Added first version of Sensorsim
This commit is contained in:
wittenator
parent
784dca286b
commit
97443604b7
49
CMakeLists.txt
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49
CMakeLists.txt
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@ -0,0 +1,49 @@
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cmake_minimum_required(VERSION 3.5)
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project(sensor_sim)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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||||||
|
endif()
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||||||
|
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||||||
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# Default to C++14
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||||||
|
if(NOT CMAKE_CXX_STANDARD)
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||||||
|
set(CMAKE_CXX_STANDARD 14)
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||||||
|
endif()
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||||||
|
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||||||
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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||||||
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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||||||
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# find dependencies
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|
find_package(ament_cmake REQUIRED)
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||||||
|
# uncomment the following section in order to fill in
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|
# further dependencies manually.
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|
# find_package(<dependency> REQUIRED)
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|
if(BUILD_TESTING)
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|
find_package(ament_lint_auto REQUIRED)
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||||||
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# the following line skips the linter which checks for copyrights
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||||||
|
# uncomment the line when a copyright and license is not present in all source files
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||||||
|
#set(ament_cmake_copyright_FOUND TRUE)
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||||||
|
# the following line skips cpplint (only works in a git repo)
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||||||
|
# uncomment the line when this package is not in a git repo
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||||||
|
#set(ament_cmake_cpplint_FOUND TRUE)
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||||||
|
ament_lint_auto_find_test_dependencies()
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||||||
|
endif()
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||||||
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install(
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DIRECTORY description launch worlds src
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|
DESTINATION share/${PROJECT_NAME}
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|
)
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||||||
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ament_python_install_package(${PROJECT_NAME})
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||||||
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# Install Python executables
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|
install(PROGRAMS
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|
src/lidar_visualizer.py
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|
DESTINATION lib/${PROJECT_NAME}
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|
)
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||||||
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||||||
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ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")
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ament_package()
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||||||
201
LICENSE.md
Normal file
201
LICENSE.md
Normal file
@ -0,0 +1,201 @@
|
|||||||
|
Apache License
|
||||||
|
Version 2.0, January 2004
|
||||||
|
http://www.apache.org/licenses/
|
||||||
|
|
||||||
|
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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||||||
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||||||
|
1. Definitions.
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|
"License" shall mean the terms and conditions for use, reproduction,
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and distribution as defined by Sections 1 through 9 of this document.
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||||||
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"Licensor" shall mean the copyright owner or entity authorized by
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"Legal Entity" shall mean the union of the acting entity and all
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|
"control" means (i) the power, direct or indirect, to cause the
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"You" (or "Your") shall mean an individual or Legal Entity
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END OF TERMS AND CONDITIONS
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APPENDIX: How to apply the Apache License to your work.
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To apply the Apache License to your work, attach the following
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Unless required by applicable law or agreed to in writing, software
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106
description/assets/ft24_asm.dae
Normal file
106
description/assets/ft24_asm.dae
Normal file
File diff suppressed because one or more lines are too long
52
description/bbox_camera.xacro
Normal file
52
description/bbox_camera.xacro
Normal file
@ -0,0 +1,52 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
|
||||||
|
|
||||||
|
<joint name="camera_joint" type="fixed">
|
||||||
|
<parent link="laser_frame"/>
|
||||||
|
<child link="camera_link"/>
|
||||||
|
<origin xyz="0 -0.2 0" rpy="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="camera_link">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.025 0.09 0.025"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="black"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
|
||||||
|
<joint name="camera_optical_joint" type="fixed">
|
||||||
|
<parent link="camera_link"/>
|
||||||
|
<child link="camera_link_optical"/>
|
||||||
|
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="camera_link_optical"></link>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<gazebo reference="camera_link">
|
||||||
|
<material>Gazebo/Black</material>
|
||||||
|
<sensor name="segmentation_camera" type="segmentation_camera">
|
||||||
|
<ignition_frame_id>camera_link_optical</ignition_frame_id>
|
||||||
|
<topic>semantic</topic>
|
||||||
|
<camera>
|
||||||
|
<horizontal_fov>1.047</horizontal_fov>
|
||||||
|
<image>
|
||||||
|
<width>640</width>
|
||||||
|
<height>480</height>
|
||||||
|
</image>
|
||||||
|
<clip>
|
||||||
|
<near>0.01</near>
|
||||||
|
<far>60</far>
|
||||||
|
</clip>
|
||||||
|
</camera>
|
||||||
|
<always_on>1</always_on>
|
||||||
|
<update_rate>20</update_rate>
|
||||||
|
<visualize>false</visualize>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
</robot>
|
||||||
34
description/colours.xacro
Normal file
34
description/colours.xacro
Normal file
@ -0,0 +1,34 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1 1 1 1"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="orange">
|
||||||
|
<color rgba="1 0.3 0.1 1"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="blue">
|
||||||
|
<color rgba="0.2 0.2 1 1"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<material name="black">
|
||||||
|
<color rgba="0 0 0 1"/>
|
||||||
|
</material>
|
||||||
|
|
||||||
|
<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>
|
||||||
77
description/inertial_macros.xacro
Normal file
77
description/inertial_macros.xacro
Normal file
@ -0,0 +1,77 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
|
||||||
|
|
||||||
|
<!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
|
||||||
|
<!-- These make use of xacro's mathematical functionality -->
|
||||||
|
|
||||||
|
<xacro:macro name="inertial_sphere" params="mass radius *origin">
|
||||||
|
<inertial>
|
||||||
|
<xacro:insert_block name="origin"/>
|
||||||
|
<mass value="${mass}" />
|
||||||
|
<inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
|
||||||
|
iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
|
||||||
|
izz="${(2/5) * mass * (radius*radius)}" />
|
||||||
|
</inertial>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
|
||||||
|
<xacro:macro name="inertial_box" params="mass x y z *origin">
|
||||||
|
<inertial>
|
||||||
|
<xacro:insert_block name="origin"/>
|
||||||
|
<mass value="${mass}" />
|
||||||
|
<inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
|
||||||
|
iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
|
||||||
|
izz="${(1/12) * mass * (x*x+y*y)}" />
|
||||||
|
</inertial>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
|
||||||
|
<xacro:macro name="inertial_cylinder" params="mass length radius *origin">
|
||||||
|
<inertial>
|
||||||
|
<xacro:insert_block name="origin"/>
|
||||||
|
<mass value="${mass}" />
|
||||||
|
<inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
|
||||||
|
iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
|
||||||
|
izz="${(1/2) * mass * (radius*radius)}" />
|
||||||
|
</inertial>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
<!-- Math constants -->
|
||||||
|
<xacro:property name="math_pi" value="3.141592653589793" />
|
||||||
|
<xacro:property name="math_pi_over_2" value="1.5707963267948966" />
|
||||||
|
<xacro:property name="math_pi_over_4" value="0.785398163397448" />
|
||||||
|
|
||||||
|
<!-- Inertial for solid cuboid with dimensions x y z -->
|
||||||
|
<xacro:macro name="solid_cuboid_inertial" params="rpy xyz mass x y z">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="${rpy}" xyz="${xyz}"/>
|
||||||
|
<mass value="${mass}" />
|
||||||
|
<inertia
|
||||||
|
ixx="${mass * (y * y + z * z) / 12.0}" ixy="0.0" ixz="0.0"
|
||||||
|
iyy="${mass * (x * x + z * z) / 12.0}" iyz="0.0"
|
||||||
|
izz="${mass * (x * x + y * y) / 12.0}" />
|
||||||
|
</inertial>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
<!-- Inertial for solid cylinder with radius and length aligned to z-axis -->
|
||||||
|
<xacro:macro name="solid_cylinder_inertial" params="rpy xyz mass radius length">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="${rpy}" xyz="${xyz}"/>
|
||||||
|
<mass value="${mass}" />
|
||||||
|
<inertia
|
||||||
|
ixx="${mass * (3.0 * radius * radius + length * length) / 12.0}" ixy="0.0" ixz="0.0"
|
||||||
|
iyy="${mass * (3.0 * radius * radius + length * length) / 12.0}" iyz="0.0"
|
||||||
|
izz="${mass * (radius * radius) / 2.0}" />
|
||||||
|
</inertial>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
<!-- A null inertial - used in placeholder links to esure the model will work in Gazebo -->
|
||||||
|
<xacro:macro name="null_inertial">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.001"/>
|
||||||
|
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||||
|
</inertial>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
|
||||||
|
</robot>
|
||||||
67
description/lidar.xacro
Normal file
67
description/lidar.xacro
Normal file
@ -0,0 +1,67 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
|
||||||
|
|
||||||
|
<xacro:include filename="inertial_macros.xacro"/>
|
||||||
|
|
||||||
|
<joint name="laser_joint" type="fixed">
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="laser_frame"/>
|
||||||
|
<origin xyz="-1.1 0.0 1.0" rpy="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<link name="laser_frame">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<cylinder radius="0.05" length="0.04"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<cylinder radius="0.05" length="0.04"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
</xacro:inertial_cylinder>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<gazebo reference="laser_frame">
|
||||||
|
<material>Gazebo/Red</material>
|
||||||
|
<sensor name='gpu_lidar' type='gpu_lidar'>
|
||||||
|
<topic>lidar</topic>
|
||||||
|
<update_rate>5</update_rate>
|
||||||
|
<ignition_frame_id>laser_frame</ignition_frame_id>
|
||||||
|
<ray>
|
||||||
|
<scan>
|
||||||
|
<horizontal>
|
||||||
|
<samples>640</samples>
|
||||||
|
<resolution>1</resolution>
|
||||||
|
<min_angle>${-90*deg_to_rad}</min_angle>
|
||||||
|
<max_angle>${90*deg_to_rad}</max_angle>
|
||||||
|
</horizontal>
|
||||||
|
<vertical>
|
||||||
|
<samples>64</samples>
|
||||||
|
<resolution>1</resolution>
|
||||||
|
<min_angle>${-45*deg_to_rad}</min_angle>
|
||||||
|
<max_angle>${0*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>
|
||||||
|
</robot>
|
||||||
24
description/robot.urdf.xacro
Normal file
24
description/robot.urdf.xacro
Normal file
@ -0,0 +1,24 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="sensor_sim">
|
||||||
|
|
||||||
|
<!-- Define parameters-->
|
||||||
|
<xacro:arg name="lidar_vertical_fov_upper" default="45"/>
|
||||||
|
<xacro:arg name="lidar_vertical_fov_lower" default="-45"/>
|
||||||
|
<xacro:arg name="lidar_horizontal_fov_upper" default="60"/>
|
||||||
|
<xacro:arg name="lidar_horizontal_fov_lower" default="-60"/>
|
||||||
|
<!-- Math constants -->
|
||||||
|
<xacro:property name="deg_to_rad" value="0.01745329251994329577"/>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Include the colours -->
|
||||||
|
<xacro:include filename="colours.xacro" />
|
||||||
|
<!-- Include the inertial macros -->
|
||||||
|
<xacro:include filename="inertial_macros.xacro"/>
|
||||||
|
|
||||||
|
<xacro:include filename="robot_core.xacro" />
|
||||||
|
<xacro:include filename="bbox_camera.xacro" />
|
||||||
|
<xacro:include filename="lidar.xacro" />
|
||||||
|
|
||||||
|
</robot>
|
||||||
45
description/robot_core.xacro
Normal file
45
description/robot_core.xacro
Normal file
@ -0,0 +1,45 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
|
||||||
|
<link name="base_link">
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<!-- CHASSIS LINK -->
|
||||||
|
|
||||||
|
<joint name="chassis_joint" type="fixed">
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="chassis"/>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 ${-pi}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="chassis">
|
||||||
|
<visual>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find sensor_sim)/description/assets/ft24_asm.dae"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<geometry>
|
||||||
|
<box size="2.0 2.0 0.1"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<mass value="1.0"/>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||||
|
</inertial>
|
||||||
|
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<gazebo reference="chassis">
|
||||||
|
<material>Gazebo/White</material>
|
||||||
|
<visual>
|
||||||
|
<laser_retro>255</laser_retro>
|
||||||
|
<plugin filename="ignition-gazebo-label-system" name="ignition::gazebo::systems::Label">
|
||||||
|
<label>10</label>
|
||||||
|
</plugin>
|
||||||
|
</visual>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
</robot>
|
||||||
1
env-hooks/sensor_sim.dsv.in
Normal file
1
env-hooks/sensor_sim.dsv.in
Normal file
@ -0,0 +1 @@
|
|||||||
|
prepend-non-duplicate;IGN_GAZEBO_RESOURCE_PATH;share/@PROJECT_NAME@/worlds
|
||||||
103
launch/launch_sim.py
Normal file
103
launch/launch_sim.py
Normal file
@ -0,0 +1,103 @@
|
|||||||
|
import os
|
||||||
|
|
||||||
|
from ament_index_python.packages import get_package_share_directory
|
||||||
|
|
||||||
|
from launch import LaunchDescription
|
||||||
|
from launch.substitutions import LaunchConfiguration
|
||||||
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
||||||
|
from launch.actions import IncludeLaunchDescription
|
||||||
|
from launch.actions import DeclareLaunchArgument
|
||||||
|
from launch_ros.actions import Node
|
||||||
|
from launch.substitutions import Command
|
||||||
|
|
||||||
|
|
||||||
|
def generate_launch_description():
|
||||||
|
|
||||||
|
# Check if we're told to use sim time
|
||||||
|
lidar_vertical_fov_upper = LaunchConfiguration('lidar_vertical_fov_upper')
|
||||||
|
lidar_vertical_fov_lower = LaunchConfiguration('lidar_vertical_fov_lower')
|
||||||
|
lidar_horizontal_fov_upper = LaunchConfiguration('lidar_horizontal_fov_upper')
|
||||||
|
lidar_horizontal_fov_lower = LaunchConfiguration('lidar_horizontal_fov_lower')
|
||||||
|
|
||||||
|
|
||||||
|
# Process the URDF file
|
||||||
|
package_name='sensor_sim' #<--- CHANGE ME
|
||||||
|
pkg_path = os.path.join(get_package_share_directory(package_name))
|
||||||
|
xacro_file = os.path.join(pkg_path,'description','robot.urdf.xacro')
|
||||||
|
robot_description_config = Command(['xacro ', xacro_file, ' lidar_vertical_fov_upper:=', lidar_vertical_fov_upper, ' lidar_vertical_fov_lower:=', lidar_vertical_fov_lower, ' lidar_horizontal_fov_upper:=', lidar_horizontal_fov_upper, ' lidar_horizontal_fov_lower:=', lidar_horizontal_fov_lower])
|
||||||
|
world_path = os.path.join(pkg_path,'worlds')
|
||||||
|
|
||||||
|
# Create a robot_state_publisher node
|
||||||
|
params = {'robot_description': robot_description_config, 'use_sim_time': True, 'publish_frequency': 0.0001, 'use_tf_static': False}
|
||||||
|
node_robot_state_publisher = Node(
|
||||||
|
package='robot_state_publisher',
|
||||||
|
executable='robot_state_publisher',
|
||||||
|
parameters=[params]
|
||||||
|
)
|
||||||
|
|
||||||
|
node_joint_state_publisher = Node(
|
||||||
|
package='joint_state_publisher',
|
||||||
|
executable='joint_state_publisher',
|
||||||
|
parameters=[{'use_sim_time': True}]
|
||||||
|
)
|
||||||
|
|
||||||
|
gazebo = IncludeLaunchDescription(
|
||||||
|
PythonLaunchDescriptionSource([os.path.join(
|
||||||
|
get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')]),
|
||||||
|
launch_arguments=[('gz_args', [f" -r -v 0 {world_path}/test_world.sdf"])],
|
||||||
|
)
|
||||||
|
|
||||||
|
# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
|
||||||
|
spawn_entity = Node(package='ros_gz_sim', executable='create',
|
||||||
|
arguments=[
|
||||||
|
'-topic', 'robot_description',
|
||||||
|
'-name', 'spawn_robot',
|
||||||
|
'-z', '5',
|
||||||
|
'-x', '0',
|
||||||
|
],
|
||||||
|
output='screen'
|
||||||
|
)
|
||||||
|
|
||||||
|
# Bridge
|
||||||
|
bridge = Node(
|
||||||
|
package='ros_gz_bridge',
|
||||||
|
executable='parameter_bridge',
|
||||||
|
arguments=[
|
||||||
|
'/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock',
|
||||||
|
'/lidar/points@sensor_msgs/msg/PointCloud2@ignition.msgs.PointCloudPacked',
|
||||||
|
],
|
||||||
|
output='screen'
|
||||||
|
)
|
||||||
|
|
||||||
|
lidar_visualizer = Node(
|
||||||
|
package='sensor_sim',
|
||||||
|
executable='lidar_visualizer.py',
|
||||||
|
name='lidar_visualizer',
|
||||||
|
output='screen'
|
||||||
|
)
|
||||||
|
|
||||||
|
# Launch!
|
||||||
|
return LaunchDescription([
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'lidar_vertical_fov_upper',
|
||||||
|
default_value='45',
|
||||||
|
description='Upper limit of FOV of lidar'),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'lidar_vertical_fov_lower',
|
||||||
|
default_value='-45',
|
||||||
|
description='Lower limit of FOV of lidar'),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'lidar_horizontal_fov_upper',
|
||||||
|
default_value='45',
|
||||||
|
description='Upper limit of FOV of lidar'),
|
||||||
|
DeclareLaunchArgument(
|
||||||
|
'lidar_horizontal_fov_lower',
|
||||||
|
default_value='-45',
|
||||||
|
description='Lower limit of FOV of lidar'),
|
||||||
|
node_robot_state_publisher,
|
||||||
|
node_joint_state_publisher,
|
||||||
|
gazebo,
|
||||||
|
spawn_entity,
|
||||||
|
bridge,
|
||||||
|
lidar_visualizer
|
||||||
|
])
|
||||||
28
package.xml
Normal file
28
package.xml
Normal file
@ -0,0 +1,28 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
|
<package format="3">
|
||||||
|
<name>sensor_sim </name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>This package houses all ros2_control related code</description>
|
||||||
|
<maintainer email="fake@email.com">Tim Korjakow</maintainer>
|
||||||
|
<license>Todo</license>
|
||||||
|
|
||||||
|
<depend>ros2-control</depend>
|
||||||
|
<depend>ros2-controllers</depend>
|
||||||
|
<depend>ros-gz</depend>
|
||||||
|
<depend>robot-localization</depend>
|
||||||
|
<depend>joint-state-publisher</depend>
|
||||||
|
<depend>twist-mux</depend>
|
||||||
|
<depend>gz-ros2-control</depend>
|
||||||
|
<depend>state-publisher</depend>
|
||||||
|
|
||||||
|
|
||||||
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
|
|
||||||
|
<test_depend>ament_lint_auto</test_depend>
|
||||||
|
<test_depend>ament_lint_common</test_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_cmake</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
||||||
0
sensor_sim/__init__.py
Normal file
0
sensor_sim/__init__.py
Normal file
53
src/lidar_visualizer.py
Executable file
53
src/lidar_visualizer.py
Executable file
@ -0,0 +1,53 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
|
||||||
|
from time import sleep
|
||||||
|
import rclpy
|
||||||
|
from rclpy.node import Node
|
||||||
|
|
||||||
|
from std_msgs.msg import String
|
||||||
|
from sensor_msgs.msg import PointCloud2
|
||||||
|
import numpy as np
|
||||||
|
from sensor_msgs_py import point_cloud2
|
||||||
|
from numpy.lib.recfunctions import structured_to_unstructured, unstructured_to_structured
|
||||||
|
from PIL import Image
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
class LidarSubscriber(Node):
|
||||||
|
|
||||||
|
def __init__(self):
|
||||||
|
super().__init__('lidar_visualizer')
|
||||||
|
self.subscription = self.create_subscription(
|
||||||
|
PointCloud2,
|
||||||
|
'/lidar/points',
|
||||||
|
self.listener_callback,
|
||||||
|
10)
|
||||||
|
self.subscription # prevent unused variable warning
|
||||||
|
|
||||||
|
def listener_callback(self, msg):
|
||||||
|
# read intensity data from PointCloud2 efficiently to numpy array
|
||||||
|
intensities = point_cloud2.read_points(msg, field_names=['intensity'], reshape_organized_cloud=True)
|
||||||
|
intensities = structured_to_unstructured(intensities)
|
||||||
|
|
||||||
|
print(f"The number of points hitting the car is {(intensities>254).sum()}. This is a ratio of {(intensities>254).sum()/len(intensities)}%")
|
||||||
|
exit()
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
def main(args=None):
|
||||||
|
rclpy.init(args=args)
|
||||||
|
|
||||||
|
minimal_subscriber = LidarSubscriber()
|
||||||
|
|
||||||
|
rclpy.spin(minimal_subscriber)
|
||||||
|
|
||||||
|
# Destroy the node explicitly
|
||||||
|
# (optional - otherwise it will be done automatically
|
||||||
|
# when the garbage collector destroys the node object)
|
||||||
|
minimal_subscriber.destroy_node()
|
||||||
|
rclpy.shutdown()
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == '__main__':
|
||||||
|
main()
|
||||||
188
worlds/test_world.sdf
Normal file
188
worlds/test_world.sdf
Normal file
@ -0,0 +1,188 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<world name="empty">
|
||||||
|
<plugin
|
||||||
|
filename="ignition-gazebo-physics-system"
|
||||||
|
name="ignition::gazebo::systems::Physics">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="ignition-gazebo-user-commands-system"
|
||||||
|
name="ignition::gazebo::systems::UserCommands">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="ignition-gazebo-scene-broadcaster-system"
|
||||||
|
name="ignition::gazebo::systems::SceneBroadcaster">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="ignition-gazebo-contact-system"
|
||||||
|
name="ignition::gazebo::systems::Contact">
|
||||||
|
</plugin>
|
||||||
|
<plugin
|
||||||
|
filename="ignition-gazebo-sensors-system"
|
||||||
|
name="ignition::gazebo::systems::Sensors">
|
||||||
|
<render_engine>ogre2</render_engine>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<gui fullscreen="0">
|
||||||
|
|
||||||
|
<!-- 3D scene -->
|
||||||
|
<plugin filename="MinimalScene" name="3D View">
|
||||||
|
<ignition-gui>
|
||||||
|
<title>3D View</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="string" key="state">docked</property>
|
||||||
|
</ignition-gui>
|
||||||
|
|
||||||
|
<engine>ogre2</engine>
|
||||||
|
<scene>scene</scene>
|
||||||
|
<ambient_light>0.4 0.4 0.4</ambient_light>
|
||||||
|
<background_color>0.8 0.8 0.8</background_color>
|
||||||
|
<camera_pose>-6 0 6 0 0.5 0</camera_pose>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Plugins that add functionality to the scene -->
|
||||||
|
<plugin filename="EntityContextMenuPlugin" name="Entity context menu">
|
||||||
|
<ignition-gui>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</ignition-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="GzSceneManager" name="Scene Manager">
|
||||||
|
<ignition-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</ignition-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="InteractiveViewControl" name="Interactive view control">
|
||||||
|
<ignition-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</ignition-gui>
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="CameraTracking" name="Camera Tracking">
|
||||||
|
<ignition-gui>
|
||||||
|
<property key="resizable" type="bool">false</property>
|
||||||
|
<property key="width" type="double">5</property>
|
||||||
|
<property key="height" type="double">5</property>
|
||||||
|
<property key="state" type="string">floating</property>
|
||||||
|
<property key="showTitleBar" type="bool">false</property>
|
||||||
|
</ignition-gui>
|
||||||
|
</plugin>
|
||||||
|
<!-- World control -->
|
||||||
|
<plugin filename="WorldControl" name="World control">
|
||||||
|
<ignition-gui>
|
||||||
|
<title>World control</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="bool" key="resizable">false</property>
|
||||||
|
<property type="double" key="height">72</property>
|
||||||
|
<property type="double" key="width">121</property>
|
||||||
|
<property type="double" key="z">1</property>
|
||||||
|
|
||||||
|
<property type="string" key="state">floating</property>
|
||||||
|
<anchors target="3D View">
|
||||||
|
<line own="left" target="left"/>
|
||||||
|
<line own="bottom" target="bottom"/>
|
||||||
|
</anchors>
|
||||||
|
</ignition-gui>
|
||||||
|
|
||||||
|
<play_pause>true</play_pause>
|
||||||
|
<step>true</step>
|
||||||
|
<start_paused>true</start_paused>
|
||||||
|
<use_event>true</use_event>
|
||||||
|
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- World statistics -->
|
||||||
|
<plugin filename="WorldStats" name="World stats">
|
||||||
|
<ignition-gui>
|
||||||
|
<title>World stats</title>
|
||||||
|
<property type="bool" key="showTitleBar">false</property>
|
||||||
|
<property type="bool" key="resizable">false</property>
|
||||||
|
<property type="double" key="height">110</property>
|
||||||
|
<property type="double" key="width">290</property>
|
||||||
|
<property type="double" key="z">1</property>
|
||||||
|
|
||||||
|
<property type="string" key="state">floating</property>
|
||||||
|
<anchors target="3D View">
|
||||||
|
<line own="right" target="right"/>
|
||||||
|
<line own="bottom" target="bottom"/>
|
||||||
|
</anchors>
|
||||||
|
</ignition-gui>
|
||||||
|
|
||||||
|
<sim_time>true</sim_time>
|
||||||
|
<real_time>true</real_time>
|
||||||
|
<real_time_factor>true</real_time_factor>
|
||||||
|
<iterations>true</iterations>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Inspector -->
|
||||||
|
<plugin filename="ComponentInspector" name="Component inspector">
|
||||||
|
<ignition-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</ignition-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Entity tree -->
|
||||||
|
<plugin filename="EntityTree" name="Entity tree">
|
||||||
|
<ignition-gui>
|
||||||
|
<property type="string" key="state">docked_collapsed</property>
|
||||||
|
</ignition-gui>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<!-- Image Display Plugins for visualization -->
|
||||||
|
<plugin filename="ImageDisplay" name="Image Display">
|
||||||
|
<ignition-gui>
|
||||||
|
</ignition-gui>
|
||||||
|
<topic>semantic/colored_map</topic>
|
||||||
|
</plugin>
|
||||||
|
</gui>
|
||||||
|
|
||||||
|
<light type="directional" name="sun">
|
||||||
|
<pose>0 0 10 0 0 0</pose>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.2 0.2 0.2 1</specular>
|
||||||
|
<attenuation>
|
||||||
|
<range>1000</range>
|
||||||
|
<constant>0.9</constant>
|
||||||
|
<linear>0.01</linear>
|
||||||
|
<quadratic>0.001</quadratic>
|
||||||
|
</attenuation>
|
||||||
|
<direction>-0.5 0.1 -0.9</direction>
|
||||||
|
</light>
|
||||||
|
|
||||||
|
<model name="ground_plane">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="link">
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>100 100</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>100 100</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>0.8 0.8 0.8 1</ambient>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.8 0.8 0.8 1</specular>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
</world>
|
||||||
|
</sdf>
|
||||||
Loading…
x
Reference in New Issue
Block a user