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Never changed ActorPlugin to Action, instead minor renaming and tweaks.

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Updated launch file to support GPU-acceleration of the gazebo client.
Created behavior tree for actor
Updated robot urdf, added better visualization and colliders.
This commit is contained in:
Bastian Hofmann
2022-03-14 21:02:55 +01:00
parent 3f9b39f9d6
commit 80da2d4153
28 changed files with 610 additions and 311 deletions
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src/gaz_simulation/CMakeLists.txt
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@@ -14,6 +14,7 @@ find_package(ament_cmake REQUIRED)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
install(DIRECTORY world DESTINATION share/${PROJECT_NAME})
install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
install(DIRECTORY stl DESTINATION share/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
src/gaz_simulation/launch/test_launch.py
+11 -3
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@@ -14,11 +14,19 @@ def generate_launch_description():
world_path = os.path.join(path, "world/test2.xml")
urdf_path = os.path.join(path, "urdf/iisy.urdf")
return LaunchDescription([
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
launch_arguments={'world': world_path}.items()
#IncludeLaunchDescription(
# PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
# launch_arguments={'world': world_path}.items()
#),
ExecuteProcess(
cmd=[[
'LIBGL_ALWAYS_SOFTWARE=true ros2 launch gazebo_ros gzserver.launch.py "world:='+world_path+'"'
]],
shell=True
),
# Start Gazebo client
IncludeLaunchDescription(
PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))
src/gaz_simulation/stl/base_bottom_coll.stl
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src/gaz_simulation/stl/base_bottom_low.stl
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src/gaz_simulation/stl/base_top_low.stl
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src/gaz_simulation/stl/link_1_full_coll.stl
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src/gaz_simulation/stl/link_1_full_low.stl
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src/gaz_simulation/stl/link_2_bottom_low.stl
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src/gaz_simulation/stl/link_2_top_coll.stl
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src/gaz_simulation/stl/link_3_bottom_coll.stl
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src/gaz_simulation/stl/link_3_bottom_low.stl
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src/gaz_simulation/stl/link_3_top_coll.stl
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src/gaz_simulation/urdf/iisy.urdf
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@@ -1,195 +1,263 @@
<?xml version="1.0"?>
<robot name="iisy" xmlns:xacro="http://ros.org/wiki/xacro">
<static>true</static>
<link name='base'>
<pose>0.025 0 0.05 0 0 0</pose>
<collision name='collision'>
<geometry>
<box size=".15 .1 .1"/>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<box size=".15 .1 .1"/>
</geometry>
</visual>
<inertial>
<mass value="6"/>
<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="base_rot">
<pose>0 0 0.155 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder radius=".05" length=".11"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder radius=".05" length=".11"/>
</geometry>
</visual>
<inertial>
<mass value="2"/>
<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link1">
<pose>0 0 0.36 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder radius=".05" length=".30"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder radius=".05" length=".30"/>
</geometry>
</visual>
<inertial>
<mass value="4"/>
<inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
</inertial>
</link>
<link name="link2_rot">
<pose>0 0 0.585 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder radius=".05" length=".15"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder radius=".05" length=".15"/>
</geometry>
</visual>
<inertial>
<mass value="2"/>
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link2">
<pose>0 0 0.735 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder radius=".05" length=".15"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder radius=".05" length=".15"/>
</geometry>
</visual>
<inertial>
<mass value="2"/>
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link3_rot">
<pose>0 0 0.86 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder radius=".05" length=".10"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder radius=".05" length=".10"/>
</geometry>
</visual>
<inertial>
<mass value="2"/>
<inertia ixx="0.0029166666666667" ixy="0.0" ixz="0.0" iyy="0.0029166666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link3">
<pose>0 0 0.94025 0 0 0</pose>
<collision name="collision">
<geometry>
<cylinder radius=".05" length=".0605"/>
</geometry>
</collision>
<visual name="visual">
<geometry>
<cylinder radius=".05" length=".0605"/>
</geometry>
</visual>
<inertial>
<mass value="0.8"/>
<inertia ixx="0.00074401666666667" ixy="0.0" ixz="0.0" iyy="0.00074401666666667" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint type="continuous" name="base_rot_joint">
<pose>0 0 -0.055 0 0 0</pose>
<parent link="base"/>
<child link="base_rot"/>
<axis>
<xyz>0 0 1</xyz>
</axis>
<limit effort="30" velocity="1.7453292519943"/>
<?xml version="1.0" ?>
<robot name="iisy">
<link name="world" />
<link name="base_link"/>
<link name="base">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/base_bottom_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/base_bottom_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0.025 0 0.05" rpy="0 0 0"/>
<mass value="6"/>
<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="base_top">
<collision>
<origin xyz="0 -0.005 0.08"/>
<geometry>
<box size="0.14 0.15 0.16"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/base_top_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.155" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link1_full">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_1_full_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_1_full_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.36" rpy="0 0 0"/>
<mass value="4"/>
<inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
</inertial>
</link>
<link name="link2_bottom">
<collision>
<origin xyz="0 0.07 0.025"/>
<geometry>
<box size="0.14 0.14 0.19"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_2_bottom_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.585" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link2_top">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_2_top_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_2_top_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.735" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link3_bottom">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_3_bottom_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_3_bottom_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.86" rpy="0 0 0"/>
<mass value="2"/>
<inertia ixx="0.0029166666666667" ixy="0.0" ixz="0.0" iyy="0.0029166666666667" iyz="0.0" izz="0.0025"/>
</inertial>
</link>
<link name="link3_top">
<collision>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_3_top_coll.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="file://$(find gaz_simulation)/stl/link_3_top_low.stl"/>
</geometry>
</visual>
<inertial>
<origin xyz="0 0 0.94025" rpy="0 0 0"/>
<mass value="0.8"/>
<inertia ixx="0.00074401666666667" ixy="0.0" ixz="0.0" iyy="0.00074401666666667" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint type="fixed" name="world_base_link_fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="world"/>
<child link="base_link"/>
</joint>
<joint type="fixed" name="base_base_link_fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<joint type="continuous" name="base_rot">
<origin xyz="0 0 0.1205" rpy="0 0 0"/>
<parent link="base"/>
<child link="base_top"/>
<axis xyz="0 0 1"/>
<limit effort="30" velocity="1.7453292519943"/>
</joint>
<joint type="revolute" name="base_link1_joint">
<origin xyz="0 -0.080499 0.092997" rpy="0 0 0"/>
<parent link="base_top"/>
<child link="link1_full"/>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="1.7453292519943" lower="-2.2689280275926" upper="2.4434609527921"/>
</joint>
<joint type="revolute" name="link1_link2_joint">
<origin xyz="0 0 0.3" rpy="0 0 0"/>
<parent link="link1_full"/>
<child link="link2_bottom"/>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="1.7453292519943" lower="-2.6179938779915" upper="2.6179938779915"/>
</joint>
<joint type="continuous" name="link2_rot">
<origin xyz="0 0.080501 0.120502" rpy="0 0 0"/>
<parent link="link2_bottom"/>
<child link="link2_top"/>
<axis xyz="0 0 1"/>
<limit effort="30" velocity="1.7453292519943"/>
</joint>
<joint type="continuous" name="link2_link3_joint">
<origin xyz="0 0.0565 0.178003" rpy="0 0 0"/>
<parent link="link2_top"/>
<child link="link3_bottom"/>
<axis xyz="0 1 0"/>
<limit effort="30" velocity="1.7453292519943"/>
</joint>
<joint type="continuous" name="link3_rot">
<origin xyz="0 -0.055001 0.085501" rpy="0 0 0"/>
<parent link="link3_bottom"/>
<child link="link3_top"/>
<axis xyz="0 0 1"/>
<limit effort="30" velocity="1.7453292519943"/>
</joint>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/simple_model</robotNamespace>
</plugin>
</gazebo>
<transmission name="trans_base_rot">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_rot">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint type="revolute" name="link1_joint">
<pose>0 0 -0.15 0 0 0</pose>
<parent link="base_rot"/>
<child link="link1"/>
<axis>
<xyz>1 0 0</xyz>
</axis>
<limit effort="30" velocity="1.7453292519943" lower="-1.221730476396" upper="1.221730476396"/>
<actuator name="base_rot_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_base_link1_joint">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link1_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint type="revolute" name="link2_rot_joint">
<pose>0 0 -0.075 0 0 0</pose>
<parent link="link1"/>
<child link="link2_rot"/>
<axis>
<xyz>1 0 0</xyz>
</axis>
<limit effort="30" velocity="1.7453292519943" lower="-1.3089969389957" upper="1.3089969389957"/>
<actuator name="base_link1_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_link1_link2_joint">
<type>transmission_interface/SimpleTransmission</type>
<joint name="link1_link2_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint type="continuous" name="link2_joint">
<pose>0 0 -0.075 0 0 0</pose>
<parent link="link2_rot"/>
<child link="link2"/>
<axis>
<xyz>0 0 1</xyz>
</axis>
<limit effort="30" velocity="1.7453292519943"/>
<actuator name="link1_link2_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_link2_rot">
<type>transmission_interface/SimpleTransmission</type>
<joint name="link2_rot">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint type="revolute" name="link3_rot_joint">
<pose>0 0 -0.05 0 0 0</pose>
<parent link="link2"/>
<child link="link3_rot"/>
<axis>
<xyz>1 0 0</xyz>
</axis>
<limit effort="30" velocity="1.7453292519943" lower="-0.95993108859688" upper="0.95993108859688"/>
<actuator name="link2_rot_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_link2_link3_joint">
<type>transmission_interface/SimpleTransmission</type>
<joint name="link2_link3_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<joint type="continuous" name="link3_joint">
<pose>0 0 -0.03025 0 0 0</pose>
<parent link="link3_rot"/>
<child link="link3"/>
<axis>
<xyz>0 0 1</xyz>
</axis>
<limit effort="30" velocity="1.7453292519943"/>
<actuator name="link2_link3_joint_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="trans_link3_rot">
<type>transmission_interface/SimpleTransmission</type>
<joint name="link3_rot">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/simple_model</robotNamespace>
</plugin>
</gazebo>
</robot>
<actuator name="link3_rot_motor">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/</robotNamespace>
</plugin>
</gazebo>
</robot>
src/gaz_simulation/world/test2.xml
+8 -9
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@@ -111,7 +111,7 @@
</box>
</geometry>
</visual>-->
<sensor name="laser" type="gpu_ray">
<sensor name="laser_1" type="gpu_ray">
<pose>0.1 0 0 0 0 0</pose>
<ray>
<scan>
@@ -132,21 +132,21 @@
<update_rate>10</update_rate>
<visualize>true</visualize>
<plugin name='laser' filename='libgazebo_ros_ray_sensor.so'>
<plugin name='laser_1_plugin' filename='libgazebo_ros_ray_sensor.so'>
<ros>
<namespace>/lidar_1</namespace>
<argument>--ros-args --remap ~/out:=scan</argument>
</ros>
<output_type>sensor_msgs/PointCloud2</output_type>
</plugin>
</plugin>
</sensor>
</link>
</model>
<model name="lidar_2">
<static>1</static>
<link name="lidar_2_link">
<pose>-2 1 1 0 0 </pose>
<collision name='collision'>
<pose>-1.9 1 1 0 0 </pose>
<!--<collision name='collision'>
<geometry>
<box>
<size>.1 .1 .1</size>
@@ -159,9 +159,8 @@
<size>.1 .1 .1</size>
</box>
</geometry>
</visual>
<sensor name="laser" type="gpu_ray">
<pose>0.1 0 0 0 0 0</pose>
</visual>-->
<sensor name="laser_2" type="gpu_ray">
<ray>
<scan>
<horizontal>
@@ -181,7 +180,7 @@
<update_rate>10</update_rate>
<visualize>true</visualize>
<plugin name='laser' filename='libgazebo_ros_ray_sensor.so'>
<plugin name='laser_2_plugin' filename='libgazebo_ros_ray_sensor.so'>
<ros>
<namespace>/lidar_2</namespace>
<frameName>/lidar_2_link</frameName>