From e2e097048701ab5b2756bb32e52446c078d696c6 Mon Sep 17 00:00:00 2001 From: Linus NEP <86525017+LinusNEP@users.noreply.github.com> Date: Mon, 8 May 2023 09:59:54 +0200 Subject: [PATCH] Add files via upload --- .../src/config/joint_names_romr_robot.yaml | 1 + .../src/config/romr_navigation.rviz | 417 ++++++++++++++++++ .../ROS Workspace/src/config/rviz_config.rviz | 229 ++++++++++ .../ROS Workspace/src/gazebo/romr.trans | 27 ++ .../src/gazebo/romr_gazebo_materials.gazebo | 40 ++ .../src/gazebo/romr_gazebo_physics.gazebo | 58 +++ .../src/gazebo/romr_gazebo_plugins.gazebo | 136 ++++++ 7 files changed, 908 insertions(+) create mode 100644 Software Files/ROS Workspace/src/config/joint_names_romr_robot.yaml create mode 100644 Software Files/ROS Workspace/src/config/romr_navigation.rviz create mode 100644 Software Files/ROS Workspace/src/config/rviz_config.rviz create mode 100644 Software Files/ROS Workspace/src/gazebo/romr.trans create mode 100644 Software Files/ROS Workspace/src/gazebo/romr_gazebo_materials.gazebo create mode 100644 Software Files/ROS Workspace/src/gazebo/romr_gazebo_physics.gazebo create mode 100644 Software Files/ROS Workspace/src/gazebo/romr_gazebo_plugins.gazebo diff --git a/Software Files/ROS Workspace/src/config/joint_names_romr_robot.yaml b/Software Files/ROS Workspace/src/config/joint_names_romr_robot.yaml new file mode 100644 index 0000000..6e90aae --- /dev/null +++ b/Software Files/ROS Workspace/src/config/joint_names_romr_robot.yaml @@ -0,0 +1 @@ +controller_joint_names: ['', 'rightwheel', 'leftwheel', 'lidar', ] diff --git a/Software Files/ROS Workspace/src/config/romr_navigation.rviz b/Software Files/ROS Workspace/src/config/romr_navigation.rviz new file mode 100644 index 0000000..659366f --- /dev/null +++ b/Software Files/ROS Workspace/src/config/romr_navigation.rviz @@ -0,0 +1,417 @@ +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: + 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: + Yaw: 4.70358943939209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1044 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 1920 + Y: 0 diff --git a/Software Files/ROS Workspace/src/config/rviz_config.rviz b/Software Files/ROS Workspace/src/config/rviz_config.rviz new file mode 100644 index 0000000..18b8ff9 --- /dev/null +++ b/Software Files/ROS Workspace/src/config/rviz_config.rviz @@ -0,0 +1,229 @@ +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: + 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: + Yaw: 0.9303956627845764 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1044 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 1920 + Y: 0 diff --git a/Software Files/ROS Workspace/src/gazebo/romr.trans b/Software Files/ROS Workspace/src/gazebo/romr.trans new file mode 100644 index 0000000..48260ca --- /dev/null +++ b/Software Files/ROS Workspace/src/gazebo/romr.trans @@ -0,0 +1,27 @@ + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + diff --git a/Software Files/ROS Workspace/src/gazebo/romr_gazebo_materials.gazebo b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_materials.gazebo new file mode 100644 index 0000000..f0095df --- /dev/null +++ b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_materials.gazebo @@ -0,0 +1,40 @@ + + + + + + + + + + + + + ${base_link_color} + + + + ${camerad435i_link_color} + + + + ${imu_link_color} + + + + ${wheels_link_color} + + + + ${wheels_link_color} + + + + ${casterwheel_link_color} + + + + ${lidar_color} + + + diff --git a/Software Files/ROS Workspace/src/gazebo/romr_gazebo_physics.gazebo b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_physics.gazebo new file mode 100644 index 0000000..3177d5e --- /dev/null +++ b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_physics.gazebo @@ -0,0 +1,58 @@ + + + + + + + + + ${standard_friction} + ${standard_friction} + true + true + + + + ${wheels_friction} + ${wheels_friction} + true + + + + ${wheels_friction} + ${wheels_friction} + true + + + + ${caster_friction} + ${caster_friction} + true + + + + ${standard_friction} + ${standard_friction} + true + + + + ${standard_friction} + ${standard_friction} + true + + + + ${standard_friction} + ${standard_friction} + true + + + + + ${standard_friction} + ${standard_friction} + true + + + diff --git a/Software Files/ROS Workspace/src/gazebo/romr_gazebo_plugins.gazebo b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_plugins.gazebo new file mode 100644 index 0000000..4c82a4c --- /dev/null +++ b/Software Files/ROS Workspace/src/gazebo/romr_gazebo_plugins.gazebo @@ -0,0 +1,136 @@ + + + + + + + + + + + + + + 20 + leftwheel_joint + rightwheel_joint + 0.30 + 0.1610 + 1.0 + 20 + cmd_vel + odom + odom + base_link + 1 + false + true + 1 + true + true + false + true + world + Debug + + + + + + + + 0 0 0 0 0 0 + true + 10 + + + + 720 + 1 + -2.98451 + 2.98451 + + + + 0.15 + 16.0 + 0.01 + + + gaussian + 0.0 + 0.01 + + + + /scan + lidar_link + + + + + + + + true + + true + 10 + true + __default_topic__ + + imu + imu_link + 10.0 + 0.0 + 0 0 0 + 0 0 0 + imu_link + false + + 0 0 0 0 0 0 + + + + + + + + 30.0 + + 1.3962634 + + 640 + 320 + R8G8B8 + + + 0.02 + 300 + + + gaussian + 0.0 + 0.007 + + + + true + 0.0 + romr/camera + image_raw + camera_info + camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + + +