Gazebo Simulator

.gitignore

@@ -12,3 +12,6 @@ logs/
 
 # Catkin ignore files
 CATKIN_IGNORE
+
+# gazebo error msgs
+core.*

src/CMakeLists.txt

@@ -0,0 +1,69 @@
+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+project(Project)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()

src/simulator/README.md

@@ -0,0 +1,24 @@
+# Simulator nodes
+This is a gazebo simulation of a racecar in a cone/wall/track environment. Control the racecar through `/racecar_cmd`.
+Run with `roslaunch racecar_gazebo cones.launch`.
+
+Get laser scans from `/scan`. Get rgb image from `/camera/rgb/image_rect_color`. Get depth from `/camera/depth/image_raw`
+
+### gazebo
+Contains the models for each scene, most importantly cones.world. 
+Launching a world will also load all other required features:
+- racecar_description
+- gazebo
+- joint controllers
+- image publishers
+
+Execute the cones.launch file to launch the simulator as a whole.
+
+### racecar_description
+`xacro` files and meshes for the racecar
+
+### control
+Sets up the joint controllers, and state publishers for each joint.
+
+### basement
+Some unrelated files I found during cleanup that may be useful later

src/simulator/basement/maps/basement_hallways_10cm.yaml

@@ -0,0 +1,7 @@
+image: basement_hallways_10cm.png
+resolution: 0.100000
+origin: [-30.000000, -30.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

src/simulator/basement/maps/basement_hallways_5cm.yml

@@ -0,0 +1,7 @@
+image: basement_hallways_5cm.png
+resolution: 0.050000
+origin: [-30.000000, -30.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

src/simulator/basement/maps/short-course-33.yml

@@ -0,0 +1,7 @@
+image: short-course-33.png
+resolution: 0.025000
+origin: [-11.50000, -5.000000, -0.090000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

src/simulator/basement/readimage.py

@@ -0,0 +1,26 @@
+#!/usr/bin/python
+
+import rospy
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge, CvBridgeError
+import cv2
+
+class worker:
+
+    def __init__(self):
+
+        self.bridge = CvBridge()
+        rospy.Subscriber('/camera/zed/rgb/image_rect_color',Image,self.callback_SaveImage)
+        rospy.spin()
+
+    def callback_SaveImage(self,data):
+        print('save calisti')
+        cv2_img = self.bridge.imgmsg_to_cv2(data, "bgr8")
+        cv2.imwrite('camera_image.jpeg', cv2_img)
+
+
+if __name__ == '__main__':
+    try:
+        rospy.init_node('racecar_readimage',anonymous=True)
+        w = worker()
+    except rospy.ROSInterruptException: pass

src/simulator/basement/readlidar.py

@@ -0,0 +1,59 @@
+#!/usr/bin/python
+
+import rospy
+from std_msgs.msg import Float32
+from sensor_msgs.msg import LaserScan
+from dtmessage.msg import simple_dist
+
+from numpy import inf
+
+class worker:
+
+    def __init__(self):
+        rospy.Subscriber('/scan',LaserScan,self.callback_scan)
+
+        # -- "Different topics with float32" --
+        #self.pubLeftDist = rospy.Publisher('/readlidar/left_dist', Float32,queue_size=10)
+        #self.pubCenterDist = rospy.Publisher('/readlidar/center_dist', Float32,queue_size=10)
+        #self.pubRightDist = rospy.Publisher('/readlidar/right_dist', Float32,queue_size=10)
+        # -- "Different topics with float32" --
+
+        # -- "Different topics with custom msg" --
+        self.pub = rospy.Publisher('/readlidar',simple_dist,queue_size=10)
+        # -- "Different topics with custom msg" --
+
+        print("racecar_readlidar is running")
+        rospy.spin()
+
+    def callback_scan(self,data):
+        left = min(data.ranges[90:150])
+        center = min(data.ranges[150:230])
+        right = min(data.ranges[230:270])
+
+        if(left == inf):
+            left = 18;
+        if(center == inf):
+            center = 18;
+        if(right == inf):
+            right = 18;
+
+        # -- "Different topics with float32" --
+        #self.pubLeftDist.publish(left)
+        #self.pubCenterDist.publish(center)
+        #self.pubRightDist.publish(right)
+        # -- "Different topics with float32" --
+
+        # -- "Different topics with custom msg" --
+        data = simple_dist()
+        data.left = left
+        data.center = center
+        data.right = right
+        self.pub.publish(data)
+        # -- "Different topics with custom msg" --
+
+
+if __name__ == '__main__':
+    try:
+        rospy.init_node('racecar_readlidar',anonymous=True)
+        w = worker()
+    except rospy.ROSInterruptException: pass

src/simulator/control/CMakeLists.txt

@@ -0,0 +1,181 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(control)
+
+## 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)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES control
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a C++ library
+# add_library(control
+#   src/${PROJECT_NAME}/control.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(control ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(control_node src/control_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(control_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(control_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS control control_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_control.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)