diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/.gitignore b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/CMakeLists.txt b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/CMakeLists.txt new file mode 100644 index 00000000..836ec96c --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_husky_sensor_config_3) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY config launch meshes materials urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS scripts/print_robot_urdf scripts/yaml_to_xacro_args + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/README.md b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/README.md new file mode 100644 index 00000000..92b84bad --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/README.md @@ -0,0 +1,28 @@ +# CTU\_CRAS\_NORLAB\_HUSKY\_SENSOR\_CONFIG\_3 + +This package contains sensor config 3 of CTU-CRAS-Norlab Husky robot. The robot has: + +- Ouster OS0-128 lidar +- An omnivision setup of 4 Basler Ace2 (a2A1920-51gcPRO) cameras with C125-0418-5M-P Basler Lens +- LED strips +- Xsens MTi-30 IMU +- Weight: about 58 kg + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/robot.xacro` file and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf_ign`, which updates the `model.sdf` file in this repo. The change can then be commited. + +There is also script `scripts/update_robot_sdf_gz`, which creates a model.sdf file suitable for use in Gazebo Classic. This can be used to get its much better visualization functionality, i.e. viewing transparent model, wireframe, inertia, centers of gravity etc. + +The model is also configured by a set of shared config files located in `config/` directory. It contains YAML files which are loaded in the following order: + +- URDF: `common.yaml`, `urdf.yaml` +- SDF for Ignition Gazebo: `common.yaml`, `sim.yaml`, `ign.yaml` +- SDF for Gazebo Classic: `common.yaml`, `sim.yaml`, `gz.yaml` + +Sensor configuration 4 of Husky makes use of the robot model defined here, but uses customized configuration files to get the right sensor suite. \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/common.yaml b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/common.yaml new file mode 100644 index 00000000..b64a7ba2 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/common.yaml @@ -0,0 +1,33 @@ +has_jetson: True +has_basler_cameras: True +has_ouster_lidar: True +has_mote_deployer: False + +has_tower: True +tower_j_x: 0.182 +tower_j_y: 0.123 + +has_bullet: True +bullet_parent_link: tower +bullet_pos_x: -0.08 +bullet_pos_y: 0.15 +bullet_pos_z: 0.025 +bullet_antenna_rotation: 0.3 + +has_mobilicom: True +mobilicom_antenna_l_rotation: -1 +mobilicom_antenna_l_tilt: 0 +mobilicom_antenna_r_rotation: 1 +mobilicom_antenna_r_tilt: 0 +mobilicom_antennas_length: 0.1 +mobilicom_has_antenna_box: 0 +mobilicom_antennas_radius: 0.005 +mobilicom_is_lite: True +mobilicom_parent_link: tower +mobilicom_use_visual_mesh: True +mobilicom_rpy_r: 3.141592 +mobilicom_rpy_p: -1.5758 +mobilicom_rpy_y: 0 +mobilicom_pos_x: 0.07 +mobilicom_pos_y: -0.04 +mobilicom_pos_z: 0.04 diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/gz.yaml b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/gz.yaml new file mode 100644 index 00000000..c7a53af0 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/gz.yaml @@ -0,0 +1 @@ +rendering_target: gz \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/ign.yaml b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/ign.yaml new file mode 100644 index 00000000..a040dcfb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/ign.yaml @@ -0,0 +1 @@ +rendering_target: ign \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/rviz.rviz b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/rviz.rviz new file mode 100644 index 00000000..b0c94aeb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/rviz.rviz @@ -0,0 +1,524 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Omnicam1 + Splitter Ratio: 0.5 + Tree Height: 813 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bullet: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + bullet_antenna: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + jetson: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mobilicom: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mobilicom_antenna_l: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mobilicom_antenna_r: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mote_deployer_l: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + mote_deployer_r: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ouster_mount: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + ouster_mount_top: + Alpha: 1 + Show Axes: false + Show Trail: false + payload_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_corner: + Alpha: 1 + Show Axes: false + Show Trail: false + rear_right_wheel_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_box: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_box_camera_floor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_box_cap: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_box_cap_top: + Alpha: 1 + Show Axes: false + Show Trail: false + top_box_lower_floor: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + total_mass_47_697: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz_plugin_tutorials/Imu + Color: 204; 51; 204 + Enabled: false + History Length: 1 + Name: Imu + Topic: /X1/imu/data + Unreliable: false + Value: false + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_0/optical/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera 0 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_1/optical/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera 1 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_2/optical/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera 2 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_3/optical/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera 3 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: Omnicam + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 19.20396614074707 + Min Value: -5.9556097984313965 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: 3D lidar + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + bullet: + Value: true + bullet_antenna: + Value: true + camera_0: + Value: true + camera_1: + Value: true + camera_2: + Value: true + camera_3: + Value: true + front_left_wheel_axle: + Value: true + front_left_wheel_link: + Value: true + front_right_wheel_axle: + Value: true + front_right_wheel_link: + Value: true + imu: + Value: true + jetson: + Value: true + laser: + Value: true + mobilicom: + Value: true + mobilicom_antenna_l: + Value: true + mobilicom_antenna_r: + Value: true + mote_deployer_l: + Value: true + mote_deployer_r: + Value: true + ouster_mount: + Value: true + ouster_mount_top: + Value: true + payload_frame: + Value: true + rear_left_wheel_axle: + Value: true + rear_left_wheel_link: + Value: true + rear_right_corner: + Value: true + rear_right_wheel_axle: + Value: true + rear_right_wheel_link: + Value: true + top_box: + Value: true + top_box_camera_floor: + Value: true + top_box_cap: + Value: true + top_box_cap_top: + Value: true + top_box_lower_floor: + Value: true + total_mass_47_697: + Value: true + Marker Scale: 0.20000000298023224 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + base_link: + front_left_wheel_link: + front_left_wheel_axle: + {} + front_right_wheel_link: + front_right_wheel_axle: + {} + payload_frame: + mote_deployer_l: + {} + mote_deployer_r: + {} + rear_left_wheel_link: + rear_left_wheel_axle: + {} + rear_right_corner: + top_box: + bullet: + bullet_antenna: + {} + mobilicom: + mobilicom_antenna_l: + {} + mobilicom_antenna_r: + {} + top_box_camera_floor: + camera_0: + {} + camera_1: + {} + camera_2: + {} + camera_3: + {} + top_box_cap: + top_box_cap_top: + ouster_mount: + ouster_mount_top: + laser: + {} + top_box_lower_floor: + imu: + {} + jetson: + {} + rear_right_wheel_link: + rear_right_wheel_axle: + {} + total_mass_47_697: + {} + Update Interval: 0 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1.8979061841964722 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.029040828347206116 + Y: 0.0678446888923645 + Z: 0.07722548395395279 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.41539818048477173 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.0922183990478516 + Saved: ~ +Window Geometry: + Camera 0: + collapsed: false + Camera 1: + collapsed: false + Camera 2: + collapsed: false + Camera 3: + collapsed: false + Displays: + collapsed: false + Height: 1172 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1853 + X: 1267 + Y: 308 diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/sim.yaml b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/sim.yaml new file mode 100644 index 00000000..d1c6dc9d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/sim.yaml @@ -0,0 +1,3 @@ +simulate_ouster_lidar: True +simulate_basler_cams: True +simulate_imu: True \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/teleop_config.yaml b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/teleop_config.yaml new file mode 100644 index 00000000..5b5e837a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/teleop_config.yaml @@ -0,0 +1,2 @@ +scale_angular: 0.8 +scale_angular_turbo: 1.5 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/urdf.yaml b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/urdf.yaml new file mode 100644 index 00000000..c60a0a81 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/config/urdf.yaml @@ -0,0 +1 @@ +rendering_target: urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/common.rb b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/common.rb new file mode 100644 index 00000000..2253cb57 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/common.rb @@ -0,0 +1,104 @@ +def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF, _max_velocity=1, _max_acceleration=3) + <<-HEREDOC + + #{_name} + false + #{_x} #{_y} #{_z + 0.2} #{_roll} #{_pitch} #{_yaw} + #{_worldName} + true + + + #{_name} + #{_modelURI} + + + front_left_wheel_joint + rear_left_wheel_joint + front_right_wheel_joint + rear_right_wheel_joint + #{0.45649 * 1.5} + 0.1651 + /model/#{_name}/cmd_vel_relay + #{-_max_velocity} + #{_max_velocity} + #{-_max_acceleration} + #{_max_acceleration} + + + + true + true + false + false + #{$enableGroundTruth} + true + true + 1 + + + + /model/#{_name}/gas_detected + 10 + gas + + + + + 0.172 + 0 + 149.6 + 0.1651 + + + 0.172 + 0 + 149.6 + 0.1651 + + + 0.172 + 0 + 149.6 + 0.1651 + + + 0.172 + 0 + 149.6 + 0.1651 + + + + #{_additionalSDF} + + + + linear_battery + 12.694 + 12.694 + -3.1424 + 78.4 + 78.4 + 0.061523 + 1.9499 + 6.6 + true + + + + + HEREDOC +end + +def _rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_husky_sensor_config_3 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/description.launch b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/description.launch new file mode 100644 index 00000000..2b434789 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/description.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/example.ign b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/example.ign new file mode 100644 index 00000000..73ef5045 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/example.ign @@ -0,0 +1,191 @@ + + + +<% + #require_relative 'spawner' + _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), "..")) + load File.join(_base_dir, "launch", "spawner.rb") + + conf1_base_dir = `rospack find ctu_cras_norlab_husky_sensor_config_1`.chomp + + # Modify these as needed + $enableGroundTruth = true + $headless = local_variables.include?(:headless) ? :headless : false + +%> + +<% + unless local_variables.include?(:robotName) + raise "missing parameters. robotName is a required parameter" + end + + # This assumes that this launch file is in a directory below the model + modelURI = File.expand_path(_base_dir, File.dirname(__FILE__)) + $worldName = 'example' + worldFile = File.join(File.join(conf1_base_dir, "worlds"), "#{$worldName}.sdf") + +%> + + + + IGN_GAZEBO_SYSTEM_PLUGIN_PATH + $LD_LIBRARY_PATH + + + LC_ALL + C + + + + +<% if local_variables.include?(:ros) and ros %> + + roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%> + +<% end %> + +<% if local_variables.include?(:teleop) and teleop %> + + roslaunch --wait ctu_cras_norlab_husky_sensor_config_3 teleop.launch + +<% end %> + + + <%= worldFile %> + true + false + + false + + + + + + + ogre2 + + + + + + + + + + + + + + + + <%if !$headless %> + + + <%= $worldName %> + SubT Simulator + <%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg + + + 3D View + false + docked + + + ogre2 + scene + 0.2 0.2 0.1 + 0.8 0.8 0.8 + -6.3 -4.2 3.6 0 0.268 0.304 + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/pose/info + /world/<%= $worldName %>/scene/info + /world/<%= $worldName %>/scene/deletion + + + + World control + false + false + 72 + 121 + 1 + + floating + + + + + + + true + true + false + /world/<%= $worldName %>/control + /world/<%= $worldName %>/stats + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + /world/<%= $worldName %>/stats + + + + <%end%> + + +<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0) %> + + +<% if local_variables.include?(:ros) and ros %> + <%= rosExecutables(robotName, $worldName) %> +<% end %> + + + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/spawner.rb b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/spawner.rb new file mode 100644 index 00000000..6b8056be --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/spawner.rb @@ -0,0 +1,9 @@ +require_relative 'common.rb' + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='', _max_velocity=1, _max_acceleration=3) + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF, _max_velocity, _max_acceleration) +end + +def rosExecutables(_name, _worldName) + _rosExecutables(_name, _worldName) +end diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/teleop.launch b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/teleop.launch new file mode 100644 index 00000000..0cb25709 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/teleop.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/vehicle_topics.launch new file mode 100644 index 00000000..c6bdface --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/launch/vehicle_topics.launch @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/materials/textures/ouster-os0.png b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/materials/textures/ouster-os0.png new file mode 100644 index 00000000..a7399ad0 Binary files /dev/null and b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/materials/textures/ouster-os0.png differ diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/meshes/basler_ace2_pro.dae b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/meshes/basler_ace2_pro.dae new file mode 100644 index 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617 37

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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_HUSKY_SENSOR_CONFIG_1/tip/files/meshes/wheel.dae + + + + + + rear_right_wheel_link + base_link + + 0 1 0 + + -1e+16 + 1e+16 + -1 + -1 + + + 0 + 0 + 0 + 0 + + 0 + + + + -0.256 -0.2854 0.03282 0 -0 0 + + 1e-05 + + 0.001 + 1e-06 + 1e-06 + 0.001 + 1e-06 + 0.001 + + + + 0 0.065 0 1.5707963267948966 -0 0 + + + 0.03 + 0.01 + + + + + 0 0.065 0 1.5707963267948966 -0 0 + + + 0.03 + 0.01 + + + + + + rear_right_wheel_axle + rear_right_wheel_link + + + 0 + 0 + + 0 0 1 + 0 + + -1e+16 + 1e+16 + + + + + + 0 + 0.2 + + + + + + + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/package.xml b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/package.xml new file mode 100644 index 00000000..6366258d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/package.xml @@ -0,0 +1,31 @@ + + + ctu_cras_norlab_husky_sensor_config_3 + 0.1.0 + The ctu_cras_norlab_husky_sensor_config_3 skid-steered robot package, based on the Husky model from Team MARBLE: + - The robotic platform is a standard Clearpath Husky + - The sensor rack sitting on top of the Husky includes: + - Ouster OS0-128 lidar + - An omnivision setup of 4 Basler Ace2 (a2A1920-51gcPRO) cameras with C125-0418-5M-P Basler Lens + - LED strips + - Xsens MTi-30 IMU + - The model includes the default SubT gas sensor + - Weight: Approx. 58 kg + - Husky: 50 kg + - Sensor rack: 8 kg + + The model of the Husky platform is based on the Team MARBLE's Husky, namely on the mesh and texture files; and on the relevant sdf description. + Thanks to the original authors Brett A. Fotheringham(fotheringhambrett@gmail.com), Derek Vasquez (dvasquez@ssci.com), Neil Johnson (njohnson@ssci.com) + and Hector Escobar (hescobar@ssci.com) for making our lives easier! + + Martin Pecka + Martin Pecka + BSD + + catkin + ctu_cras_norlab_husky_sensor_config_1 + roslaunch + subt_ros + urdf + xacro + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/clean_sdf b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/clean_sdf new file mode 100755 index 00000000..c5ac686a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/clean_sdf @@ -0,0 +1,15 @@ +#!/usr/bin/env bash +set -e + +sed -i \ + -e '//{:a;N;/<\/surface>/!ba};/\n\s*\n\s*\n\s*<\/contact>\n\s*\n\s*\n\s*<\/friction>\n\s*<\/surface>/d' \ + -e '/\(-\?0 \?\)\{6\}<\/pose>/d' \ + -e '/1 1 1<\/scale>/d' \ + -e '//d' \ + -e '//d' \ + -e '//d' \ + -e '/1<\/gravity>/d' \ + -e '/0<\/kinematic>/d' \ + -e '/0<\/static>/d' "$1" +sed -i '//{:a;N;/<\/contact>/!ba};/\n\s*\n\s*<\/contact>/d' "$1" +sed -i 's/\(]*>\)/\1\r /g' "$1" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/compute_total_mass b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/compute_total_mass new file mode 100755 index 00000000..2fb399eb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/compute_total_mass @@ -0,0 +1,9 @@ +#!/usr/bin/env bash +set -e + +# compute the total mass of the robot by summing all elements in SDF + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +sdf="${1:-"${DIR}/../model.sdf"}" + +grep -i mass "$sdf" | grep -o '[0-9e.-]*' | grep -vi 'e-0' | numsum \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/high_precision_constants.py b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/high_precision_constants.py new file mode 100755 index 00000000..c216baf7 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/high_precision_constants.py @@ -0,0 +1,79 @@ +#!/usr/bin/env python +# +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from __future__ import print_function +from lxml import etree +import math +import argparse +import sys + +# Values of PI to check. Only put positive values. +CONSTANTS_TO_CHECK = [math.pi, math.pi/2] + +def convert_to_high_precision_pi(urdf_file, tol, precision): + """Search all poses for values that are near PI and PI/2 and replace them + with their high precision counterparts. + + Parameters + ---------- + urdf_file : Input urdf file + tol: Tolerance for equality check + + Returns + ------- + etree.Element + + """ + inp = etree.parse(urdf_file) + sdf = inp.getroot() + poses = sdf.xpath('//pose') + + for pose in poses: + new_pose_list = [] + for val in pose.text.split(): + val_fl = float(val) + for check_val in CONSTANTS_TO_CHECK: + if abs(abs(val_fl) - check_val) < tol: + new_pose_list.append('{:.{precision}f}'.format( + math.copysign(check_val, val_fl), precision=precision)) + break + # The else block executes if none of the values in + # CONSTANTS_TO_CHECK match val_fl + else: + new_pose_list.append(val) + + new_pose = ' '.join(new_pose_list) + pose.text = new_pose + return inp + + +if __name__ == '__main__': + parser = argparse.ArgumentParser( + formatter_class=argparse.ArgumentDefaultsHelpFormatter, + description='Search all elements for values that are near PI ' + 'and PI/2 and replace them with their high precision counterparts.') + parser.add_argument('infile', type=argparse.FileType('r'), + help='Input URDF file') + parser.add_argument('-t', '--tolerance', type=float, default=1e-3, + help='Tolerance for equality checks') + parser.add_argument('-p', '--precision', type=float, default=16, + help='Tolerance for equality checks') + + args = parser.parse_args() + out = convert_to_high_precision_pi(args.infile, args.tolerance, + args.precision) + print(etree.tostring(out, pretty_print=True, encoding='utf-8', + xml_declaration=True)) diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/print_robot_urdf new file mode 100755 index 00000000..2739b51d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/print_robot_urdf @@ -0,0 +1,13 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + config="${config} $("${DIR}/yaml_to_xacro_args" "$file")" +done + +echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/robot.xacro" ${config} "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_gz b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_gz new file mode 100755 index 00000000..8a44cc02 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_gz @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/gz.yaml"; do + config="${config} $("${DIR}/yaml_to_xacro_args" "$file")" +done + +echo -e "Rendering Gazebo Classic SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/robot.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf" +gz sdf -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}" + +"${DIR}/clean_sdf" "${OUTPUT_FILE}" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_ign b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_ign new file mode 100755 index 00000000..6f956b17 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_ign @@ -0,0 +1,24 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sim.yaml" "${MODEL_DIR}/config/ign.yaml"; do + config="${config} $("${DIR}/yaml_to_xacro_args" "$file")" +done + +sdf8_version="$(ign sdf --versions | grep '^8')" || true +[ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1 +echo "Found libsdformat ${sdf8_version}" >&2 + +echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")") with the following Xacro arguments:\n${config}" "$@" >&2 +rosrun xacro xacro "${MODEL_DIR}/urdf/robot.xacro" ${config} "$@" > "${OUTPUT_FILE}.urdf" +ign sdf --force-version "$sdf8_version" -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}" + +"${DIR}/clean_sdf" "${OUTPUT_FILE}" +# fix resource paths +sed -i -e 's#model://ctu_cras_norlab_husky_sensor_config_3/##g' "${OUTPUT_FILE}" +sed -i -e 's#model://ctu_cras_norlab_husky_sensor_config_1/#https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_HUSKY_SENSOR_CONFIG_1/tip/files/#g' "${OUTPUT_FILE}" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_ign_all_configs b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_ign_all_configs new file mode 100755 index 00000000..c52d0351 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/update_robot_sdf_ign_all_configs @@ -0,0 +1,9 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +SUBMITTED_MODELS_DIR="${DIR}/../.." + +for config in "${SUBMITTED_MODELS_DIR}"/ctu_cras_norlab_husky_sensor_config_3 "${SUBMITTED_MODELS_DIR}"/ctu_cras_norlab_husky_sensor_config_4; do + "${config}/scripts/update_robot_sdf_ign" +done \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/yaml_to_xacro_args b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/yaml_to_xacro_args new file mode 100755 index 00000000..8383ada8 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/scripts/yaml_to_xacro_args @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +set -e + +# convert the given yaml file to a list of key:=value intended to be passed to xacro +# this script does not support nested YAML structures + +file="$1" +sed 's/: \?/:=/' < "$file" | sed '/^#.*$/d' | sed 's/#.*$//' | sed 's/:=\s*True\s*$/:=1/i' | sed 's/:=\s*False\s*$/:=0/i' | tr "\n" " " \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/specifications.md b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/specifications.md new file mode 100644 index 00000000..9a5cb975 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/specifications.md @@ -0,0 +1,83 @@ + + +# CTU-CRAS-NORLAB Husky Sensor Config 3 +This specifications.md file is a description and proof of virtual model validation for the CTU-CRAS-NORLAB Husky with Sensor Configuration 3. +This robot may be launched using an ign launch command with the variable name `ctu_cras_norlab_husky_sensor_config_3`. + +## Description +The main chassis of the robot is the Clearpath Husky robot. +The sensor rack build by CTU-CRAS provides 4 wide-angle cameras (front, right, rear, left), a 128-beam Ouster lidar and an IMU. +The robot illuminates the surroundings with LED strips attached to the payload attachment frame on top of the Husky. + +Sensor config 3 and 4 are very different from 1 and 2. Configs 3 and 4 represent the husky built by CTU-CRAS for the SubT challenge (which did attend the Finals), while sensor configs 1 and 2 are the build of Norlab, which was only an active backup in the Finals and was never used in the challenge. + +The model of the Husky platform is based on the Team MARBLE's Husky, namely on the mesh and texture files; and on the relevant sdf description. +Thanks to the original authors Brett A. Fotheringham(fotheringhambrett@gmail.com), Derek Vasquez (dvasquez@ssci.com), +Neil Johnson (njohnson@ssci.com) and Hector Escobar (hescobar@ssci.com) for making our lives easier! + +## Usage Instructions +The robot motion is controlled via standard `cmd_vel` commands and produces standard odometry. + +## Usage Rights +No additional restrictions have to be taken into account for this configuration. + +### Cost and Scale +The Husky has the following estimated commercial costs: +* Base vehicle: $25,000 +* Sensor Suite: $14,000 ($2,500 for cameras, $10,000 for the lidar, $1,500 for the IMU) +* Compute/support electronics and integration: $3,000 +* Total: ~ $42,000 + +Its weight is approximately 58 kg (50 kg the Husky chassis, 8 kg the sensor rig). Two persons are needed for manipulation. + +### Sensors +This Husky with sensor configuration 3 includes the following sensors. The specifications are provided below in the [Validation Links](#validation_links) section. + +* Ouster OS0-128 3D lidar modeled by `gpu_lidar` sensor. It runs configured to produce 1024x128 scans at 10 Hz. It has a very wide vertical field of view (90 degrees) and short range (about 50 meters). +* 5x RGB global shutter camera Basler a2A1920-51gcPRO with 4 mm lens modeled by `camera` sensor. Each camera provides 86 degrees of horizontal FOV. Resolution is 1920x1200 px. According to datasheet, the camera can run on frequencies up to 51 Hz, but the robot doesn't have sufficient computational and communication capacity to transmit such high frequency data. We thus lowered the framerate of the simulated camera to 9 Hz. We verified in real life that we are able to transmit the 9 Hz images and process them (the 4 cameras more or less saturate a Gigabit link with this framerate). +* XSens MTI-30 IMU: modeled by `imu` sensor. +* 12 communication breadcrumbs are also available as a payload for this robot in sensor configuration 4 (real robot will carry 4 or 8). + +### Control +The robot is controlled by the DiffDrive plugin. It accepts twist inputs which drive the vehicle along the x-direction and around the z-axis. + +### Motion Characteristics +The characteristics are identical to the MARBLE Husky robot, which is in turn based on the COSTAR Husky: +Based on the tests specified in the DARPA SubT Challenge [Model Preparation Guide](https://subtchallenge.com/resources/Simulation_Model_Preparation_Guide.pdf), this vehicle has the following motion constraint characteristics: + +* _x_ velocity range from -1.0 m/s to 1.0 m/s +* _x_ acceleration range from -3.0 m/s2 to 3.0 m/s2 + +The constraints can be found in the following locations within the simulation model package: + +* `spawner.rb`, line 3 + +### Endurance Characteristics +We leave the same endurance as the Team MARBLE, i.e. 1 hour. +Based on the experience from our SubT runs, this value is a fair approximation or even underestimation (depending the type of battery used). + +### Diversions from Physical Hardware of MARBLE Husky +Cameras have no distortion as the simulator does not support it. + +The 3D lidar produces the 360 degree scans in a single instant in simulation, as opposed to the 100 ms-long interval it takes the real lidar. + +## Changing parameters of the robot + +Most parameters affecting the simulation model performance are in the `config/` folder, in files `common.yaml`, `sim.yaml` and `ign.yaml`. If some parameter is not exposed to these config files, look into the Xacro files in `urdf/` folder and change the values there. + +After changing a value in these files, run script `scripts/update_robot_sdf_ign` to write the changes to the SDF file. Or run `scripts/update_robot_sdf_ign_all_configs` to write the change in SDF files of sensor configs 3 and 4 of Husky. + +__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__ + + +## Validation and Specification Links +* Most validation data are provided in `marble_husky_sensor_config_1` as this model is based on it. + +* Vehicle Links: + * https://clearpathrobotics.com/husky-unmanned-ground-vehicle-robot/ + +* Sensor specification links: + * Ouster OS0-128 https://ouster.com/products/os0-lidar-sensor/ + * Basler cam https://www.baslerweb.com/en/products/cameras/area-scan-cameras/ace2/a2a1920-51gcpro/ + lens https://www.baslerweb.com/en/products/vision-components/lenses/basler-lens-c125-0418-5m-p-f4mm/ + Experimental validation: https://drive.google.com/drive/folders/1-KWMvjWSYYeLqPA0C3FCdKuHQAmOHN-z?usp=sharing + * IMU: XSens MTi-30 https://www.mouser.com/datasheet/2/693/mti-series-1358510.pdf + * Lights: the robot uses `1.5 m` of LED strips around the body. The total power output of these strips is about `50 W`. diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/1.png b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/1.png new file mode 100644 index 00000000..8e4e5ed8 Binary files /dev/null and b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/1.png differ diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/2.png b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/2.png new file mode 100644 index 00000000..302c29d0 Binary files /dev/null and b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/2.png differ diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/3.png b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/3.png new file mode 100644 index 00000000..165ec6cd Binary files /dev/null and b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/3.png differ diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/4.png b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/4.png new file mode 100644 index 00000000..9920fa8f Binary files /dev/null and b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/4.png differ diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/5.png b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/5.png new file mode 100644 index 00000000..c39d23aa Binary files /dev/null and b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/thumbnails/5.png differ diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/basler_cameras.xacro b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/basler_cameras.xacro new file mode 100644 index 00000000..7d15e4be --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/basler_cameras.xacro @@ -0,0 +1,123 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${virtual_lens_origin} 0 ${camera_height/2} 0 0 0 + ${frame_rate} + ${visualize} + + ${radians(hfov_deg)} + + ${resolution_x} + ${resolution_y} + R8G8B8 + + + + ${clip} + 300 + + + gaussian + 0.0 + 0.007 + + + + stereographic + true + ${pi} + 1024 + + + + + + + ${f} + ${f} + ${(resolution_x - 1) / 2} + ${(resolution_y - 1) / 2} + 0 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/bullet.xacro b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/bullet.xacro new file mode 100644 index 00000000..12a88c15 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/bullet.xacro @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/mobilicom.xacro b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/mobilicom.xacro new file mode 100644 index 00000000..9c02b465 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/mobilicom.xacro @@ -0,0 +1,121 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/mote_deployer.xacro b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/mote_deployer.xacro new file mode 100644 index 00000000..1e2387c7 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/mote_deployer.xacro @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/ouster_lidar.xacro b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/ouster_lidar.xacro new file mode 100644 index 00000000..09cc4cfb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/ouster_lidar.xacro @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + 0 0 0.035925 0 0 0 + ${rate} + ${visualize} + 1 + + + + ${horiz_samples} + 1 + -3.1459 + 3.1459 + + + 128 + 1 + -${pi/4} + ${pi/4} + + + + 0.25 + 50 + 0.01 + + + gaussian + 0 + 0.01 + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/robot.xacro b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/robot.xacro new file mode 100644 index 00000000..ffc51f1a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/robot.xacro @@ -0,0 +1,514 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1e+07 + 1 + + + + + 0.5 + 1 + 0.00062 + 0 + 0 0 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0.215 0.23 0 ${pi/2} ${-pi/2} + + 50 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 2.8 + 2.9 + 1 + + 1 0 0 + + + 0 -0.215 0.23 0 ${pi/2} ${pi/2} + + 50 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 2.8 + 2.9 + 1 + + 1 0 0 + + + -0.275 0 0.23 0 ${pi/2} 0 + + 50 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1.8 + 1.9 + 1 + + 1 0 0 + + + 0.275 0 0.23 0 ${pi/2} ${pi} + + 50 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1.8 + 1.9 + 1 + + 1 0 0 + + + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/utils.xacro new file mode 100644 index 00000000..09ec53ee --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/utils.xacro @@ -0,0 +1,143 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + + + + + + + + + + + + + + + + 0 0 0 0 + + ${max(0, r - 60/255.0)} ${max(0, g - 60/255.0)} ${max(0, b - 60/255.0)} 1 + 0 0 0 0 + 0 0 0 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/xsens_mti_30.xacro b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/xsens_mti_30.xacro new file mode 100644 index 00000000..1faabe52 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_3/urdf/xsens_mti_30.xacro @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + 1 + 50 + + + + + 0 + 0.009 + 0.00075 + 0.005 + + 0.00002 + 400.0 + + 0.00025 + + + + + + + + + + 0 + 0.021 + 0.05 + 0.0075 + + 0.000375 + 175.0 + + 0.005 + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/.gitignore b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/CMakeLists.txt b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/CMakeLists.txt new file mode 100644 index 00000000..969f94db --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_husky_sensor_config_4) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY config launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/README.md b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/README.md new file mode 100644 index 00000000..3967af01 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/README.md @@ -0,0 +1,27 @@ +# CTU\_CRAS\_NORLAB\_HUSKY\_SENSOR\_CONFIG\_4 + +This package contains sensor config 4 of CTU-CRAS-Norlab Husky robot. The robot has: + +- Ouster OS0-128 lidar +- An omnivision setup of 4 Basler Ace2 (a2A1920-51gcPRO) cameras with C125-0418-5M-P Basler Lens +- LED strips +- Xsens MTi-30 IMU +- 12 communication breadcrumbs +- Weight: about 58 kg + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/robot.xacro` file in `ctu_cras_norlab_husky_sensor_config_3` and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf_ign`, which updates the `model.sdf` file in this repo. The change can then be commited. + +There is also script `scripts/update_robot_sdf_gz`, which creates a model.sdf file suitable for use in Gazebo Classic. This can be used to get its much better visualization functionality, i.e. viewing transparent model, wireframe, inertia, centers of gravity etc. + +The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 3. It contains YAML files which are loaded in the following order: + +- URDF: `sensor_config_3/config/common.yaml`, `sensor_config_3/config/urdf.yaml`, `common.yaml`, `urdf.yaml` +- SDF for Ignition Gazebo: `sensor_config_3/config/common.yaml`, `sensor_config_3/config/sim.yaml`, `sensor_config_3/config/ign.yaml`, `common.yaml`, `sim.yaml`, `ign.yaml` +- SDF for Gazebo Classic: `sensor_config_3/config/common.yaml`, `sensor_config_3/config/sim.yaml`, `sensor_config_3/config/gz.yaml`, `common.yaml`, `sim.yaml`, `gz.yaml` diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/config/common.yaml b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/config/common.yaml new file mode 100644 index 00000000..3a442686 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/config/common.yaml @@ -0,0 +1,2 @@ +num_breadcrumbs: 12 +has_mote_deployer: True \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/launch/example.ign b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/launch/example.ign new file mode 100644 index 00000000..da53505c --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/launch/example.ign @@ -0,0 +1,25 @@ + +<% + base_launch = `rospack find ctu_cras_norlab_husky_sensor_config_3`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= teleop_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/launch/spawner.rb b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/launch/spawner.rb new file mode 100644 index 00000000..494fc024 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/launch/spawner.rb @@ -0,0 +1,43 @@ +require 'yaml' +confdir = File.join(__dir__, '..', 'config') +config = YAML.load_file(File.join(confdir, 'common.yaml')) + +$num_breadcrumbs = config["num_breadcrumbs"] + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + base_spawn = `rospack find ctu_cras_norlab_husky_sensor_config_3`.chomp + "/launch/common.rb" + + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found." + else + _additionalSDF = <<-HEREDOC + + /model/#{_name}/breadcrumb/deploy + #{$num_breadcrumbs} + 3.0 + true + + + + 0.60 0.18 0.05 0.33 0 #{Math::PI/2} + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node + + + + + + HEREDOC + _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF) + end +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_husky_sensor_config_3 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} breadcrumbs:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}" + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/model.config b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/model.config new file mode 100644 index 00000000..3ab6b22a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/model.config @@ -0,0 +1,14 @@ + + + ctu_cras_norlab_husky_sensor_config_4 + model.sdf + + Husky robot of CTU-CRAS-Norlab for SubT (Sensor Config 4). + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_HUSKY_SENSOR_CONFIG_3 + + + + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/model.sdf b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/model.sdf new file mode 100644 index 00000000..1a60c11d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/model.sdf @@ -0,0 +1,1949 @@ + + + + + + 0.007802 0.00085 0.079129 0 -0 0 + 44.5141 + + 0.813788 + 0.000834011 + -0.0529492 + 2.03197 + -0.00771766 + 2.19559 + + + + 0 0 0.091 0 -0 0 + + + 0.9874 0.42 0.05 + + + + + 0 0 0.07 0 -0 0 + + + 0.82 0.42 0.05 + + + + + 0 0 0.046 0 -0 0 + + + 0.7 0.42 0.095 + + + + + 0 0 0.169 0 -0 0 + + + 0.54 0.42 0.11 + + + + + 0.3683 0 0.0367 0 -0.66 0 + + + 0.0759 0.42 0.038 + + + + + -0.3683 0 0.0367 0 0.66 0 + + + 0.0759 0.42 0.038 + + + + + 0.305 0 0.134 0 0.7 0 + + + 0.18 0.42 0.1 + + + + + -0.305 0 0.134 0 -0.7 0 + + + 0.18 0.42 0.1 + + + + + 0.419 0.2 0.091 0 -0 0 + + + 0.05 + 0.075 + + + + + 0.419 -0.2 0.091 0 -0 0 + + + 0.05 + 0.075 + + + + + -0.419 0.2 0.091 0 -0 0 + + + 0.05 + 0.075 + + + + + -0.419 -0.2 0.091 0 -0 0 + + + 0.05 + 0.075 + + + + + 0 -0.2 0.23 0 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+ + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/package.xml b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/package.xml new file mode 100644 index 00000000..ab6be739 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/package.xml @@ -0,0 +1,32 @@ + + + ctu_cras_norlab_husky_sensor_config_4 + 0.1.0 + The ctu_cras_norlab_husky_sensor_config_4 skid-steered robot package, based on the Husky model from Team MARBLE: + - The robotic platform is a standard Clearpath Husky + - The sensor rack sitting on top of the Husky includes: + - Ouster OS0-128 lidar + - An omnivision setup of 4 Basler Ace2 (a2A1920-51gcPRO) cameras with C125-0418-5M-P Basler Lens + - LED strips + - Xsens MTi-30 IMU + - 12 communication breadcrumbs + - The model includes the default SubT gas sensor + - Weight: Approx. 59 kg + - Husky: 50 kg + - Sensor rack: 9 kg + + The model of the Husky platform is based on the Team MARBLE's Husky, namely on the mesh and texture files; and on the relevant sdf description. + Thanks to the original authors Brett A. Fotheringham(fotheringhambrett@gmail.com), Derek Vasquez (dvasquez@ssci.com), Neil Johnson (njohnson@ssci.com) + and Hector Escobar (hescobar@ssci.com) for making our lives easier! + + Martin Pecka + Martin Pecka + BSD + + catkin + ctu_cras_norlab_husky_sensor_config_3 + roslaunch + subt_ros + urdf + xacro + diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/print_robot_urdf new file mode 100755 index 00000000..0e1a969d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/print_robot_urdf @@ -0,0 +1,15 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_husky_sensor_config_3" + +# load local modifications of configuration and pass them to print_robot_urdf of sensor config 3 + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/update_robot_sdf_gz b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/update_robot_sdf_gz new file mode 100755 index 00000000..36a6200b --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/update_robot_sdf_gz @@ -0,0 +1,15 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_husky_sensor_config_3" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and pass them to update_robot_sdf of sensor config 6 +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/gz.yaml"; do + [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf_gz" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/update_robot_sdf_ign b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/update_robot_sdf_ign new file mode 100755 index 00000000..62151fa6 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_husky_sensor_config_4/scripts/update_robot_sdf_ign @@ -0,0 +1,17 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_husky_sensor_config_3" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and pass them to update_robot_sdf of sensor config 6 +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/ign.yaml"; do + [ -f "$file" ] && config="${config} $("${BASE_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf_ign" $config "$@" + +sed -i -e '/https/! s#\([^>]*\)#https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_HUSKKY_SENSOR_CONFIG_3/tip/files/\1#' "${OUTPUT_FILE}"