Never changed ActorPlugin to Action, instead minor renaming and tweaks.
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
@@ -14,6 +14,7 @@ find_package(ament_cmake REQUIRED)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY world DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY urdf DESTINATION share/${PROJECT_NAME})
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install(DIRECTORY stl DESTINATION share/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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@@ -14,11 +14,19 @@ def generate_launch_description():
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world_path = os.path.join(path, "world/test2.xml")
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urdf_path = os.path.join(path, "urdf/iisy.urdf")
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return LaunchDescription([
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
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launch_arguments={'world': world_path}.items()
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#IncludeLaunchDescription(
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# PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
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# launch_arguments={'world': world_path}.items()
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#),
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ExecuteProcess(
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cmd=[[
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'LIBGL_ALWAYS_SOFTWARE=true ros2 launch gazebo_ros gzserver.launch.py "world:='+world_path+'"'
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]],
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shell=True
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),
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# Start Gazebo client
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py'))
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BIN
src/gaz_simulation/stl/base_bottom_coll.stl
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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_bottom_low.stl
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src/gaz_simulation/stl/base_top_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_coll.stl
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src/gaz_simulation/stl/link_1_full_low.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_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_2_top_coll.stl
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src/gaz_simulation/stl/link_2_top_low.stl
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src/gaz_simulation/stl/link_2_top_low.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_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_bottom_low.stl
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src/gaz_simulation/stl/link_3_top_coll.stl
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src/gaz_simulation/stl/link_3_top_coll.stl
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src/gaz_simulation/stl/link_3_top_low.stl
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src/gaz_simulation/stl/link_3_top_low.stl
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@@ -1,195 +1,263 @@
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<?xml version="1.0"?>
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<robot name="iisy" xmlns:xacro="http://ros.org/wiki/xacro">
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<static>true</static>
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<link name='base'>
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<pose>0.025 0 0.05 0 0 0</pose>
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<collision name='collision'>
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<geometry>
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<box size=".15 .1 .1"/>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<box size=".15 .1 .1"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="6"/>
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<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="base_rot">
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<pose>0 0 0.155 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder radius=".05" length=".11"/>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder radius=".05" length=".11"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="2"/>
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<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link1">
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<pose>0 0 0.36 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder radius=".05" length=".30"/>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder radius=".05" length=".30"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="4"/>
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<inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
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</inertial>
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</link>
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<link name="link2_rot">
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<pose>0 0 0.585 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder radius=".05" length=".15"/>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder radius=".05" length=".15"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="2"/>
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link2">
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<pose>0 0 0.735 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder radius=".05" length=".15"/>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder radius=".05" length=".15"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="2"/>
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link3_rot">
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<pose>0 0 0.86 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder radius=".05" length=".10"/>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder radius=".05" length=".10"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="2"/>
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<inertia ixx="0.0029166666666667" ixy="0.0" ixz="0.0" iyy="0.0029166666666667" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link3">
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<pose>0 0 0.94025 0 0 0</pose>
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<collision name="collision">
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<geometry>
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<cylinder radius=".05" length=".0605"/>
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</geometry>
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</collision>
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<visual name="visual">
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<geometry>
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<cylinder radius=".05" length=".0605"/>
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</geometry>
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</visual>
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<inertial>
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<mass value="0.8"/>
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<inertia ixx="0.00074401666666667" ixy="0.0" ixz="0.0" iyy="0.00074401666666667" iyz="0.0" izz="0.001"/>
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</inertial>
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</link>
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<joint type="continuous" name="base_rot_joint">
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<pose>0 0 -0.055 0 0 0</pose>
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<parent link="base"/>
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<child link="base_rot"/>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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<limit effort="30" velocity="1.7453292519943"/>
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<?xml version="1.0" ?>
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<robot name="iisy">
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<link name="world" />
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<link name="base_link"/>
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<link name="base">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/base_bottom_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/base_bottom_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0.025 0 0.05" rpy="0 0 0"/>
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<mass value="6"/>
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<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="base_top">
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<collision>
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<origin xyz="0 -0.005 0.08"/>
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<geometry>
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<box size="0.14 0.15 0.16"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/base_top_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.155" rpy="0 0 0"/>
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<mass value="2"/>
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<inertia ixx="0.0032666666666667" ixy="0.0" ixz="0.0" iyy="0.0032666666666667" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link1_full">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_1_full_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_1_full_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.36" rpy="0 0 0"/>
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<mass value="4"/>
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<inertia ixx="0.0325" ixy="0.0" ixz="0.0" iyy="0.0325" iyz="0.0" izz="0.005"/>
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</inertial>
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</link>
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<link name="link2_bottom">
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<collision>
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<origin xyz="0 0.07 0.025"/>
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<geometry>
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<box size="0.14 0.14 0.19"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_2_bottom_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.585" rpy="0 0 0"/>
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<mass value="2"/>
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<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
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</inertial>
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</link>
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<link name="link2_top">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_2_top_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_2_top_low.stl"/>
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</geometry>
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</visual>
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<inertial>
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<origin xyz="0 0 0.735" rpy="0 0 0"/>
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<mass value="2"/>
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||||
<inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.0025"/>
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</inertial>
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||||
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</link>
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<link name="link3_bottom">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_3_bottom_coll.stl"/>
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</geometry>
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</collision>
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<visual>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_3_bottom_low.stl"/>
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</geometry>
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</visual>
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||||
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<inertial>
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||||
<origin xyz="0 0 0.86" rpy="0 0 0"/>
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||||
<mass value="2"/>
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||||
<inertia ixx="0.0029166666666667" ixy="0.0" ixz="0.0" iyy="0.0029166666666667" iyz="0.0" izz="0.0025"/>
|
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</inertial>
|
||||
|
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</link>
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<link name="link3_top">
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<collision>
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<geometry>
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<mesh filename="file://$(find gaz_simulation)/stl/link_3_top_coll.stl"/>
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</geometry>
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||||
</collision>
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||||
<visual>
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||||
<geometry>
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||||
<mesh filename="file://$(find gaz_simulation)/stl/link_3_top_low.stl"/>
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||||
</geometry>
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||||
</visual>
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||||
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||||
<inertial>
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||||
<origin xyz="0 0 0.94025" rpy="0 0 0"/>
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||||
<mass value="0.8"/>
|
||||
<inertia ixx="0.00074401666666667" ixy="0.0" ixz="0.0" iyy="0.00074401666666667" iyz="0.0" izz="0.001"/>
|
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</inertial>
|
||||
|
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</link>
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<joint type="fixed" name="world_base_link_fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="world"/>
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<child link="base_link"/>
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</joint>
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<joint type="fixed" name="base_base_link_fixed">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="base_link"/>
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<child link="base"/>
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</joint>
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||||
<joint type="continuous" name="base_rot">
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<origin xyz="0 0 0.1205" rpy="0 0 0"/>
|
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<parent link="base"/>
|
||||
<child link="base_top"/>
|
||||
<axis xyz="0 0 1"/>
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||||
<limit effort="30" velocity="1.7453292519943"/>
|
||||
</joint>
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||||
<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>
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||||
</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>
|
||||
@@ -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>
|
||||
|
||||
Reference in New Issue
Block a user