertial_macros.xacro"/>
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<xacro:include filename="robot_core.xacro" />
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<xacro:include filename="bbox_camera.xacro" />
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<xacro:include filename="lidar.xacro" />
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</robot>
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45
description/robot_core.xacro
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description/robot_core.xacro
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<link name="base_link">
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</link>
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<!-- CHASSIS LINK -->
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<joint name="chassis_joint" type="fixed">
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<parent link="base_link"/>
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<child link="chassis"/>
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<origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
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</joint>
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<link name="chassis">
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<visual>
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<geometry>
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<mesh filename="file://$(find sensor_sim)/description/assets/ft24_asm.dae"/>
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</geometry>
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<material name="grey"/>
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</visual>
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<collision>
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<geometry>
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<box size="2.0 2.0 0.1"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="1.0"/>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<gazebo reference="chassis">
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<material>Gazebo/White</material>
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<visual>
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<laser_retro>255</laser_retro>
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<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
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<label>10</label>
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</plugin>
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</visual>
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</gazebo>
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</robot>
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