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Arduino Sketches/arduino_sketches.tar.gz Normal file
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Diagrams/hardware_wiring.pdf Normal file
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ODrive Calibration/ODrive_calibration.py Normal file
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"""
These configurations is based on Austin Owens implementation: https://github.com/AustinOwens/robodog/blob/main/odrive/configs/odrive_hoverboard_config.py
It was based on the hoverboard tutorial found on the Odrive Robotics website at: https://docs.odriverobotics.com/v/0.5.4/hoverboard.html
"""
import sys
import time
import math
import odrive
from odrive.enums import *
import fibre.libfibre
from fibre import Logger, Event
from odrive.utils import OperationAbortedException
class MotorConfig:
"""
Class for configuring an Odrive axis for a Hoverboard motor.
Only works with one Odrive at a time.
"""
# Hoverboard Kv
HOVERBOARD_KV = 16.0
# Min/Max phase inductance of motor
MIN_PHASE_INDUCTANCE = 0
MAX_PHASE_INDUCTANCE = 0.001
# Min/Max phase resistance of motor
MIN_PHASE_RESISTANCE = 0
MAX_PHASE_RESISTANCE = 0.5
# Tolerance for encoder offset float
ENCODER_OFFSET_FLOAT_TOLERANCE = 0.05
def __init__(self, axis_num):
"""
Initalizes MotorConfig class by finding odrive, erase its
configuration, and grabbing specified axis object.
:param axis_num: Which channel/motor on the odrive your referring to.
:type axis_num: int (0 or 1)
"""
self.axis_num = axis_num
# Connect to Odrive
print("Looking for ODrive...")
self._find_odrive()
print("Found ODrive.")
def _find_odrive(self):
# connect to Odrive
self.odrv = odrive.find_any()
self.odrv_axis = getattr(self.odrv, "axis{}".format(self.axis_num))
def configure(self):
"""
Configures the odrive device for a hoverboard motor.
"""
# Erase pre-exsisting configuration
print("Erasing pre-exsisting configuration...")
try:
self.odrv.erase_configuration()
except ChannelBrokenException:
pass
self._find_odrive()
# Standard 6.5 inch hoverboard hub motors have 30 permanent magnet
# poles, and thus 15 pole pairs
self.odrv_axis.motor.config.pole_pairs = 15
# Hoverboard hub motors are quite high resistance compared to the hobby
# aircraft motors, so we want to use a bit higher voltage for the motor
# calibration, and set up the current sense gain to be more sensitive.
# The motors are also fairly high inductance, so we need to reduce the
# bandwidth of the current controller from the default to keep it
# stable.
self.odrv_axis.motor.config.resistance_calib_max_voltage = 4
self.odrv_axis.motor.config.requested_current_range = 25
self.odrv_axis.motor.config.current_control_bandwidth = 100
# Estimated KV but should be measured using the "drill test", which can
# be found here: # https://discourse.odriverobotics.com/t/project-hoverarm/441
self.odrv_axis.motor.config.torque_constant = 8.27 / self.HOVERBOARD_KV
# Hoverboard motors contain hall effect sensors instead of incremental
# encorders
self.odrv_axis.encoder.config.mode = ENCODER_MODE_HALL
# The hall feedback has 6 states for every pole pair in the motor. Since
# we have 15 pole pairs, we set the cpr to 15*6 = 90.
self.odrv_axis.encoder.config.cpr = 90
# Since hall sensors are low resolution feedback, we also bump up the
#offset calibration displacement to get better calibration accuracy.
self.odrv_axis.encoder.config.calib_scan_distance = 150
# Since the hall feedback only has 90 counts per revolution, we want to
# reduce the velocity tracking bandwidth to get smoother velocity
# estimates. We can also set these fairly modest gains that will be a
# bit sloppy but shouldn’t shake your rig apart if it’s built poorly.
# Make sure to tune the gains up when you have everything else working
# to a stiffness that is applicable to your application.
self.odrv_axis.encoder.config.bandwidth = 100
self.odrv_axis.controller.config.pos_gain = 1
self.odrv_axis.controller.config.vel_gain = 0.02 * self.odrv_axis.motor.config.torque_constant * self.odrv_axis.encoder.config.cpr
self.odrv_axis.controller.config.vel_integrator_gain = 0.1 * self.odrv_axis.motor.config.torque_constant * self.odrv_axis.encoder.config.cpr
self.odrv_axis.controller.config.vel_limit = 10
# Set in position control mode so we can control the position of the wheel
self.odrv_axis.controller.config.control_mode = CONTROL_MODE_POSITION_CONTROL
# In the next step we are going to start powering the motor and so we
# want to make sure that some of the above settings that require a
# reboot are applied first.
print("Saving manual configuration and rebooting...")
self.odrv.save_configuration()
print("Manual configuration saved.")
try:
self.odrv.reboot()
except ChannelBrokenException:
pass
self._find_odrive()
input("Make sure the motor is free to move, then press enter...")
print("Calibrating Odrive for hoverboard motor (you should hear a " "beep)...")
self.odrv_axis.requested_state = AXIS_STATE_MOTOR_CALIBRATION
# Wait for calibration to take place
time.sleep(10)
if self.odrv_axis.motor.error != 0:
print("Error: Odrive reported an error of {} while in the state "
"AXIS_STATE_MOTOR_CALIBRATION. Printing out Odrive motor data for "
"debug:\n{}".format(self.odrv_axis.motor.error,
self.odrv_axis.motor))
sys.exit(1)
if self.odrv_axis.motor.config.phase_inductance <= self.MIN_PHASE_INDUCTANCE or \
self.odrv_axis.motor.config.phase_inductance >= self.MAX_PHASE_INDUCTANCE:
print("Error: After odrive motor calibration, the phase inductance "
"is at {}, which is outside of the expected range. Either widen the "
"boundaries of MIN_PHASE_INDUCTANCE and MAX_PHASE_INDUCTANCE (which "
"is between {} and {} respectively) or debug/fix your setup. Printing "
"out Odrive motor data for debug:\n{}".format(self.odrv_axis.motor.config.phase_inductance,
self.MIN_PHASE_INDUCTANCE,
self.MAX_PHASE_INDUCTANCE,
self.odrv_axis.motor))
sys.exit(1)
if self.odrv_axis.motor.config.phase_resistance <= self.MIN_PHASE_RESISTANCE or \
self.odrv_axis.motor.config.phase_resistance >= self.MAX_PHASE_RESISTANCE:
print("Error: After odrive motor calibration, the phase resistance "
"is at {}, which is outside of the expected range. Either raise the "
"MAX_PHASE_RESISTANCE (which is between {} and {} respectively) or "
"debug/fix your setup. Printing out Odrive motor data for "
"debug:\n{}".format(self.odrv_axis.motor.config.phase_resistance,
self.MIN_PHASE_RESISTANCE,
self.MAX_PHASE_RESISTANCE,
self.odrv_axis.motor))
sys.exit(1)
# If all looks good, then lets tell ODrive that saving this calibration
# to persistent memory is OK
self.odrv_axis.motor.config.pre_calibrated = True
# Check the alignment between the motor and the hall sensor. Because of
# this step you are allowed to plug the motor phases in random order and
# also the hall signals can be random. Just don’t change it after
# calibration.
print("Calibrating Odrive for encoder...")
self.odrv_axis.requested_state = AXIS_STATE_ENCODER_OFFSET_CALIBRATION
# Wait for calibration to take place
time.sleep(30)
if self.odrv_axis.encoder.error != 0:
print("Error: Odrive reported an error of {} while in the state "
"AXIS_STATE_ENCODER_OFFSET_CALIBRATION. Printing out Odrive encoder "
"data for debug:\n{}".format(self.odrv_axis.encoder.error,
self.odrv_axis.encoder))
sys.exit(1)
# If offset_float isn't 0.5 within some tolerance, or its not 1.5 within
# some tolerance, raise an error
if not ((self.odrv_axis.encoder.config.offset_float > 0.5 - self.ENCODER_OFFSET_FLOAT_TOLERANCE and \
self.odrv_axis.encoder.config.offset_float < 0.5 + self.ENCODER_OFFSET_FLOAT_TOLERANCE) or \
(self.odrv_axis.encoder.config.offset_float > 1.5 - self.ENCODER_OFFSET_FLOAT_TOLERANCE and \
self.odrv_axis.encoder.config.offset_float < 1.5 + self.ENCODER_OFFSET_FLOAT_TOLERANCE)):
print("Error: After odrive encoder calibration, the 'offset_float' "
"is at {}, which is outside of the expected range. 'offset_float' "
"should be close to 0.5 or 1.5 with a tolerance of {}. Either "
"increase the tolerance or debug/fix your setup. Printing out "
"Odrive encoder data for debug:\n{}".format(self.odrv_axis.encoder.config.offset_float,
self.ENCODER_OFFSET_FLOAT_TOLERANCE,
self.odrv_axis.encoder))
sys.exit(1)
# If all looks good, then lets tell ODrive that saving this calibration
# to persistent memory is OK
self.odrv_axis.encoder.config.pre_calibrated = True
print("Saving calibration configuration and rebooting...")
self.odrv.save_configuration()
print("Calibration configuration saved.")
try:
self.odrv.reboot()
except ChannelBrokenException:
pass
self._find_odrive()
print("Odrive configuration finished.")
def mode_idle(self):
"""
Puts the motor in idle (i.e. can move freely).
"""
self.odrv_axis.requested_state = AXIS_STATE_IDLE
def mode_close_loop_control(self):
"""
Puts the motor in closed loop control.
"""
self.odrv_axis.requested_state = AXIS_STATE_CLOSED_LOOP_CONTROL
def move_input_pos(self, angle):
"""
Puts the motor at a certain angle.
:param angle: Angle you want the motor to move.
:type angle: int or float
"""
self.odrv_axis.controller.input_pos = angle/360.0
if __name__ == "__main__":
hb_motor_config = MotorConfig(axis_num = 0)
hb_motor_config.configure()
print("CONDUCTING MOTOR TEST")
print("Placing motor in close loop control. If you move motor, motor will "
"resist you.")
hb_motor_config.mode_close_loop_control()
# Go from 0 to 360 degrees in increments of 30 degrees
for angle in range(0, 390, 30):
print("Setting motor to {} degrees.".format(angle))
hb_motor_config.move_input_pos(angle)
time.sleep(5)
print("Placing motor in idle. If you move motor, motor will "
"move freely")
hb_motor_config.mode_idle()

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ROMR CAD Assembly/romr_full_assembly.asm Normal file
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ROS Workspace/src/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 2.8.3)
project(romr_robot)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
actionlib
move_base_msgs
)
#find_package(catkin REQUIRED)
catkin_package()
include_directories(
include
${catkin_INCLUDE_DIRS}
)
catkin_install_python(PROGRAMS
# src/send_waypoints.py
# src/odom_data.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
INCLUDE_DIRECTORIES(/usr/local/lib)
LINK_DIRECTORIES(/usr/local/lib)
add_executable(imuOrientToCmdVelTranslater src/imuOrientToCmdVelTranslater.cpp)
target_link_libraries(imuOrientToCmdVelTranslater ${catkin_LIBRARIES})
add_dependencies(imuOrientToCmdVelTranslater ${catkin_EXPORTED_TARGETS})
find_package(roslaunch)
foreach(dir config gazebo launch maps meshes params src urdf worlds)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)

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ROS Workspace/src/config/joint_names_romr_robot.yaml Normal file
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controller_joint_names: ['', 'rightwheel', 'leftwheel', 'lidar', ]

417
ROS Workspace/src/config/romr_navigation.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
Splitter Ratio: 0.5
Tree Height: 747
- 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: LaserScan
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: 40
Reference Frame: <Fixed 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_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camerad435i_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camerat265_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
casterwheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
leftwheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rightwheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_footprint:
Value: true
base_link:
Value: true
camerad435i_link:
Value: true
camerat265_link:
Value: true
casterwheel_link:
Value: true
imu_link:
Value: true
leftwheel_link:
Value: true
lidar_link:
Value: true
map:
Value: true
odom:
Value: true
rightwheel_link:
Value: true
Marker Alpha: 1
Marker Scale: 0.5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_link:
base_footprint:
{}
camerad435i_link:
{}
camerat265_link:
{}
casterwheel_link:
{}
imu_link:
{}
leftwheel_link:
{}
lidar_link:
{}
rightwheel_link:
{}
Update Interval: 0
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 2
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.03999999910593033
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Arrow Length: 0.05000000074505806
Axes Length: 0.30000001192092896
Axes Radius: 0.009999999776482582
Class: rviz/PoseArray
Color: 31; 85; 76
Enabled: true
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: AMCL Particles
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /particlecloud
Unreliable: false
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 85; 0
Enabled: true
Head Length: 0.4000000059604645
Head Radius: 0.5
Name: Goal
Queue Size: 10
Shaft Length: 0.5
Shaft Radius: 0.20000000298023224
Shape: Arrow
Topic: /move_base/current_goal
Unreliable: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 0; 255
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Billboards
Line Width: 0.15000000596046448
Name: Planner Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/NavfnROS/plan
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/Polygon
Color: 255; 85; 0
Enabled: true
Name: Footprint
Queue Size: 10
Topic: /move_base/local_costmap/footprint
Unreliable: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Local Costmap
Topic: /move_base/local_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 0; 0; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Local Planner Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/DWAPlannerROS/local_plan
Unreliable: false
Value: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: costmap
Draw Behind: false
Enabled: true
Name: Global Costmap
Topic: /move_base/global_costmap/costmap
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 255; 255; 0
Enabled: true
Head Diameter: 0.30000001192092896
Head Length: 0.20000000298023224
Length: 0.30000001192092896
Line Style: Lines
Line Width: 0.029999999329447746
Name: Global Planner Path
Offset:
X: 0
Y: 0
Z: 0
Pose Color: 255; 85; 255
Pose Style: None
Queue Size: 10
Radius: 0.029999999329447746
Shaft Diameter: 0.10000000149011612
Shaft Length: 0.10000000149011612
Topic: /move_base/DWAPlannerROS/global_plan
Unreliable: false
Value: true
- Alpha: 1
Class: rviz/PointStamped
Color: 204; 41; 204
Enabled: true
History Length: 1
Name: PointStamped
Queue Size: 10
Radius: 0.20000000298023224
Topic: /clicked_point
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: map
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/XYOrbit
Distance: 22.512256622314453
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 1.7694363594055176
Y: -13.823583602905273
Z: -1.430511474609375e-06
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5147963762283325
Target Frame: <Fixed Frame>
Yaw: 4.70358943939209
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1044
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000019600000374fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000374000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000374fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000374000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000044fc0100000002fb0000000800540069006d00650100000000000007800000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000004cf0000037400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 1920
Y: 0

229
ROS Workspace/src/config/rviz_config.rviz Normal file
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Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 753
- 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: LaserScan
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: <Fixed Frame>
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.029999999329447746
Style: Flat Squares
Topic: /scan
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
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
camerad435i_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
camerat265_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
casterwheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
leftwheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
lidar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rightwheel_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: map
Unreliable: false
Use Timestamp: false
Value: true
- Class: rviz/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Default Light: true
Fixed Frame: odom
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: 6.662227630615234
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: 12.082286834716797
Y: -9.459827423095703
Z: 3.169853448867798
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.10539796203374863
Target Frame: <Fixed Frame>
Yaw: 0.9303956627845764
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1044
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000037afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000037a000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000037afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b0000037a000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000024400fffffffb0000000800540069006d006501000000000000045000000000000000000000050f0000037a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1920
X: 1920
Y: 0

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<?xml version="1.0" ?>
<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<!-- ****************** o2s base transmission******************* -->
<transmission name="rightwheel_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="rightwheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rightwheel_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="leftwheel_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="leftwheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="leftwheel_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>

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<?xml version="1.0" ?>
<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<xacro:property name="base_link_color" value="Gazebo/White" />
<xacro:property name="camerad435i_link_color" value="Gazebo/White" />
<xacro:property name="camerat265_link_color" value="Gazebo/White" />
<xacro:property name="lidar_color" value="Gazebo/LightBlueLaser" />
<xacro:property name="imu_link_color" value="Gazebo/Black" />
<xacro:property name="wheels_link_color" value="Gazebo/Black" />
<xacro:property name="casterwheel_link_color" value="Gazebo/Blue" />
<gazebo reference="base_link">
<material>${base_link_color}</material>
</gazebo>
<gazebo reference="camerad435i_link">
<material>${camerad435i_link_color}</material>
</gazebo>
<gazebo reference="imu_link">
<material>${imu_link_color}</material>
</gazebo>
<gazebo reference="rightwheel_link">
<material>${wheels_link_color}</material>
</gazebo>
<gazebo reference="leftwheel_link">
<material>${wheels_link_color}</material>
</gazebo>
<gazebo reference="casterwheel_link">
<material>${casterwheel_link_color}</material>
</gazebo>
<gazebo reference="lidar_link">
<material>${lidar_color}</material>
</gazebo>
</robot>

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<?xml version="1.0" ?>
<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<xacro:property name="standard_friction" value="1.0" />
<xacro:property name="caster_friction" value="0.01" />
<xacro:property name="wheels_friction" value="1000.0" />
<gazebo reference="base_link">
<mu1>${standard_friction}</mu1>
<mu2>${standard_friction}</mu2>
<selfCollide>true</selfCollide>
<gravity>true</gravity>
</gazebo>
<gazebo reference="rightwheel_link">
<mu1>${wheels_friction}</mu1>
<mu2>${wheels_friction}</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="leftwheel_link">
<mu1>${wheels_friction}</mu1>
<mu2>${wheels_friction}</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="casterwheel_link">
<mu1>${caster_friction}</mu1>
<mu2>${caster_friction}</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="lidar_link">
<mu1>${standard_friction}</mu1>
<mu2>${standard_friction}</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="camerad435i_link">
<mu1>${standard_friction}</mu1>
<mu2>${standard_friction}</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="camerat265_link">
<mu1>${standard_friction}</mu1>
<mu2>${standard_friction}</mu2>
<selfCollide>true</selfCollide>
</gazebo>
<gazebo reference="imu_link">
<mu1>${standard_friction}</mu1>
<mu2>${standard_friction}</mu2>
<selfCollide>true</selfCollide>
</gazebo>
</robot>

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<?xml version="1.0" ?>
<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<!-- *********** O2S ROS Control ***************** -->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="control"/>
</gazebo>
<!-- ************ o2s differential drive plugin ************* -->
<gazebo>
<plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so">
<updateRate>20</updateRate>
<leftJoint>leftwheel_joint</leftJoint>
<rightJoint>rightwheel_joint</rightJoint>
<wheelSeparation>0.30</wheelSeparation>
<wheelDiameter>0.1610</wheelDiameter>
<wheelAcceleration>1.0</wheelAcceleration>
<wheelTorque>20</wheelTorque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<robotBaseFrame>base_link</robotBaseFrame>
<odometrySource>1</odometrySource>
<publishWheelTF>false</publishWheelTF>
<publishOdom>true</publishOdom>
<publishTf>1</publishTf>
<publishOdomTF>true</publishOdomTF>
<publishWheelJointState>true</publishWheelJointState>
<legacyMode>false</legacyMode>
<alwaysOn>true</alwaysOn>
<odometrySource>world</odometrySource>
<rosDebugLevel>Debug</rosDebugLevel>
</plugin>
</gazebo>
<!-- *********** o2s lidar sensor plugin ************* -->
<gazebo reference="lidar_link">
<sensor type="ray" name="rplidar_a2">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>720</samples>
<resolution>1</resolution>
<min_angle>-2.98451</min_angle>
<max_angle>2.98451</max_angle>
</horizontal>
</scan>
<range>
<min>0.15</min>
<max>16.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">
<topicName>/scan</topicName>
<frameName>lidar_link</frameName>
</plugin>
</sensor>
</gazebo>
<!-- ************* IMU sensor plugin ***************** -->
<gazebo reference="imu_link">
<gravity>true</gravity>
<sensor name="imu_sensor" type="imu">
<always_on>true</always_on>
<update_rate>10</update_rate>
<visualize>true</visualize>
<topic>__default_topic__</topic>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>imu</topicName>
<bodyName>imu_link</bodyName>
<updateRateHZ>10.0</updateRateHZ>
<gaussianNoise>0.0</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>imu_link</frameName>
<initialOrientationAsReference>false</initialOrientationAsReference>
</plugin>
<pose>0 0 0 0 0 0</pose>
</sensor>
</gazebo>
<!-- ********************* Camera sensor plugin ******************* -->
<gazebo reference="camerad435i_link">
<sensor type="camera" name="camera1">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>320</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>o2s/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
</robot>

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<?xml version = "1.0"?>
<launch>
<!-- Argument -->
<arg name="scan_topic" default="scan"/>
<!--******* Initial pose mean, used to initialize filter with Gaussian distribution ********** -->
<!--
<arg name="initial_pose_x" default="0.0"/>
<arg name="initial_pose_y" default="0.0"/>
<arg name="initial_pose_a" default="0.0"/>
-->
<arg name="initial_pose_x" value="0.67"/>
<arg name="initial_pose_y" value="-13.49"/>
<arg name="initial_pose_a" value="0.0"/>
<!-- ********** AMCL algorithm *********** -->
<node pkg="amcl" type="amcl" name="amcl">
<param name="min_particles" value="500"/>
<param name="max_particles" value="3000"/>
<param name="kld_err" value="0.02"/>
<param name="update_min_d" value="0.20"/>
<param name="update_min_a" value="0.20"/>
<param name="resample_interval" value="1"/>
<param name="transform_tolerance" value="0.5"/>
<param name="recovery_alpha_slow" value="0.00"/>
<param name="recovery_alpha_fast" value="0.00"/>
<param name="initial_pose_x" value="$(arg initial_pose_x)"/>
<param name="initial_pose_y" value="$(arg initial_pose_y)"/>
<param name="initial_pose_a" value="$(arg initial_pose_a)"/>
<param name="gui_publish_rate" value="50.0"/>
<remap from="scan" to="$(arg scan_topic)"/>
<param name="laser_max_range" value="3.5"/>
<param name="laser_max_beams" value="180"/>
<param name="laser_z_hit" value="0.5"/>
<param name="laser_z_short" value="0.05"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.5"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<param name="laser_model_type" value="likelihood_field"/>
<param name="odom_model_type" value="diff"/>
<param name="odom_alpha1" value="0.1"/>
<param name="odom_alpha2" value="0.1"/>
<param name="odom_alpha3" value="0.1"/>
<param name="odom_alpha4" value="0.1"/>
<param name="odom_frame_id" value="odom"/>
<param name="base_frame_id" value="base_footprint"/>
</node>
</launch>

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<?xml version="1.0" ?>
<!-- *********** This launch file launches the o2s in an empty Gazebo world *********** -->
<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find romr_robot)/urdf/romr_robot.xacro -urdf -model romr_robot"
output="screen" />
<!--<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" /> -->
</launch>

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<?xml version = "1.0"?>
<!-- ********** This move_base node provides a ROS interface for configuring and interacting with the navigation stack on o2s ********** -->
<launch>
<!-- Argument -->
<arg name="cmd_vel_topic" default="/cmd_vel" />
<arg name="odom_topic" default="odom" />
<arg name="move_forward_only" default="false"/>
<!-- move_base -->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />
<rosparam file="$(find romr_robot)/params/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find romr_robot)/params/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find romr_robot)/params/local_costmap_params.yaml" command="load" />
<rosparam file="$(find romr_robot)/params/global_costmap_params.yaml" command="load" />
<rosparam file="$(find romr_robot)/params/move_base_params.yaml" command="load" />
<rosparam file="$(find romr_robot)/params/dwa_local_planner_params.yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />
</node>
</launch>

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<?xml version = "1.0"?>
<launch>
<param name ="/use_sim_time" value="true"/> <!-- set to false if on real-world -->
<arg name="gui" default="True" />
<param name="use_gui" value="$(arg gui)"/>
<param name="robot_description" command="cat $(find romr_robot)/urdf/romr_robot.xacro" />
<!-- ***** Setting up the transformation configuration (the relationships between the coordinate frames ***** -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<!--
<node pkg ="tf" type="static_transform_publisher" name="odom_to_base_link" args="0.0 0.0 0.0 0.0 0.0 0.0 /odom /base_link 40"/>
<node pkg ="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /lidar_link 40"/>
-->
<!-- ***** Launch the rosserial python node ***** -->
<node name="serial_node" pkg="rosserial_python" type="serial_node.py">
<param name="port" value="/dev/ttyACM0"/>
<param name="baud" value="115200"/>
</node>
<!-- ***** Launch the RPlidar node ***** -->
<include file="$(find rplidar_ros)/launch/rplidar.launch" />
</launch>

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<?xml version="1.0" ?>
<launch>
<param command="$(find xacro)/xacro $(find romr_robot)/urdf/romr_robot.xacro" name="robot_description"/>
<!--
<arg name="x" default="0.0" />
<arg name="y" default="0.0" />
<arg name="z" default="0.0" />
-->
<arg name="x" value="0.67" />
<arg name="y" value="-13.49" />
<arg name="z" value="0.0" />
<node args="-param robot_description -urdf -x $(arg x) -y $(arg y) -z $(arg z) -model romr_robot" name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/> <!-- set to false if on real-world -->
<arg name="gui" value="true"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
<arg name="world_name" value="$(find romr_robot)/worlds/laboratory_world.world"/>
</include>
</launch>

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<?xml version = "1.0"?>
<launch>
<!--*********** Arguments ************ -->
<arg name="open_rviz" default="true"/>
<arg name="move_forward_only" default="false"/>
<!--*********** Map server ***********-->
<node pkg="map_server" name="map_server" type="map_server" args="$(find romr_robot)/maps/romr_lab_map.yaml"/>
<!--*********** AMCL algorithm ***********-->
<include file="$(find romr_robot)/launch/amcl.launch"/>
<!--*********** move_base ***********-->
<include file="$(find romr_robot)/launch/move_base.launch">
<arg name="move_forward_only" value="$(arg move_forward_only)"/>
</include>
<!--*********** rviz ***********-->
<group if="$(arg open_rviz)">
<node pkg="rviz" type="rviz" name="rviz" required="true"
args="-d $(find romr_robot)/config/romr_navigation.rviz"/>
</group>
</launch>

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<?xml version="1.0" ?>
<!--*********** Visualise o2s in Rviz *********** -->
<launch>
<arg
name="model" />
<param
name="robot_description"
textfile="$(find romr_robot)/urdf/romr_robot.xacro" />
<!-- <node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" /> -->
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find romr_robot)/config/rviz_config.rviz" />
</launch>

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ROS Workspace/src/maps/hector_laboratory_map.yaml Normal file
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image: hector_laboratory_map.pgm
resolution: 0.050000
origin: [-51.224998, -51.224998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

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image: laboratory_map.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

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7
ROS Workspace/src/maps/romr_lab_map.yaml Normal file
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image: romr_lab_map.pgm
resolution: 0.050000
origin: [-51.224998, -51.224998, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196

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ROS Workspace/src/package.xml Normal file
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<package format="2">
<name>romr_robot</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for romr_assem.SLDASM</p>
<p>This package contains configuration data, 3D models and launch files
for romr_robot robot</p>
</description>
<author>TODO</author>
<maintainer email="TODO@email.com" />
<license>BSD</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>roslint</build_depend>
<build_depend>std_srvs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>actionlib</build_export_depend>
<build_export_depend>move_base_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
<exec_depend>move_base_msgs</exec_depend>
<exec_depend>imu_filter_madgwick</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_srvs</exec_depend>
<depend>roslaunch</depend>
<depend>robot_state_publisher</depend>
<depend>rviz</depend>
<depend>joint_state_publisher_gui</depend>
<depend>gazebo</depend>
<export>
<architecture_independent />
</export>
</package>

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ROS Workspace/src/params/base_local_planner_params.yaml Normal file
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TrajectoryPlannerROS:
# Robot Configuration Parameters
max_vel_x: 0.3
min_vel_x: 0.1
max_vel_theta: 1.0
min_vel_theta: -1.0
min_in_place_vel_theta: 0.4
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
# Goal Tolerance Parameters
xy_goal_tolerance: 0.15
yaw_goal_tolerance: 0.1
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 3.0
vx_samples: 6
vtheta_samples: 20
sim_granularity: 0.05
# Trajectory Scoring Parameters
meter_scoring: true
pdist_scale: 0.6
gdist_scale: 0.8
occdist_scale: 0.01
heading_lookahead: 0.325
# dwa: true
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05
# Differential-drive robot configuration
holonomic_robot: false
max_vel_y: 0.0
min_vel_y: 0.0
acc_lim_y: 0.0
vy_samples: 1

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ROS Workspace/src/params/controller.yaml Normal file
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romr_robot_controller:
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50
# Position Controllers --------------------------------------
rightwheel_joint_position_controller:
type: effort_controllers/JointPositionController
joint: rightwheel_joint
pid: {p: 100.0, i: 0.01, d: 10.0}
leftwheel_joint_position_controller:
type: effort_controllers/JointPositionController
joint: leftwheel_joint
pid: {p: 100.0, i: 0.01, d: 10.0}

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ROS Workspace/src/params/costmap_common_params.yaml Normal file
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footprint: [[-0.20, -0.20], [-0.20, 0.20], [0.20, 0.20], [0.20, -0.20]]
transform_tolerance: 0.5
map_type: costmap
#Obstacle marking parameters
obstacle_layer:
enabled: true
obstacle_range: 2.5
raytrace_range: 3.5
inflation_radius: 0.5
track_unknown_space: false
combination_method: 1
subscribe_to_updates: true
observation_sources: laser_scan_sensor
laser_scan_sensor: {data_type: LaserScan, topic: scan, marking: true, clearing: true}
#Cost function parameters
inflation_layer:
enabled: true
cost_scaling_factor: 5.0
inflation_radius: 0.5
static_layer:
enabled: true
map_topic: "map"

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ROS Workspace/src/params/dwa_local_planner_params.yaml Normal file
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DWAPlannerROS:
# Robot Configuration Parameters
max_vel_x: 0.5
min_vel_x: 0.0
max_vel_y: 0.0
min_vel_y: 0.0
# The velocity when robot is moving in a straight line
max_vel_trans: 0.5
min_vel_trans: 0.11
trans_stopped_vel: 0.1
max_vel_theta: 2.75
min_vel_theta: 1.37
acc_lim_x: 2.5
acc_lim_y: 0.0
acc_lim_theta: 3.2
# Goal Tolerance Parametes
xy_goal_tolerance: 0.15
yaw_goal_tolerance: 0.3
latch_xy_goal_tolerance: false
# Forward Simulation Parameters
sim_time: 1.5
vx_samples: 6
vy_samples: 1
vth_samples: 20
controller_frequency: 10.0
# Trajectory Scoring Parameters
path_distance_bias: 64.0
goal_distance_bias: 24
occdist_scale: 0.5
forward_point_distance: 0.325
stop_time_buffer: 0.2
scaling_speed: 0.25
max_scaling_factor: 0.2
# Oscillation Prevention Parameters
oscillation_reset_dist: 0.05
# Debugging
publish_traj_pc : true
publish_cost_grid_pc: true

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ROS Workspace/src/params/global_costmap_params.yaml Normal file
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global_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 5.0
static_map: false
resolution: 0.025
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::VoxelLayer"}
- {name: inflation_layer, type: "costmap_2d::InflationLayer"}

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ROS Workspace/src/params/local_costmap_params.yaml Normal file
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local_costmap:
global_frame: map
robot_base_frame: base_link
update_frequency: 5.0
publish_frequency: 5.0
static_map: false
rolling_window: true
width: 8
height: 8
resolution: 0.025
inflation_radius: 0.5
transform_tolerance: 0.5
plugins:
- {name: static_layer, type: "costmap_2d::StaticLayer"}
- {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}

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ROS Workspace/src/params/move_base_params.yaml Normal file
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shutdown_costmaps: false
controller_frequency: 20.0
planner_patience: 5.0
controller_patience: 15.0
conservative_reset_dist: 3.0
recovery_behavior_enabled: true
clearing_rotation_allowed: true
planner_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2

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ROS Workspace/src/src/imuOrientToCmdVelTranslater.cpp Normal file
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/*
This code computes the linear velocity and rotation speed of o2s based on the orientation of the IMU sensor (P19). At first step, the orientation is received from the "imu/data" topic in the form of a quaternion. Then, in the second step, the quaternions are used to calculate the angular rotation (the roll, pitch and yaw angles) of the sensor from the neutral position. Based on the roll and pitch values the command velocity of the robot is calculated and published to the cmd_vel topic of ROS.
The code for computation of the roll, pitch and yaw values from the quaternion are based on the code from the following website: https://blog.karatos.in/a?ID=00750-4151b77d-39bf-4067-a2e2-9543486eabc4
For more information about writing a publisher/subscriber nodes, visit: http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
*/
#include "ros/ros.h"
#include <sensor_msgs/Imu.h>
#include <geometry_msgs/Twist.h>
#include "std_msgs/String.h"
#include <tf/tf.h>
#include <sstream>
//defining the variables
double linearVelFactor = 0.3;
double rotSpeedFactor = 1.5;
double roll, pitch, yaw;
double linearVelocity, angularRotationSpeed;
float pi = 3.1415926535897932384626433832795;
geometry_msgs::Twist cmd_vel_msg;
ros::Publisher cmd_vel_Publisher;
void chatterCallback(const sensor_msgs::Imu& imuSub_msg)
{
//printing the data of the quaternion in the terminal:
std::cout << "------------------------------------------------" << std::endl;
std::cout << "Quaternation x: ";
std::cout << imuSub_msg.orientation.x << std::endl;
std::cout << "Quaternation y: ";
std::cout << imuSub_msg.orientation.y << std::endl;
std::cout << "Quaternation z: ";
std::cout << imuSub_msg.orientation.z << std::endl;
std::cout << "Quaternation w: ";
std::cout << imuSub_msg.orientation.w << std::endl;
std::cout << "------------------------------------------------" << std::endl;
//converting the quaternion into roll, pitch and yaw angles (in the "unit" rad)
tf::Quaternion quat;
tf::quaternionMsgToTF(imuSub_msg.orientation, quat);
tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);
//converting the roll, pitch and yaw values from the "unit" rad into the unit degrees
roll = (roll * 360)/(2*pi);
pitch = (pitch * 360)/(2*pi);
yaw = (yaw * 360)/(2*pi);
//printing the roll, pitch and yaw values in the terminal
std::cout << "roll: ";
std::cout << roll << std::endl;
std::cout << "pitch: ";
std::cout << pitch << std::endl;
std::cout << "yaw: ";
std::cout << yaw << std::endl;
//calculating the linear velocity and the rotation speed values based on the angle the sensor is tilted (pitch and roll angles)
linearVelocity = (linearVelFactor*pitch)/90;
angularRotationSpeed = (-1)*(rotSpeedFactor*roll)/90;
//writing the previously calculated linear velocity and rotationspeed values in the message in order to publish the message to the cmd_vel topic (geometry_msgs/Twist)
cmd_vel_msg.linear.x = linearVelocity;
cmd_vel_msg.angular.z = angularRotationSpeed;
//publishing the message to the topic
cmd_vel_Publisher.publish(cmd_vel_msg);
}
int main(int argc, char **argv)
{
//printing information to the terminal
std::cout << "The imuOrientToCmdVelTranslater was started ..." << std::endl;
std::cout << "The linearVelFactor is: ";
std::cout << linearVelFactor << std::endl;
std::cout << "The rotSpeedFactor is: ";
std::cout << rotSpeedFactor << std::endl;
//setting up the node, subscriber and publisher
ros::init(argc, argv, "imuOrientToCmdVelTranslater_Node");
ros::NodeHandle nh;
ros::Subscriber imuOrientationSubscriber = nh.subscribe("imu/data", 1000, chatterCallback);
cmd_vel_Publisher = nh.advertise<geometry_msgs::Twist>("cmd_vel", 1000);
ros::spin();
return 0;
}

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ROS Workspace/src/urdf/romr_assem.csv Normal file
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
base_link,-0.0374777931065171,-0.000742607274570373,0.0517646177576365,0,0,0,5.79174328389446,0.0142969060262334,-4.92784367063061E-08,4.92627122966751E-05,0.0341323035296294,-2.71693609467846E-08,0.0398544878636473,0,0,0,0,0,0,package://romr_robot/meshes/base_link.STL,0.792156862745098,0.819607843137255,0.933333333333333,1,0,0,0,0,0,0,package://romr_robot/meshes/base_link.STL,,romr_base-1,CB,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
rightwheel,-1.2143E-17,0.033904,1.3878E-17,0,0,0,1.0582,0.0018538,-1.2518E-19,-7.2208E-20,0.0031139,1.5395E-18,0.0018538,0,0,0,0,0,0,package://romr_robot/meshes/rightwheel.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://romr_robot/meshes/rightwheel.STL,,Main_Wheel-4,CRW,Axis1,rightwheel,continuous,-0.12418,0.185,-0.063,0,0,3.1416,base_link,0,1,0,1,1,,,,,,,,,,
leftwheel,-2.4286E-17,-0.033904,4.1633E-17,0,0,0,1.0582,0.0018538,8.3854E-19,9.7745E-20,0.0031139,1.3019E-19,0.0018538,0,0,0,0,0,0,package://romr_robot/meshes/leftwheel.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://romr_robot/meshes/leftwheel.STL,,Main_Wheel-3,CLW,Axis2,leftwheel,continuous,-0.12418,-0.185,-0.063,0,0,-3.1416,base_link,0,-1,0,1,1,,,,,,,,,,
casterwheel,-0.0032546,0.0053327,0.013127,0,0,0,0.10255,9.4829E-05,-2.3412E-06,1.3145E-05,0.00012884,8.5135E-07,5.2207E-05,0,0,0,0,0,0,package://romr_robot/meshes/casterwheel.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://romr_robot/meshes/casterwheel.STL,,Wheel-2,CC,Axis3,casterwheel,fixed,0.25029,-0.01098,-0.1075,0,0,0,base_link,0,0,0,,,,,,,,,,,,
lidar,0.00050486,-3.7855E-05,-0.025753,0,0,0,0.2064,0.00011156,-1.2701E-07,-1.6019E-06,0.00010988,1.201E-07,0.0001391,0,0,0,0,0,0,package://romr_robot/meshes/lidar.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://romr_robot/meshes/lidar.STL,,Lidar_Sensor-3,CL,Axis_lidar,lidar,continuous,0.00082049,0.00875,0.12332,0,0,0,base_link,0,0,1,,,,,,,,,,,,
imu,-0.015015,-0.00012812,0.00021369,0,0,0,0.05157,1.5728E-05,-1.2026E-09,1.5815E-09,8.9379E-06,-2.1887E-10,1.4344E-05,0,0,0,0,0,0,package://romr_robot/meshes/imu.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://romr_robot/meshes/imu.STL,,MPU-2,Ci,,imu,fixed,0.05082,-0.0047896,0.053918,0,0,0,base_link,0,0,0,,,,,,,,,,,,
camerad435i,0.0094812,3.7095E-05,-7.9734E-05,0,0,0,0.032264,2.2098E-05,-1.4651E-10,2.902E-10,1.9467E-06,8.3417E-11,2.1858E-05,0,0,0,0,0,0,package://romr_robot/meshes/camerad435i.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://romr_robot/meshes/camerad435i.STL,,Camera2-1,Cca1,,camerad435i,fixed,-0.20718,-0.08268,0.17016,0,0,0,base_link,0,0,0,,,,,,,,,,,,
camerat265,0.0061266,3.8568E-05,-1.9004E-05,0,0,0,0.030988,3.0221E-05,-1.6541E-10,4.8935E-11,1.9363E-06,9.2265E-11,2.9002E-05,0,0,0,0,0,0,package://romr_robot/meshes/camerat265.STL,0.79216,0.81961,0.93333,1,0,0,0,0,0,0,package://romr_robot/meshes/camerat265.STL,,Camera1-4,Cca2,Axis_camerat265,camerat265,prismatic,-0.20118,0.080908,0.16952,0,0,0,base_link,0,1,0,0,0,0,0,,,,,,,,
1 Link Name Center of Mass X Center of Mass Y Center of Mass Z Center of Mass Roll Center of Mass Pitch Center of Mass Yaw Mass Moment Ixx Moment Ixy Moment Ixz Moment Iyy Moment Iyz Moment Izz Visual X Visual Y Visual Z Visual Roll Visual Pitch Visual Yaw Mesh Filename Color Red Color Green Color Blue Color Alpha Collision X Collision Y Collision Z Collision Roll Collision Pitch Collision Yaw Collision Mesh Filename Material Name SW Components Coordinate System Axis Name Joint Name Joint Type Joint Origin X Joint Origin Y Joint Origin Z Joint Origin Roll Joint Origin Pitch Joint Origin Yaw Parent Joint Axis X Joint Axis Y Joint Axis Z Limit Effort Limit Velocity Limit Lower Limit Upper Calibration rising Calibration falling Dynamics Damping Dynamics Friction Safety Soft Upper Safety Soft Lower Safety K Position Safety K Velocity
2 base_link -0.0374777931065171 -0.000742607274570373 0.0517646177576365 0 0 0 5.79174328389446 0.0142969060262334 -4.92784367063061E-08 4.92627122966751E-05 0.0341323035296294 -2.71693609467846E-08 0.0398544878636473 0 0 0 0 0 0 package://romr_robot/meshes/base_link.STL 0.792156862745098 0.819607843137255 0.933333333333333 1 0 0 0 0 0 0 package://romr_robot/meshes/base_link.STL romr_base-1 CB 0 0 0 0 0 0 0 0 0
3 rightwheel -1.2143E-17 0.033904 1.3878E-17 0 0 0 1.0582 0.0018538 -1.2518E-19 -7.2208E-20 0.0031139 1.5395E-18 0.0018538 0 0 0 0 0 0 package://romr_robot/meshes/rightwheel.STL 0.79216 0.81961 0.93333 1 0 0 0 0 0 0 package://romr_robot/meshes/rightwheel.STL Main_Wheel-4 CRW Axis1 rightwheel continuous -0.12418 0.185 -0.063 0 0 3.1416 base_link 0 1 0 1 1
4 leftwheel -2.4286E-17 -0.033904 4.1633E-17 0 0 0 1.0582 0.0018538 8.3854E-19 9.7745E-20 0.0031139 1.3019E-19 0.0018538 0 0 0 0 0 0 package://romr_robot/meshes/leftwheel.STL 0.79216 0.81961 0.93333 1 0 0 0 0 0 0 package://romr_robot/meshes/leftwheel.STL Main_Wheel-3 CLW Axis2 leftwheel continuous -0.12418 -0.185 -0.063 0 0 -3.1416 base_link 0 -1 0 1 1
5 casterwheel -0.0032546 0.0053327 0.013127 0 0 0 0.10255 9.4829E-05 -2.3412E-06 1.3145E-05 0.00012884 8.5135E-07 5.2207E-05 0 0 0 0 0 0 package://romr_robot/meshes/casterwheel.STL 0.79216 0.81961 0.93333 1 0 0 0 0 0 0 package://romr_robot/meshes/casterwheel.STL Wheel-2 CC Axis3 casterwheel fixed 0.25029 -0.01098 -0.1075 0 0 0 base_link 0 0 0
6 lidar 0.00050486 -3.7855E-05 -0.025753 0 0 0 0.2064 0.00011156 -1.2701E-07 -1.6019E-06 0.00010988 1.201E-07 0.0001391 0 0 0 0 0 0 package://romr_robot/meshes/lidar.STL 0.79216 0.81961 0.93333 1 0 0 0 0 0 0 package://romr_robot/meshes/lidar.STL Lidar_Sensor-3 CL Axis_lidar lidar continuous 0.00082049 0.00875 0.12332 0 0 0 base_link 0 0 1
7 imu -0.015015 -0.00012812 0.00021369 0 0 0 0.05157 1.5728E-05 -1.2026E-09 1.5815E-09 8.9379E-06 -2.1887E-10 1.4344E-05 0 0 0 0 0 0 package://romr_robot/meshes/imu.STL 0.79216 0.81961 0.93333 1 0 0 0 0 0 0 package://romr_robot/meshes/imu.STL MPU-2 Ci imu fixed 0.05082 -0.0047896 0.053918 0 0 0 base_link 0 0 0
8 camerad435i 0.0094812 3.7095E-05 -7.9734E-05 0 0 0 0.032264 2.2098E-05 -1.4651E-10 2.902E-10 1.9467E-06 8.3417E-11 2.1858E-05 0 0 0 0 0 0 package://romr_robot/meshes/camerad435i.STL 0.79216 0.81961 0.93333 1 0 0 0 0 0 0 package://romr_robot/meshes/camerad435i.STL Camera2-1 Cca1 camerad435i fixed -0.20718 -0.08268 0.17016 0 0 0 base_link 0 0 0
9 camerat265 0.0061266 3.8568E-05 -1.9004E-05 0 0 0 0.030988 3.0221E-05 -1.6541E-10 4.8935E-11 1.9363E-06 9.2265E-11 2.9002E-05 0 0 0 0 0 0 package://romr_robot/meshes/camerat265.STL 0.79216 0.81961 0.93333 1 0 0 0 0 0 0 package://romr_robot/meshes/camerat265.STL Camera1-4 Cca2 Axis_camerat265 camerat265 prismatic -0.20118 0.080908 0.16952 0 0 0 base_link 0 1 0 0 0 0 0

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ROS Workspace/src/urdf/romr_materials.xacro Normal file
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<?xml version="1.0" ?>
<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<material name="yellow">
<color rgba="1 1 0.5 1"/>
</material>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
<material name="orange">
<color rgba="1 0.3 0.1 1"/>
</material>
<material name="blue">
<color rgba="0.2 0.2 1 1"/>
</material>
<material name="grey">
<color rgba="0.4 0.4 0.4 1"/>
</material>
</robot>

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ROS Workspace/src/urdf/romr_robot.xacro Normal file
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<?xml version="1.0" encoding="utf-8"?>
<robot name="romr_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find romr_robot)/urdf/romr_materials.xacro" />
<xacro:include filename="$(find romr_robot)/gazebo/romr_gazebo_materials.gazebo" />
<xacro:include filename="$(find romr_robot)/gazebo/romr_gazebo_physics.gazebo" />
<xacro:include filename="$(find romr_robot)/gazebo/romr_gazebo_plugins.gazebo" />
<!--******** Define intertial property macros ********** -->
<xacro:macro name="footprint_inertia" params="m w h d">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="${m}"/>
<inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
</inertial>
</xacro:macro>
<!-- ****************** Robot bases *************************** -->
<!-- Define the center of the main robot chassis projected on the ground -->
<link name="base_footprint">
<xacro:footprint_inertia m="0" w="0" d="0" h="0"/>
</link>
<!-- The base footprint of the robot is located underneath the chassis -->
<joint name="base_joint" type="fixed">
<parent link="base_link"/>
<child link="base_footprint"/>
<origin xyz="0.0 0.0 -0.14" rpy="0 0 0"/>
</joint>
<link name="base_link">
<inertial>
<origin xyz="-0.0374777931065171 -0.000742607274570373 0.0517646177576365" rpy="0 0 0" />
<mass value="5.79174328389446" />
<inertia ixx="0.0142969060262334" ixy="-4.92784367063061E-08" ixz="4.92627122966751E-05" iyy="0.0341323035296294" iyz="-2.71693609467846E-08" izz="0.0398544878636473" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/base_link.STL" />
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link name="rightwheel_link">
<inertial>
<origin xyz="-1.2143E-17 0.033904 1.3878E-17" rpy="0 0 0" />
<mass value="1.0582" />
<inertia ixx="0.0018538" ixy="-1.2518E-19" ixz="-7.2208E-20" iyy="0.0031139" iyz="1.5395E-18" izz="0.0018538" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/rightwheel.STL" />
</geometry>
<material name="black">
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/rightwheel.STL" />
</geometry>
</collision>
</link>
<joint name="rightwheel_joint" type="continuous">
<origin xyz="-0.12418 0.185 -0.063" rpy="0 0 3.1416" />
<parent link="base_link" />
<child link="rightwheel_link" />
<axis xyz="0 1 0" />
</joint>
<link name="leftwheel_link">
<inertial>
<origin xyz="-2.4286E-17 -0.033904 4.1633E-17" rpy="0 0 0" />
<mass value="1.0582" />
<inertia ixx="0.0018538" ixy="8.3854E-19" ixz="9.7745E-20" iyy="0.0031139" iyz="1.3019E-19" izz="0.0018538" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/leftwheel.STL" />
</geometry>
<material name="black">
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/leftwheel.STL" />
</geometry>
</collision>
</link>
<joint name="leftwheel_joint" type="continuous">
<origin xyz="-0.12418 -0.185 -0.063" rpy="0 0 -3.1416" />
<parent link="base_link" />
<child link="leftwheel_link" />
<axis xyz="0 1 0" />
</joint>
<link name="casterwheel_link">
<inertial>
<origin xyz="-0.0032546 0.0053327 0.013127" rpy="0 0 0" />
<mass value="0.10255" />
<inertia ixx="9.4829E-05" ixy="-2.3412E-06" ixz="1.3145E-05" iyy="0.00012884" iyz="8.5135E-07" izz="5.2207E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/casterwheel.STL" />
</geometry>
<material name="blue">
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/casterwheel.STL" />
</geometry>
</collision>
</link>
<joint name="casterwheel_joint" type="fixed">
<origin xyz="0.25029 -0.01098 -0.1075" rpy="0 0 0" />
<parent link="base_link" />
<child link="casterwheel_link" />
<axis xyz="0 0 0" />
</joint>
<link name="lidar_link">
<inertial>
<origin xyz="0.00050486 -3.7855E-05 -0.025753" rpy="0 0 0" />
<mass value="0.2064" />
<inertia ixx="0.00011156" ixy="-1.2701E-07" ixz="-1.6019E-06" iyy="0.00010988" iyz="1.201E-07" izz="0.0001391" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/lidar.STL" />
</geometry>
<material name="grey">
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/lidar.STL" />
</geometry>
</collision>
</link>
<joint name="lidar_joint" type="fixed">
<origin xyz="0.00082049 0.00875 0.12332" rpy="0 0 0" />
<parent link="base_link" />
<child link="lidar_link" />
<axis xyz="0 0 1" />
</joint>
<link name="imu_link">
<inertial>
<origin xyz="-0.015015 -0.00012812 0.00021369" rpy="0 0 0" />
<mass value="0.05157" />
<inertia ixx="1.5728E-05" ixy="-1.2026E-09" ixz="1.5815E-09" iyy="8.9379E-06" iyz="-2.1887E-10" izz="1.4344E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/imu.STL" />
</geometry>
<material name="black">
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/imu.STL" />
</geometry>
</collision>
</link>
<joint name="imu_joint" type="fixed">
<origin xyz="0.05082 -0.0047896 0.053918" rpy="0 0 0" />
<parent link="base_link" />
<child link="imu_link" />
<axis xyz="0 0 0" />
</joint>
<link name="camerad435i_link">
<inertial>
<origin xyz="0.0094812 3.7095E-05 -7.9734E-05" rpy="0 0 0" />
<mass value="0.032264" />
<inertia ixx="2.2098E-05" ixy="-1.4651E-10" ixz="2.902E-10" iyy="1.9467E-06" iyz="8.3417E-11" izz="2.1858E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/camerad435i.STL" />
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/camerad435i.STL" />
</geometry>
</collision>
</link>
<joint name="camerad435i_joint" type="fixed">
<origin xyz="-0.20718 -0.08268 0.17016" rpy="0 0 0" />
<parent link="base_link" />
<child link="camerad435i_link" />
<axis xyz="0 0 0" />
</joint>
<link name="camerat265_link">
<inertial>
<origin xyz="0.0061266 3.8568E-05 -1.9004E-05" rpy="0 0 0" />
<mass value="0.030988" />
<inertia ixx="3.0221E-05" ixy="-1.6541E-10" ixz="4.8935E-11" iyy="1.9363E-06" iyz="9.2265E-11" izz="2.9002E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/camerat265.STL" />
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://romr_robot/meshes/camerat265.STL" />
</geometry>
</collision>
</link>
<joint name="camerat265_joint" type="fixed">
<origin xyz="-0.20118 0.080908 0.16952" rpy="0 0 0" />
<parent link="base_link" />
<child link="camerat265_link" />
<axis xyz="0 0 0" />
</joint>
</robot>

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