diff --git a/.github/workflows/cpp-check.yml b/.github/workflows/cpp-check.yml new file mode 100644 index 0000000..3e9ce6f --- /dev/null +++ b/.github/workflows/cpp-check.yml @@ -0,0 +1,14 @@ +name: test-clang-format +on: [push, pull_request] +jobs: + cpp_style_check: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: DoozyX/clang-format-lint-action@v0.14 + with: + source: '.' + # exclude: './third_party ./external' + extensions: 'h,cpp' + clangFormatVersion: 14 + style: llvm diff --git a/.github/workflows/python-check.yml b/.github/workflows/python-check.yml new file mode 100644 index 0000000..4a94ae5 --- /dev/null +++ b/.github/workflows/python-check.yml @@ -0,0 +1,11 @@ +name: python style check +on: [push, pull_request] +jobs: + check-python-style: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v1 + - name: Black Code Formatter + uses: lgeiger/black-action@master + with: + args: ". --check" diff --git a/.github/workflows/xmllint.yaml b/.github/workflows/xmllint.yaml new file mode 100644 index 0000000..dc954f6 --- /dev/null +++ b/.github/workflows/xmllint.yaml @@ -0,0 +1,25 @@ +name: test-xml-format +on: [push, pull_request] +# lint all xacro and launch files and check that there are no changes +# if changes: fail +jobs: + xml_style_check: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - name: check xml changes + run: | + sudo apt update && sudo apt install libxml2-utils -y + ./scripts/xmlformat.sh + - name: Verify Changed files + uses: tj-actions/verify-changed-files@v16 + id: verify-changed-files + with: + files: | + **/*.xacro + **/*.launch + - name: Run step only when any of the above files change. + if: steps.verify-changed-files.outputs.files_changed == 'true' + run: |- + echo "Changed files: ${{ steps.verify-changed-files.outputs.changed_files }}" + false diff --git a/.github/workflows/yamlfmt.yml b/.github/workflows/yamlfmt.yml new file mode 100644 index 0000000..7c3ea04 --- /dev/null +++ b/.github/workflows/yamlfmt.yml @@ -0,0 +1,27 @@ +name: test-yaml-format +on: [push, pull_request] +jobs: + yaml_style_check: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: actions/setup-go@v4 + with: + go-version: '>=1.17.0' + - run: go version + - name: check yaml changes + run: | + go install github.com/google/yamlfmt/cmd/yamlfmt@latest + ./scripts/yamlformat.sh + - name: Verify Changed files + uses: tj-actions/verify-changed-files@v16 + id: verify-changed-files + with: + files: | + **/*.yaml + **/*.yml + - name: Run step only when any of the above files change. + if: steps.verify-changed-files.outputs.files_changed == 'true' + run: |- + echo "Changed files: ${{ steps.verify-changed-files.outputs.changed_files }}" + false diff --git a/.gitignore b/.gitignore index 1345657..efd8f11 100755 --- a/.gitignore +++ b/.gitignore @@ -1,3 +1,6 @@ build/ install/ log/ +worlds/generated.world +urdf/generated.world +scripts/node_modules \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt index 79d234c..9d4b49d 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,205 +1,34 @@ cmake_minimum_required(VERSION 3.0.2) project(mirte_gazebo) -## 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 - rospy - std_msgs + roscpp + ) - -## 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 exec_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 exec_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 -# ) - -################################################ -## 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 exec_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 your 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 mirte_gazebo -# CATKIN_DEPENDS rospy std_msgs -# DEPENDS system_lib +CATKIN_DEPENDS roscpp std_msgs mirte_msgs ) -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( -# include ${catkin_INCLUDE_DIRS} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/mirte_gazebo.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/mirte_gazebo_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_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 -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) +find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs pcl_ros pcl_conversions mirte_msgs) -## Mark cpp header files for installation -# install(DIRECTORY include/${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 ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) +include_directories(${catkin_INCLUDE_DIRS}) -############# -## Testing ## -############# -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_mirte_gazebo.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +add_executable(rotate src/rotate.cpp) +add_dependencies(rotate ${catkin_EXPORTED_TARGETS}) +target_link_libraries(rotate ${catkin_LIBRARIES} ) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +add_executable(convert_sonar src/convert_ultrasonic.cpp) +add_dependencies(convert_sonar ${catkin_EXPORTED_TARGETS}) +target_link_libraries(convert_sonar ${catkin_LIBRARIES} ) +add_executable(convert_ir src/convert_ir.cpp) +add_dependencies(convert_ir ${catkin_EXPORTED_TARGETS}) +target_link_libraries(convert_ir ${catkin_LIBRARIES} ) +add_executable(convert_encoder src/convert_encoder.cpp) +add_dependencies(convert_encoder ${catkin_EXPORTED_TARGETS}) +target_link_libraries(convert_encoder ${catkin_LIBRARIES} ) diff --git a/README.md b/README.md index a83f2cf..22a3f9b 100755 --- a/README.md +++ b/README.md @@ -2,9 +2,36 @@ Have mirte-control and mirte-teleopkey installed +apt install ros-noetic-ros-control ros-noetic-ros-controllers + +Requires https://github.com/SyrianSpock/realsense_gazebo_plugin to be downloaded and built if you want an actual realsense. realsense-depth uses a simple depth-camera without the realsense extras. + + ## running: -term1$ roslaunch mirte_gazebo gazebo_empty.launch +```sh +roslaunch mirte_gazebo gazebo_all.launch +``` + +Controlling the Mirte: +```sh +roslaunch mirte_teleop teleopkey.launch +``` + +Change world by changing the `duckietown` argument in `launch/gazebo_duckietown_world.launch` to any map in the maps folder. + +The map file is converted to `urdf/generated.world` by `scripts/buildMap.py` and converted to `worlds/generated.world` by xacro before launching Gazebo. + + +## Format +Format xml (.launch, .xacro and .world) by running +```sh +./scripts/xmlformat.sh # uses xmllint +``` +and +```sh +./scripts/pythonformat.sh # uses black +``` \ No newline at end of file diff --git a/config/gazebo_ros_control_params.yaml b/config/gazebo_ros_control_params.yaml index 83967fe..9a3420c 100644 --- a/config/gazebo_ros_control_params.yaml +++ b/config/gazebo_ros_control_params.yaml @@ -1,12 +1,10 @@ -gazebo_ros_control: +gazebo_ros_control: pid_gains: joint_left_wheel: - p: 0.06 - i: 0.0 + p: 0.1 + i: 0.0 d: 0.0 joint_right_wheel: - p: 0.06 + p: 0.1 i: 0.0 d: 0.0 - - diff --git a/config/mirte_diff_drive.yaml b/config/mirte_diff_drive.yaml new file mode 100644 index 0000000..139334f --- /dev/null +++ b/config/mirte_diff_drive.yaml @@ -0,0 +1,56 @@ +mirte: + joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 20 + mobile_base_controller: + type: "diff_drive_controller/DiffDriveController" + left_wheel: 'joint_left_wheel' + right_wheel: 'joint_right_wheel' + publish_rate: 50.0 # default: 50 + pose_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + # Wheel separation and diameter. These are both optional. + # diff_drive_controller will attempt to read either one or both from the + # URDF if not specified as a parameter + wheel_separation: 1.0 + wheel_radius: 0.3 + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier: 1.0 # default: 1.0 + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 0.5 + # Base frame_id + base_frame_id: base_footprint #default: base_link + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits: false + max_velocity: 1.0 # m/s + min_velocity: -1 # m/s + has_acceleration_limits: false + max_acceleration: 0.8 # m/s^2 + min_acceleration: -0.4 # m/s^2 + has_jerk_limits: false + max_jerk: 5.0 # m/s^3 + angular: + z: + has_velocity_limits: false + max_velocity: 1.7 # rad/s + has_acceleration_limits: false + max_acceleration: 1.5 # rad/s^2 + has_jerk_limits: false + max_jerk: 2.5 # rad/s^3 + # joint_state_controller: + # type: joint_state_controller/JointStateController + # publish_rate: 50 +# # Position Controllers --------------------------------------- + +# joint1_position_controller: +# type: velocity_controllers/JointVelocityController +# joint: joint_left_wheel +# pid: {p: 100.0, i: 0.01, d: 10.0} +# joint2_position_controller: +# type: velocity_controllers/JointVelocityController +# joint: joint_right_wheel +# pid: {p: 100.0, i: 0.01, d: 10.0} diff --git a/config/mirte_dimensions.yaml b/config/mirte_dimensions.yaml index 35e67ca..2421196 100755 --- a/config/mirte_dimensions.yaml +++ b/config/mirte_dimensions.yaml @@ -1,16 +1,15 @@ - base_width: 0.14 - base_len: 0.21081 - base_height: 0.05 - base_mass: 1 - - wheel_radius: 0.0325 - wheel_mass: 0.1 - wheel_center_x_offset: 0.013805 - wheel_center_y_offset: 0.08385 - wheel_center_z_offset: -0.0075 - - caster_wheel_radius: 0.005 - caster_wheel_center_x_offset: -0.085715 - caster_wheel_center_y_offset: 0 - caster_wheel_center_z_offset: -0.035 - caster_wheel_mass: 0.02 +base_width: 0.14 +base_len: 0.21081 +base_height: 0.05 +base_mass: 1 +wheel_radius: 0.0325 +wheel_mass: 0.1 +wheel_center_x_offset: 0.010305 # eyeballed offsets +wheel_center_y_offset: 0.06385 # eyeballed offsets +wheel_center_z_offset: 0.015 +caster_wheel_radius: 0.005 +caster_wheel_center_x_offset: -0.085715 +caster_wheel_center_y_offset: 0 +caster_wheel_center_z_offset: -0.0125 # TODO: base is not perfectly level +caster_wheel_mass: .12 # to fix realsense weight +cmd_vel_timeout: 0.5 diff --git a/launch/gazebo_all.launch b/launch/gazebo_all.launch new file mode 100644 index 0000000..23c2237 --- /dev/null +++ b/launch/gazebo_all.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/gazebo_duckietown_world.launch b/launch/gazebo_duckietown_world.launch new file mode 100644 index 0000000..06bfa99 --- /dev/null +++ b/launch/gazebo_duckietown_world.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/launch/gazebo_duckietown_world_generated.launch b/launch/gazebo_duckietown_world_generated.launch new file mode 100644 index 0000000..cc573a9 --- /dev/null +++ b/launch/gazebo_duckietown_world_generated.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + diff --git a/launch/gazebo_empty_world.launch b/launch/gazebo_empty_world.launch index 0b25083..9390abf 100644 --- a/launch/gazebo_empty_world.launch +++ b/launch/gazebo_empty_world.launch @@ -1,6 +1,6 @@ + - - - + + diff --git a/launch/generate_world.launch b/launch/generate_world.launch new file mode 100644 index 0000000..a2088bf --- /dev/null +++ b/launch/generate_world.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/launch/rsp_lab3.launch b/launch/rsp_lab3.launch new file mode 100644 index 0000000..aeca10d --- /dev/null +++ b/launch/rsp_lab3.launch @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/rsp_lab3_generated.launch b/launch/rsp_lab3_generated.launch new file mode 100644 index 0000000..395ab4a --- /dev/null +++ b/launch/rsp_lab3_generated.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/rsp_lab4.launch b/launch/rsp_lab4.launch new file mode 100644 index 0000000..6efa9cb --- /dev/null +++ b/launch/rsp_lab4.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/rsp_lab4_generated.launch b/launch/rsp_lab4_generated.launch new file mode 100644 index 0000000..4c4a8d2 --- /dev/null +++ b/launch/rsp_lab4_generated.launch @@ -0,0 +1,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/spawn_duckietown.launch b/launch/spawn_duckietown.launch deleted file mode 100644 index 54a8bcf..0000000 --- a/launch/spawn_duckietown.launch +++ /dev/null @@ -1,12 +0,0 @@ - - - - - - - - - - - - diff --git a/launch/spawn_mirte.launch b/launch/spawn_mirte.launch index 9e7a263..c763d30 100644 --- a/launch/spawn_mirte.launch +++ b/launch/spawn_mirte.launch @@ -1,50 +1,33 @@ + - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + - - - - - + + + - + - - - - - - - - - - + + + diff --git a/maps/4way.yaml b/maps/4way.yaml new file mode 100644 index 0000000..778e283 --- /dev/null +++ b/maps/4way.yaml @@ -0,0 +1,17 @@ +# 5x5 counter-clockwise loop with a 4-way intersection in the middle +# Designed to test the 4-way intersection tile and traffic light +tiles: +- [curve_left/W , straight/W, 3way_left/W , straight/W, curve_left/N] +- [straight/S , asphalt , straight/N , asphalt , straight/N] +- [3way_left/S , straight/W, 4way , straight/E, 3way_left/N] +- [straight/S , asphalt , straight/S , asphalt , straight/N] +- [curve_left/S , straight/E, 3way_left/E , straight/E, curve_left/E] + +objects: +- kind: trafficlight + pos: [2.2, 2.2] + rotate: 45 + height: 0.4 + optional: true + +tile_size: 0.585 diff --git a/maps/README.md b/maps/README.md new file mode 100644 index 0000000..1f977f2 --- /dev/null +++ b/maps/README.md @@ -0,0 +1 @@ +# Maps taken from https://github.com/duckietown/gym-duckietown/tree/master/gym_duckietown/maps \ No newline at end of file diff --git a/maps/barrels.yaml b/maps/barrels.yaml new file mode 100644 index 0000000..f93c2ff --- /dev/null +++ b/maps/barrels.yaml @@ -0,0 +1,293 @@ +tiles: +- [floor , floor , floor , floor , floor , floor , floor , floor ] +- [floor , curve_left/W, straight/W, straight/W, straight/W , straight/W, curve_left/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , curve_right/N , straight/E, curve_left/E , floor ] +- [floor , curve_left/S, straight/E, straight/E, curve_left/E , floor , floor , floor ] +- [floor , floor , floor , floor , floor , floor , floor , floor ] + + +tile_size: 0.585 +objects: +- kind: barrier + pos: [5.8, 2.8] + rotate: 100 + height: 0.5 + +# - kind: duckie +# pos: [6.5, 2.5] +# rotate: 0 +# height: 0.4 + + + +- kind: includedperson + pos: [6.5, 2.8] + rotate: 90 + height: 0.3 + + +- kind: cone + pos: + - 2 + - 1.2498000000000002 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 2 + - 2.7498000000000005 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 2.3 + - 1.2403461000000002 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 2.3 + - 2.7403461 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 2.5999999999999996 + - 1.1539008 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 2.5999999999999996 + - 2.6539007999999997 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 2.8999999999999995 + - 1.0080087000000006 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 2.8999999999999995 + - 2.5080087000000004 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 3.1999999999999993 + - 0.8202144000000005 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 3.1999999999999993 + - 2.3202144000000002 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 3.499999999999999 + - 0.608062500000002 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 3.499999999999999 + - 2.1080625000000017 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 3.799999999999999 + - 0.3890975999999988 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 3.799999999999999 + - 1.8890975999999988 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 4.099999999999999 + - 0.18086429999999898 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 4.099999999999999 + - 1.680864299999999 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 4.399999999999999 + - 0.0009072000000032165 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 4.399999999999999 + - 1.5009072000000032 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 4.699999999999998 + - 0 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 4.699999999999998 + - 1.3667709 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 4.999999999999998 + - 0 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 4.999999999999998 + - 1.2959999999999952 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 5.299999999999998 + - 0 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 5.299999999999998 + - 1.3061390999999987 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 5.599999999999998 + - 0 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 5.599999999999998 + - 1.4147327999999988 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 5.899999999999998 + - 0.13932569999999278 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 5.7 + - 1.6393256999999928 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 6.1999999999999975 + - 0.45 + rotate: 0 + height: 0.1 + +- kind: cone + pos: + - 6.5 + - 0.7 + rotate: 0 + height: 0.1 +# - kind: cone +# pos: +# - 6.5 +# - 1 +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: +# - 7.5 +# - 5 +# rotate: 0 +# height: 0.1 + + +# start gen +- kind: cone + pos: + - 6.8 + - 1 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 6.8999999999999995 + - 1.3999999999999986 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 6.999999999999999 + - 1.7999999999999972 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 7.099999999999999 + - 2.1999999999999957 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 7.199999999999998 + - 2.5999999999999943 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 7.299999999999998 + - 2.999999999999993 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 7.399999999999998 + - 3.3999999999999915 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 7.499999999999997 + - 3.79999999999999 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 7.599999999999997 + - 4.199999999999989 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 7.699999999999997 + - 4.599999999999987 + rotate: 0 + height: 0.1 +- kind: cone + pos: + - 7.799999999999996 + - 4.999999999999986 + rotate: 0 + height: 0.1 diff --git a/maps/loop_dyn_duckiebots.yaml b/maps/loop_dyn_duckiebots.yaml new file mode 100644 index 0000000..c9add1e --- /dev/null +++ b/maps/loop_dyn_duckiebots.yaml @@ -0,0 +1,58 @@ +# This is a closed loop (no intersections) with a few obstacles directly +# on the road, which have to be avoided. + +tiles: +- [floor , floor , floor , floor , floor , floor , floor , floor ] +- [floor , curve_left/W, straight/W, straight/W, straight/W , straight/W, curve_left/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , curve_right/N , straight/E, curve_left/E , floor ] +- [floor , curve_left/S, straight/E, straight/E, curve_left/E , floor , floor , floor ] +- [floor , floor , floor , floor , floor , floor , floor , floor ] + +# NOTE: obstacles cannot be optional, because they will change for +# every episode, and this will interfere with imitation learning +objects: + +- kind: duckie + pos: [3.5, 1.2] + rotate: 10 + height: 0.06 + +- kind: cone + pos: [6.8, 2.5] + rotate: 90 + height: 0.08 +- kind: cone + pos: [6.6, 2.4] + rotate: 90 + height: 0.08 + +- kind: duckie + pos: [1.5, 5.5] + rotate: 90 + height: 0.08 + +- kind: duckiebot + pos: [4.5, 5.75] + rotate: -45 + height: 0.12 + +- kind: barrier + pos: [0.9, 3] + rotate: 100 + height: 0.08 + +- kind: duckie + pos: [3.0, 6.0] + rotate: 90 + height: 0.08 + static: True + +- kind: duckiebot + pos: [2.5, 5.75] + rotate: 0 + height: 0.12 + static: False + +tile_size: 0.585 diff --git a/maps/loop_empty.yaml b/maps/loop_empty.yaml new file mode 100644 index 0000000..352107f --- /dev/null +++ b/maps/loop_empty.yaml @@ -0,0 +1,37 @@ +# This is a closed loop (no intersections) with a few obstacles directly +# on the road, which have to be avoided. + +tiles: +- [floor , floor , floor , floor , floor , floor , floor , floor ] +- [floor , curve_left/W, straight/W, straight/W, straight/W , straight/W, curve_left/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , curve_right/N , straight/E, curve_left/E , floor ] +- [floor , curve_left/S, straight/E, straight/E, curve_left/E , floor , floor , floor ] +- [floor , floor , floor , floor , floor , floor , floor , floor ] + +# NOTE: obstacles cannot be optional, because they will change for +# every episode, and this will interfere with imitation learning +objects: + +- kind: duckie + pos: [0.5,0.5] + rotate: 10 + height: 0.06 + +- kind: duckie + pos: [0.5,0.7] + rotate: 10 + height: 0.06 + +- kind: duckie + pos: [6.5,0.7] + rotate: 10 + height: 0.06 + +- kind: cone + pos: [0, 2.5] + rotate: 90 + height: 0.08 + +tile_size: 0.585 diff --git a/maps/loop_obstacles.yaml b/maps/loop_obstacles.yaml new file mode 100644 index 0000000..1015133 --- /dev/null +++ b/maps/loop_obstacles.yaml @@ -0,0 +1,52 @@ +# This is a closed loop (no intersections) with a few obstacles directly +# on the road, which have to be avoided. + +tiles: +- [floor , floor , floor , floor , floor , floor , floor , floor ] +- [floor , curve_left/W, straight/W, straight/W, straight/W , straight/W, curve_left/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , curve_right/N , straight/E, curve_left/E , floor ] +- [floor , curve_left/S, straight/E, straight/E, curve_left/E , floor , floor , floor ] +- [floor , floor , floor , floor , floor , floor , floor , floor ] + +# NOTE: obstacles cannot be optional, because they will change for +# every episode, and this will interfere with imitation learning +objects: + +- kind: duckie + pos: [3.5, 1.2] + rotate: 10 + height: 0.06 + +- kind: cone + pos: [6.8, 2.5] + rotate: 90 + height: 0.08 +- kind: cone + pos: [6.6, 2.4] + rotate: 90 + height: 0.08 + +- kind: duckie + pos: [1.5, 5.5] + rotate: 90 + height: 0.08 + +- kind: duckiebot + pos: [4.5, 5.75] + rotate: -45 + height: 0.12 + +- kind: barrier + pos: [0.9, 3] + rotate: 100 + height: 0.08 + +- kind: duckie + pos: [3.0, 6.0] + rotate: 90 + height: 0.08 + static: True + +tile_size: 0.585 diff --git a/maps/loop_pedestrians.yaml b/maps/loop_pedestrians.yaml new file mode 100644 index 0000000..3a26c93 --- /dev/null +++ b/maps/loop_pedestrians.yaml @@ -0,0 +1,58 @@ +# This is a closed loop (no intersections) with a few obstacles directly +# on the road, which have to be avoided. + +tiles: +- [floor , floor , floor , floor , floor , floor , floor , floor ] +- [floor , curve_left/W, straight/W, straight/W, straight/W , straight/W, curve_left/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , curve_right/N , straight/E, curve_left/E , floor ] +- [floor , curve_left/S, straight/E, straight/E, curve_left/E , floor , floor , floor ] +- [floor , floor , floor , floor , floor , floor , floor , floor ] + +# NOTE: obstacles cannot be optional, because they will change for +# every episode, and this will interfere with imitation learning +objects: + +- kind: duckie + pos: [3.5, 1.2] + rotate: 10 + height: 0.06 + +- kind: cone + pos: [6.8, 2.5] + rotate: 90 + height: 0.08 +- kind: cone + pos: [6.6, 2.4] + rotate: 90 + height: 0.08 + +- kind: duckie + pos: [1.5, 5.5] + rotate: 90 + height: 0.08 + +- kind: duckiebot + pos: [4.5, 5.75] + rotate: -45 + height: 0.12 + +- kind: barrier + pos: [0.9, 3] + rotate: 100 + height: 0.08 + +- kind: duckie + pos: [3.0, 6.25] + rotate: 90 + height: 0.08 + static: False + +- kind: duckie + pos: [4.0, 6.25] + rotate: 90 + height: 0.08 + static: False + +tile_size: 0.585 diff --git a/maps/rcj.yaml b/maps/rcj.yaml new file mode 100644 index 0000000..0171198 --- /dev/null +++ b/maps/rcj.yaml @@ -0,0 +1,37 @@ +# This is a closed loop (no intersections) with a few obstacles directly +# on the road, which have to be avoided. + +tiles: +- [Rfloor , Rfloor , Rfloor , Rfloor , Rfloor , Rfloor , Rfloor , Rfloor ] +- [Rfloor , Rcircle_corner/W, Rstraight/W, Rstraight/W, Rstraight/W , Rstraight/W, Rcircle_corner/N , Rfloor ] +- [Rfloor , Rstraight/S , Rfloor , Rfloor , Rfloor , Rfloor , Rstraight/N , Rfloor ] +- [Rfloor , Rstraight/S , Rfloor , Rfloor , Rfloor , Rfloor , Rstraight/N , Rfloor ] +- [Rfloor , Rstraight/S , Rfloor , Rfloor , Rcircle_corner/E , Rstraight/E, Rcircle_corner/E , Rfloor ] +- [Rfloor , Rcircle_corner/S, Rblack/E, Rstraight/E, Rcircle_corner/E , Rfloor , Rfloor , Rfloor ] +- [Rfloor , Rfloor , Rfloor , Rfloor , Rfloor , Rfloor , Rfloor , Rfloor ] + +# NOTE: obstacles cannot be optional, because they will change for +# every episode, and this will interfere with imitation learning +# objects: + +# - kind: duckie +# pos: [0.5,0.5] +# rotate: 10 +# height: 0.06 + +# - kind: duckie +# pos: [0.5,0.7] +# rotate: 10 +# height: 0.06 + +# - kind: duckie +# pos: [6.5,0.7] +# rotate: 10 +# height: 0.06 + +# - kind: cone +# pos: [0, 2.5] +# rotate: 90 +# height: 0.08 + +tile_size: 0.585 diff --git a/maps/regress_4way_adam.yaml b/maps/regress_4way_adam.yaml new file mode 100644 index 0000000..aa19cd7 --- /dev/null +++ b/maps/regress_4way_adam.yaml @@ -0,0 +1,109 @@ +# This map is a regression test for issue #48 + +tiles: +- [floor, floor , floor , floor , floor , floor , floor] +- [floor, curve_left/W , straight/W, 3way_left/W , straight/W, curve_left/N, floor] +- [floor, straight/S , asphalt , straight/N , asphalt , straight/N , floor] +- [floor, 3way_left/S , straight/W, 4way , straight/E, 3way_left/N , floor] +- [floor, straight/S , asphalt , straight/S , asphalt , straight/N , floor] +- [floor, curve_left/S , straight/E, 3way_left/E , straight/E, curve_left/E, floor] +- [floor, floor , floor , floor , floor , floor , floor] + +objects: + +- kind: sign_4_way_intersect + pos: [2.95, 2.95] + rotate: 0 + height: 0.18 + +- kind: sign_t_light_ahead + pos: [2.85, 2.95] + rotate: 90 + height: 0.18 + +- kind: sign_4_way_intersect + pos: [4.05, 2.95] + rotate: 90 + height: 0.18 + +- kind: sign_t_light_ahead + pos: [4.05, 2.85] + rotate: 180 + height: 0.18 + +- kind: sign_4_way_intersect + pos: [2.95, 4.05] + rotate: 270 + height: 0.18 + +- kind: sign_t_light_ahead + pos: [2.95, 4.15] + rotate: 0 + height: 0.18 + +- kind: sign_4_way_intersect + pos: [4.05, 4.05] + rotate: 180 + height: 0.18 + +- kind: sign_t_light_ahead + pos: [4.15, 4.05] + rotate: 270 + height: 0.18 + +- kind: duckie + pos: [2.02, 2.83] + rotate: 168.18 + height: 0.08 + +- kind: building + pos: [2.46, 2.67] + rotate: 180 + height: 0.6 + +- kind: cone + pos: [0.73, 0.5] + rotate: 172.63 + height: 0.08 + +- kind: house + pos: [6.96, 6.93] + rotate: 90 + height: 0.5 + +- kind: duckie + pos: [0.43, 0.75] + rotate: 19.93 + height: 0.08 + +- kind: barrier + pos: [0.08, 0.16] + rotate: 182.56 + height: 0.08 + +- kind: barrier + pos: [2.74, 5.25] + rotate: 90 + height: 0.08 + +- kind: barrier + pos: [5.75, 6.02] + rotate: 128.23 + height: 0.08 + +- kind: cone + pos: [2.76, 1.95] + rotate: 85.59 + height: 0.08 + +- kind: barrier + pos: [6.0, 2.0] + rotate: 237.6 + height: 0.08 + +- kind: duckie + pos: [6.0, 2.0] + rotate: 7.2 + height: 0.08 + +tile_size: 0.585 diff --git a/maps/regress_4way_drivable.yaml b/maps/regress_4way_drivable.yaml new file mode 100644 index 0000000..d2eae84 --- /dev/null +++ b/maps/regress_4way_drivable.yaml @@ -0,0 +1,6 @@ +# Regression test for issue #53 +tiles: +- [4way] + + +tile_size: 0.585 diff --git a/maps/route.yaml b/maps/route.yaml new file mode 100644 index 0000000..4eccd20 --- /dev/null +++ b/maps/route.yaml @@ -0,0 +1,1037 @@ +tiles: + - - floor + - floor + - floor + - floor + - floor + - floor + - floor + - floor + - - floor + - curve_left/W + - straight/W/begin + - straight/W/small + - straight/W/end + - straight/W + - curve_left/N + - floor + - - floor + - straight/S + - floor + - floor + - floor + - floor + - straight/N + - floor + - - floor + - straight/S + - floor + - floor + - floor + - floor + - straight/N + - floor + - - floor + - straight/S + - floor + - floor + - curve_right/N + - straight/E + - curve_left/E + - floor + - - floor + - curve_left/S + - straight/E + - straight/E + - curve_left/E + - floor + - floor + - floor + - - floor + - floor + - floor + - floor + - floor + - floor + - floor + - floor +tile_size: 0.585 +objects: + - kind: includedperson + pos: + - 6.5 + - 2.8 + rotate: 90 + height: 0.2 + - kind: cone + pos: + - 1 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.05 + - 1.75 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.75 + - 1.05 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.2 + - 1.2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.5 + - 1.1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.1 + - 1.5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.25 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.5 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.75 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.25 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.5 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.75 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.25 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.5 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.75 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.25 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.5 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.75 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.25 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.5 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.75 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5 + - 1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.25 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.5 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.75 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5 + - 2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5 + - 1 + rotate: 0 + 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pos: + - 6 + - 3.5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6 + - 3.75 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 7 + - 3 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 7 + - 3.25 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 7 + - 3.5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 7 + - 3.75 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 7 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1 + - 4.25 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1 + - 4.5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1 + - 4.75 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 4.25 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 4.5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 4.75 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.05 + - 4.75 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.75 + - 4.05 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.2 + - 4.2 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.5 + - 4.1 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.1 + - 4.5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5.25 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5.5 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5.75 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5.25 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5.5 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5.75 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 7 + - 4 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6.95 + - 4.25 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6.25 + - 4.95 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6.8 + - 4.8 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6.5 + - 4.9 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 6.9 + - 4.5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.75 + - 5.95 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.05 + - 5.25 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.2 + - 5.8 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.1 + - 5.5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 1.5 + - 5.9 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.25 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.5 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.75 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.25 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.5 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 2.75 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.25 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.5 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.75 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.25 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.5 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 3.75 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 5 + - 5 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4 + - 6 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.95 + - 5.25 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.25 + - 5.95 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.8 + - 5.8 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.5 + - 5.9 + rotate: 0 + height: 0.1 + - kind: cone + pos: + - 4.9 + - 5.5 + rotate: 0 + height: 0.1 diff --git a/maps/routeE.yaml b/maps/routeE.yaml new file mode 100644 index 0000000..2fb91b9 --- /dev/null +++ b/maps/routeE.yaml @@ -0,0 +1,165 @@ +tiles: +- [floor , floor , floor , floor , floor , floor , floor , floor ] +- [floor , curve_left/W, straight/W/begin, straight/W/small, straight/W/end , straight/W, curve_left/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , floor , floor , straight/N , floor ] +- [floor , straight/S , floor , floor , curve_right/N , straight/E, curve_left/E , floor ] +- [floor , curve_left/S, straight/E, straight/E, curve_left/E , floor , floor , floor ] +- [floor , floor , floor , floor , floor , floor , floor , floor ] + + +tile_size: 0.585 +objects: +# - kind: barrier +# pos: [5.8, 2.8] +# rotate: 100 +# height: 0.5 + +# - kind: duckie +# pos: [6.5, 2.5] +# rotate: 0 +# height: 0.4 + + + +- kind: includedperson + pos: [6.5, 2.8] + rotate: 90 + height: 0.3 + + + +# - kind: cone +# pos: [2, 5] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [2, 6] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [2.4, 5] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [2.4, 6] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [2.8, 5] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [2.8, 6] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [3.2, 5] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [3.2, 6] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [3.6, 5] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [3.6, 6] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [4, 5] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [4, 6] +# rotate: 0 +# height: 0.1 + + +# # outer corner: +# - kind: cone +# pos: [4, 5+6] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [4+0.3, 5+1] +# rotate: 0 +# height: 0.1 + + +# - kind: cone +# pos: [4+.5, 5+.95] +# rotate: 0 +# height: 0.1 + + +# - kind: cone +# pos: [4+.78, 5+.78] +# rotate: 0 +# height: 0.1 +# - kind: cone +# pos: [4+.95, 5+.5] +# rotate: 0 +# height: 0.1 +# - kind: cone +# pos: [4+1, 5+.3] +# rotate: 0 +# height: 0.1 +# - kind: cone +# pos: [4+1, 5+0] +# rotate: 0 +# height: 0.1 + +# # outer corner 2: + +# - kind: cone +# pos: [5-0.25, 5-0.98] +# rotate: 0 +# height: 0.1 + + +# - kind: cone +# pos: [5-.5, 5-.95] +# rotate: 0 +# height: 0.1 + + +# - kind: cone +# pos: [5-.78, 5-.78] +# rotate: 0 +# height: 0.1 +# - kind: cone +# pos: [5-.95, 5-.5] +# rotate: 0 +# height: 0.1 +# - kind: cone +# pos: [5-1, 5-.3] +# rotate: 0 +# height: 0.1 + +# # straight again +# - kind: cone +# pos: [5, 4] +# rotate: 0 +# height: 0.1 + +# - kind: cone +# pos: [2, 6] +# rotate: 0 +# height: 0.1 + diff --git a/maps/small_loop.yaml b/maps/small_loop.yaml new file mode 100644 index 0000000..4a9f212 --- /dev/null +++ b/maps/small_loop.yaml @@ -0,0 +1,7 @@ +# 3x3 tiles with left turns at the corners going in a counter-clockwise loop +tiles: +- [curve_left/W , straight/W, curve_left/N] +- [straight/S , asphalt , straight/N] +- [curve_left/S , straight/E, curve_left/E] + +tile_size: 0.585 diff --git a/maps/small_loop_cw.yaml b/maps/small_loop_cw.yaml new file mode 100644 index 0000000..f36665d --- /dev/null +++ b/maps/small_loop_cw.yaml @@ -0,0 +1,7 @@ +# 3x3 tiles with right turns at the corners going in a clockwise loop +tiles: +- [curve_right/N, straight/E, curve_right/E] +- [straight/N , asphalt , straight/S] +- [curve_right/W, straight/W, curve_right/S] + +tile_size: 0.585 diff --git a/maps/straight_road.yaml b/maps/straight_road.yaml new file mode 100644 index 0000000..1769a2a --- /dev/null +++ b/maps/straight_road.yaml @@ -0,0 +1,9 @@ +# Linear stretch of road. Basic test case. +tiles: +- [straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E, straight/E] + +# Always start driving on the leftmost tile +# The position and direction of the agent on the tile will be randomized +start_tile: [0, 0] + +tile_size: 0.585 diff --git a/maps/udem1.yaml b/maps/udem1.yaml new file mode 100644 index 0000000..8e27baa --- /dev/null +++ b/maps/udem1.yaml @@ -0,0 +1,99 @@ +# The following section defines the grid layout. +# +# Each row is an array of tiles descriptions. +# The top-left tile in this file maps to coordinates (0, 0) in the world +# Each tile contains a string with the kind of tile and its orientation. +# The orientations are North, South, East, West. This is the direction in +# which the agent is expected to drive when going onto this tile. +tiles: +- [floor , floor , floor , floor , floor , floor , floor , floor] +- [floor , curve_left/W , straight/W, 3way_left/W , straight/W, straight/W , curve_left/N , asphalt] +- [floor , straight/S , grass , straight/N , asphalt , asphalt , straight/N , asphalt] +- [floor , 3way_left/S , straight/W, 3way_left/N , asphalt , asphalt , straight/N , asphalt] +- [floor , straight/S , grass , straight/N , asphalt , curve_right/N , curve_left/E , asphalt] +- [floor , curve_left/S , straight/E, 3way_left/E , straight/E, curve_left/E , asphalt , asphalt] +- [floor , floor , floor , floor , floor , floor , floor , floor] + +# The following is a listing of 3D objects placed on the map +# +# pos: object positions are scaled according to the tile size, so +# that (1.5, 2.5) would be exactly in the middle of tile (1, 2) +# height: Objects can be scaled according to their real-world height in meters +# Duckietown tiles are 61cm, or 0.61 meter +# rotate: the rotation angle determine the object's orientation +# a positive rotation angle corresponds to a counter-clockwise +# (leftward) rotation. The angles are in degrees. +# Models should, at angle 0, face towards the positive X axis. +objects: + +- kind: tree + pos: [2.5, 4.5] + rotate: 180 + height: 0.25 + optional: true + +- kind: duckie + pos: [2.5, 2.9] + rotate: -90 + height: 0.08 + optional: true + +- kind: sign_stop + pos: [2.08, 4.05] + rotate: 90 + height: 0.18 +- kind: sign_left_T_intersect + pos: [0.94, 3.96] + rotate: 90 + height: 0.18 +- kind: sign_stop + pos: [2.08, 2.96] + rotate: -90 + height: 0.18 +- kind: sign_right_T_intersect + pos: [0.94, 3.05] + rotate: -90 + height: 0.18 +- kind: sign_stop + pos: [0.94, 4.05] + rotate: 0 + height: 0.18 +- kind: sign_T_intersect + pos: [0.94, 2.96] + rotate: 0 + height: 0.18 + +- kind: house + pos: [4.8, 2.6] + rotate: 90 + height: 0.5 + optional: true + +- kind: truck + pos: [1.6, 6.3] + rotate: 0 + height: 0.2 + optional: true + +- kind: bus + pos: [2.0, 0.5] + rotate: 0 + height: 0.18 + optional: true +- kind: bus + pos: [4, 0.5] + rotate: 0 + height: 0.18 + optional: true +- kind: bus + pos: [6.0, 0.5] + rotate: 0 + height: 0.18 + optional: true +- kind: truck + pos: [7.5, 0.5] + rotate: 180 + height: 0.2 + optional: true + +tile_size: 0.585 diff --git a/maps/zigzag_dists.yaml b/maps/zigzag_dists.yaml new file mode 100644 index 0000000..65ed9a7 --- /dev/null +++ b/maps/zigzag_dists.yaml @@ -0,0 +1,78 @@ +# This map is a closed loop: it has multiple left and right turns but no +# intersections. The map also includes many white distractor objects trying +# to confuse the detection of road edges. The purpose of this map is to act +# as a torture-test for lane-following. + +tiles: +- [asphalt, asphalt , asphalt , asphalt , asphalt , asphalt , asphalt , asphalt, asphalt] +- [asphalt, curve_left/W, curve_left/N , asphalt , curve_left/W , straight/W, straight/W , curve_left/N, asphalt] +- [asphalt, straight/S , curve_right/W , straight/W , curve_right/S , asphalt , curve_right/N , curve_left/E, asphalt] +- [asphalt, straight/S , asphalt , asphalt , asphalt , asphalt , straight/N , asphalt, asphalt] +- [asphalt, straight/S , asphalt , asphalt , curve_right/N , straight/E, curve_left/E , asphalt, asphalt] +- [asphalt, straight/S , asphalt , curve_right/N , curve_left/E , asphalt , asphalt , asphalt, asphalt] +- [asphalt, straight/S , asphalt , straight/N , asphalt , asphalt , asphalt , asphalt, asphalt] +- [asphalt, curve_left/S, straight/E , curve_left/E , asphalt , asphalt , asphalt , asphalt, asphalt] +- [asphalt, asphalt , asphalt , asphalt , asphalt , asphalt , asphalt , asphalt, asphalt] + +objects: + +# Top row +- kind: bus + pos: [1.0, 0.5] + rotate: 10 + height: 0.18 + optional: true +- kind: bus + pos: [2.4, 0.65] + rotate: -10 + height: 0.18 + optional: true +- kind: bus + pos: [4.0, 0.65] + rotate: -5 + height: 0.19 + optional: true +- kind: bus + pos: [6.0, 0.5] + rotate: 0 + height: 0.18 + optional: true +- kind: truck + pos: [7.5, 0.5] + rotate: 180 + height: 0.2 + optional: true + +# Right-hand side +- kind: bus + pos: [8.3, 1.5] + rotate: 90 + height: 0.22 + optional: true +- kind: bus + pos: [8.3, 3.0] + rotate: 95 + height: 0.21 + optional: true + +# Bottom row +- kind: truck + pos: [0.6, 8.3] + rotate: -30 + height: 0.25 + optional: true + +# Miscellaneous objects +- kind: tree + pos: [2.5, 4.5] + rotate: 180 + height: 0.25 + optional: true + +- kind: sign_blank + pos: [5.95, 2.4] + rotate: -20 + height: 0.18 + optional: true + +tile_size: 0.585 diff --git a/media/materials/scripts/duckietown.material b/media/materials/scripts/duckietown.material index faea26b..3a4f57b 100644 --- a/media/materials/scripts/duckietown.material +++ b/media/materials/scripts/duckietown.material @@ -1,4 +1,4 @@ -material DT/Straight +material DT/straight { technique { @@ -8,12 +8,13 @@ material DT/Straight { texture straight.png scale 1 1 + rotate 90 } } } } -material DT/Curve +material DT/curve { technique { @@ -43,6 +44,22 @@ material DT/3Way } } +material DT/3way_left +{ + technique + { + pass + { + texture_unit + { + texture 3way_left_1.png + scale 1 1 + rotate 90 + } + } + } +} + material DT/4Way { technique @@ -57,6 +74,93 @@ material DT/4Way } } } +material DT/floor +{ + technique + { + pass + { + texture_unit + { + texture floor_1.png + scale 1 1 + } + } + } +} +material DT/grass +{ + technique + { + pass + { + texture_unit + { + texture grass_1.png + scale 1 1 + } + } + } +} + +material DT/4way +{ + technique + { + pass + { + texture_unit + { + texture 4way.png + scale 1 1 + } + } + } +} +material DT/asphalt +{ + technique + { + pass + { + texture_unit + { + texture asphalt_1.png + scale 1 1 + } + } + } +} +material DT/curve_left +{ + technique + { + pass + { + texture_unit + { + texture curve_left_1.png + scale 1 1 + rotate 0 + } + } + } +} +material DT/curve_right +{ + technique + { + pass + { + texture_unit + { + texture curve_right_1.png + scale 1 1 + rotate 180 + } + } + } +} \ No newline at end of file diff --git a/media/materials/scripts/robocupjunior.material b/media/materials/scripts/robocupjunior.material new file mode 100644 index 0000000..4e7d9fe --- /dev/null +++ b/media/materials/scripts/robocupjunior.material @@ -0,0 +1,180 @@ +material RCJ/straight +{ + technique + { + pass + { + texture_unit + { + texture rcj/straight.png + scale 1 1 + } + } + } +} + +material RCJ/big_gap +{ + technique + { + pass + { + texture_unit + { + texture rcj/big_gap.png + scale 1 1 + } + } + } +} + +material RCJ/circle_corner +{ + technique + { + pass + { + texture_unit + { + texture rcj/circle_corner.png + scale 1 1 + } + } + } +} +material RCJ/crossing +{ + technique + { + pass + { + texture_unit + { + texture rcj/crossing.png + scale 1 1 + } + } + } +} + + +material RCJ/roundabout_corner +{ + technique + { + pass + { + texture_unit + { + texture rcj/roundabout_corner.png + scale 1 1 + } + } + } +} + + +material RCJ/roundabout_straight +{ + technique + { + pass + { + texture_unit + { + texture rcj/roundabout_straight.png + scale 1 1 + } + } + } +} + +material RCJ/small_gap +{ + technique + { + pass + { + texture_unit + { + texture rcj/small_gap.png + scale 1 1 + } + } + } +} + +material RCJ/square_corner +{ + technique + { + pass + { + texture_unit + { + texture rcj/square_corner.png + scale 1 1 + } + } + } +} + +material RCJ/t_junction +{ + technique + { + pass + { + texture_unit + { + texture rcj/t_junction.png + scale 1 1 + } + } + } +} + +material RCJ/zigzag +{ + technique + { + pass + { + texture_unit + { + texture rcj/zigzag.png + scale 1 1 + } + } + } +} + +material RCJ/floor +{ + technique + { + pass + { + texture_unit + { + texture rcj/empty.png + scale 1 1 + } + } + } +} + +material RCJ/black +{ + technique + { + pass + { + texture_unit + { + texture rcj/black.png + scale 1 1 + } + } + } +} \ No newline at end of file diff --git a/media/materials/textures/3way_left_1.png b/media/materials/textures/3way_left_1.png new file mode 100644 index 0000000..a947f19 Binary files /dev/null and b/media/materials/textures/3way_left_1.png differ diff --git a/media/materials/textures/3way_left_2.png b/media/materials/textures/3way_left_2.png new file mode 100644 index 0000000..ef2a5c6 Binary files /dev/null and b/media/materials/textures/3way_left_2.png differ diff --git a/media/materials/textures/3way_right_1.png b/media/materials/textures/3way_right_1.png new file mode 100644 index 0000000..e7d640c Binary files /dev/null and b/media/materials/textures/3way_right_1.png differ diff --git a/media/materials/textures/4way_1.png b/media/materials/textures/4way_1.png new file mode 100644 index 0000000..5923731 Binary files /dev/null and b/media/materials/textures/4way_1.png differ diff --git a/media/materials/textures/asphalt_1.png b/media/materials/textures/asphalt_1.png new file mode 100644 index 0000000..9d1f7bc Binary files /dev/null and b/media/materials/textures/asphalt_1.png differ diff --git a/media/materials/textures/barrier.png b/media/materials/textures/barrier.png new file mode 100644 index 0000000..948d328 Binary files /dev/null and b/media/materials/textures/barrier.png differ diff --git a/media/materials/textures/black_tile.png b/media/materials/textures/black_tile.png new file mode 100644 index 0000000..9d1f7bc Binary files /dev/null and b/media/materials/textures/black_tile.png differ diff --git a/media/materials/textures/building.png b/media/materials/textures/building.png new file mode 100644 index 0000000..50c1e97 Binary files /dev/null and b/media/materials/textures/building.png differ diff 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-1,39 +1,47 @@ Panels: - - Class: rviz_common/Displays + - Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Status1 - - /LaserScan1 - - /Camera1 + - /Range2 + - /DepthCloud1/Auto Size1 + - /DepthCloud2/Auto Size1 + - /MarkerArray1 + - /MarkerArray2 + - /DepthCloud3/Auto Size1 + - /DepthCloud4/Auto Size1 + - /DepthCloud5/Auto Size1 Splitter Ratio: 0.5 - Tree Height: 361 - - Class: rviz_common/Selection + Tree Height: 319 + - Class: rviz/Selection Name: Selection - - Class: rviz_common/Tool Properties + - Class: rviz/Tool Properties Expanded: - - /2D Goal Pose1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views + - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: rviz_common/Time - Experimental: false + - Class: rviz/Time Name: Time SyncMode: 0 - SyncSource: LaserScan + SyncSource: Camera +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 - Class: rviz_default_plugins/Grid + Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: @@ -57,125 +65,578 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rviz_default_plugins/LaserScan + 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: 255; 85; 255 + Name: LaserScan + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /mirte/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Camera + Enabled: false + Image Rendering: background and overlay + Image Topic: "" + Name: Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Visibility: + "": true + Camera: true + DepthCloud: true + Grid: true + Humans: true + Image: true + LaserScan: true + MarkerArray: true + PointCloud2: true + Range: true + Value: true + Zoom Factor: 1 + - 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 - Max Intensity: 0 Min Color: 0; 0; 0 - Min Intensity: 0 Name: LaserScan Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /mirte/scan + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Range + Queue Size: 10 + Topic: /mirte/distance/left + Unreliable: false + Value: true + - Alpha: 0.5 + Buffer Length: 1 + Class: rviz/Range + Color: 255; 255; 255 + Enabled: true + Name: Range + Queue Size: 10 + Topic: /mirte/distance/right + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: false + Image Topic: /mirte/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: rviz/Camera + Enabled: false + Image Rendering: background and overlay + Image Topic: /mirte_r200/camera/depth/image_raw + Name: Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Visibility: + "": true + Camera: true + DepthCloud: true + Grid: true + Humans: true + Image: true + LaserScan: true + MarkerArray: true + PointCloud2: true + Range: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: "" + Color Transformer: RGB8 + Color Transport Hint: raw + Decay Time: 0 + Depth Map Topic: /mirte_r200/camera/depth/image_raw + Depth Map Transport Hint: raw + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: XYZ + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: true + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: hri_rviz/Humans + Enabled: false + Image Topic: /mirte_r200/camera/color/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Humans + Normalize Range: true + Queue Size: 2 + Show 2D Skeletons: true + Show body RoIs: true + Show face RoIs: true + Show facial landmarks: true + Transport Hint: raw + Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /mirte_r200/camera/depth_registered/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: "" + Color Transformer: RGB8 + Color Transport Hint: raw + Decay Time: 0 + Depth Map Topic: /mirte_r200/camera/depth/image_rect + Depth Map Transport Hint: raw + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: XYZ + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: true + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /markers + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: false + - Class: rviz/MarkerArray + Enabled: false + Marker Topic: /detection_3d_to_markers_node/markers + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: "" + Color Transformer: "" + Color Transport Hint: raw + Decay Time: 0 + Depth Map Topic: /mirte/depth_cam/image_raw + Depth Map Transport Hint: raw + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: "" + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: true + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: "" + Color Transformer: "" + Color Transport Hint: raw + Decay Time: 0 + Depth Map Topic: /mirte/depth_cam/depth/image_raw + Depth Map Transport Hint: raw + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: "" + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: true + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz/Camera + Enabled: false + Image Rendering: background and overlay + Image Topic: /mirte/depth_cam/depth/image_raw + Name: Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + Visibility: + "": true + Camera: true + DepthCloud: true + Grid: true + Humans: true + Image: true + LaserScan: true + MarkerArray: true + PointCloud2: true + Range: true + Value: true + Zoom Factor: 1 + - Class: hri_rviz/Humans + Enabled: false + Image Topic: /mirte/depth_cam/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Humans + Normalize Range: true + Queue Size: 2 + Show 2D Skeletons: true + Show body RoIs: true + Show face RoIs: true + Show facial landmarks: true + Transport Hint: raw + Unreliable: false + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /scan + Topic: /mirte/depth_cam/points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /mirte/depth_cam/pointsRot + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Auto Size: + Auto Size Factor: 1 + Value: true + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/DepthCloud + Color: 255; 255; 255 + Color Image Topic: "" + Color Transformer: RGB8 + Color Transport Hint: raw + Decay Time: 0 + Depth Map Topic: /mirte2_r200/camera/depth/image_raw + Depth Map Transport Hint: raw + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: DepthCloud + Occlusion Compensation: + Occlusion Time-Out: 30 + Value: false + Position Transformer: XYZ + Queue Size: 5 + Selectable: true + Size (Pixels): 3 + Style: Flat Squares + Topic Filter: true Use Fixed Frame: true Use rainbow: true Value: true - - Class: rviz_default_plugins/Camera + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + 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: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: /pcl_obstacle_detector_node/filtered + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Camera Enabled: true - Far Plane Distance: 100 Image Rendering: background and overlay + Image Topic: /mirte/camera_ir_left/image_raw Name: Camera Overlay Alpha: 0.5 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /custom_ns/camera1/image_raw + Queue Size: 2 + Transport Hint: raw + Unreliable: false Value: true Visibility: + Camera: true + DepthCloud: true Grid: true + Humans: true + Image: true LaserScan: true + MarkerArray: true + PointCloud2: true + Range: true Value: true Zoom Factor: 1 Enabled: true Global Options: Background Color: 48; 48; 48 + Default Light: true Fixed Frame: base_link Frame Rate: 30 Name: root Tools: - - Class: rviz_default_plugins/Interact + - Class: rviz/Interact Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /goal_pose - - Class: rviz_default_plugins/PublishPoint + - 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: /goal_pose + - Class: rviz/PublishPoint Single click: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /clicked_point - Transformation: - Current: - Class: rviz_default_plugins/TF + Topic: /clicked_point Value: true Views: Current: - Class: rviz_default_plugins/Orbit - Distance: 15.735194206237793 + Class: rviz/Orbit + Distance: 0.2506791949272156 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: 0 - Y: 0 - Z: 0 + X: 0.8711614608764648 + Y: -0.5358213186264038 + Z: 0.1608278900384903 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 + Pitch: 0.13520368933677673 Target Frame: - Value: Orbit (rviz) - Yaw: 0.785398006439209 + Yaw: 5.499027729034424 Saved: ~ Window Geometry: Camera: collapsed: false Displays: collapsed: false - Height: 846 + Height: 801 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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+ Humans: + collapsed: false + Image: + collapsed: false + QMainWindow State: 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Selection: collapsed: false Time: @@ -184,6 +645,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1200 - X: 60 - Y: 60 + Width: 1536 + X: 8 + Y: 31 diff --git a/mirte_gazebo2.rviz b/mirte_gazebo2.rviz new file mode 100644 index 0000000..e51da5e --- /dev/null +++ b/mirte_gazebo2.rviz @@ -0,0 +1,119 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 554 + - 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 + Name: Time + SyncMode: 0 + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + 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/Orbit + Distance: 10 + 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: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 845 + 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: 1200 + X: 60 + Y: 60 diff --git a/models/barrier/materials/scripts/barrier.material b/models/barrier/materials/scripts/barrier.material new file mode 100644 index 0000000..ba6cc66 --- /dev/null +++ b/models/barrier/materials/scripts/barrier.material @@ -0,0 +1,14 @@ +material barrier/barrier +{ + technique + { + pass + { + texture_unit + { + texture barrier.png + scale 1 1 + } + } + } +} \ No newline at end of file diff --git a/models/barrier/materials/textures/barrier.png b/models/barrier/materials/textures/barrier.png new file mode 100644 index 0000000..948d328 Binary files /dev/null and b/models/barrier/materials/textures/barrier.png differ diff --git a/models/barrier/meshes/barrier.obj b/models/barrier/meshes/barrier.obj new file mode 100644 index 0000000..c936421 --- /dev/null +++ b/models/barrier/meshes/barrier.obj @@ -0,0 +1,1158 @@ +# Blender 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Arend-Jan van Hilten + a.j.vanhilten@tudelft.nl + + + + + Duckiebot Barrier + + diff --git a/models/barrier/model.sdf b/models/barrier/model.sdf new file mode 100644 index 0000000..7f68626 --- /dev/null +++ b/models/barrier/model.sdf @@ -0,0 +1,30 @@ + + + + true + + + + + 0 0 0 0 0 0 + + 0.2459680910514841 0.2459680910514841 0.2459680910514841 + + model://barrier/meshes/barrier.obj + + + + + + + 0 0 0 0 0 0 + 0.2459680910514841 0.2459680910514841 0.2459680910514841 + + + model://barrier/meshes/barrier.obj + + + + + + diff --git a/models/barrier_orig/materials/scripts/barrier.material b/models/barrier_orig/materials/scripts/barrier.material new file mode 100644 index 0000000..ba6cc66 --- /dev/null +++ b/models/barrier_orig/materials/scripts/barrier.material @@ -0,0 +1,14 @@ +material barrier/barrier +{ + technique + { + pass + { + texture_unit + { + texture barrier.png + scale 1 1 + } + } + } +} \ No newline at end of file diff --git a/models/barrier_orig/materials/textures/barrier.png 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/dev/null +++ b/models/building/materials/scripts/building.material @@ -0,0 +1,14 @@ +material building/building +{ + technique + { + pass + { + texture_unit + { + texture building.png + scale 1 1 + } + } + } +} \ No newline at end of file diff --git a/models/building/materials/textures/building.png b/models/building/materials/textures/building.png new file mode 100644 index 0000000..50c1e97 Binary files /dev/null and b/models/building/materials/textures/building.png differ diff --git a/models/building/meshes/building.obj b/models/building/meshes/building.obj new file mode 100644 index 0000000..9dc05d4 --- /dev/null +++ b/models/building/meshes/building.obj @@ -0,0 +1,4710 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib building.mtl +o Building10 +v 0.755319 3.334747 1.220000 +v 0.755319 3.334747 1.220000 +v 1.712071 3.334747 1.220000 +v 1.712071 3.334747 1.220000 +v 1.712071 3.080353 1.220000 +v 1.712071 3.080353 1.220000 +v 0.755319 3.080353 1.220000 +v 0.755319 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b/models/cone/model.config @@ -0,0 +1,17 @@ + + + + cone + 1.0 + model.sdf + + + Arend-Jan van Hilten + a.j.vanhilten@tudelft.nl + + + + + Duckiebot cone + + diff --git a/models/cone/model.sdf b/models/cone/model.sdf new file mode 100644 index 0000000..ed9577d --- /dev/null +++ b/models/cone/model.sdf @@ -0,0 +1,30 @@ + + + + true + + + + + 0 0 0 0 0 0 + + 0.03172296965063494 0.03172296965063494 0.03172296965063494 + + model://cone/meshes/cone.obj + + + + + + + 0 0 0 0 0 0 + 0.03172296965063494 0.03172296965063494 0.03172296965063494 + + + model://cone/meshes/cone.obj + + + + + + diff --git a/models/duckie/materials/scripts/duckie.material b/models/duckie/materials/scripts/duckie.material new file mode 100644 index 0000000..c1ba859 --- /dev/null +++ b/models/duckie/materials/scripts/duckie.material @@ -0,0 +1,14 @@ +material duckie/duckie +{ + technique + { + pass + { + texture_unit + { + texture duckie.png + scale 1 1 + } + } + } +} \ No newline at end of file diff --git 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a/models/duckie/model.sdf b/models/duckie/model.sdf new file mode 100644 index 0000000..bd9d4e1 --- /dev/null +++ b/models/duckie/model.sdf @@ -0,0 +1,30 @@ + + + + true + + + + + 0 0 0 90 0 0 + + 0.6043084777227723 0.6043084777227723 0.6043084777227723 + + model://duckie/meshes/duckie.obj + + + + + + + 0 0 0 90 0 0 + 0.6043084777227723 0.6043084777227723 0.6043084777227723 + + + model://duckie/meshes/duckie.obj + + + + + + diff --git a/models/duckiebot/materials/scripts/duckiebot.material b/models/duckiebot/materials/scripts/duckiebot.material new file mode 100644 index 0000000..2074ac2 --- /dev/null +++ b/models/duckiebot/materials/scripts/duckiebot.material @@ -0,0 +1,14 @@ +material duckiebot/duckiebot +{ + technique + { + pass + { + texture_unit + { + texture duckiebot.png + scale 1 1 + } + } + } +} \ No newline at end of file diff --git a/models/duckiebot/meshes/duckiebot.mtl b/models/duckiebot/meshes/duckiebot.mtl new file mode 100644 index 0000000..20c2c0a --- /dev/null +++ b/models/duckiebot/meshes/duckiebot.mtl @@ -0,0 +1,33 @@ +# Blender MTL File: 'None' +# Material Count: 3 + +# Wheels +newmtl JoinedMaterial_#4 +Ns 9.803922 +Ka 0.000000 0.000000 0.000000 +Kd 0.140000 0.140000 0.140000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl gkmodel0_chassis_geom0_mat_001-material +Ns 9.803922 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.000000 0.000000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 + +newmtl gkmodel0_computer_geom0_mat_001-material +Ns 9.803922 +Ka 0.000000 0.000000 0.000000 +Kd 0.000000 0.000000 0.800000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 diff --git a/models/duckiebot/meshes/duckiebot.obj b/models/duckiebot/meshes/duckiebot.obj new file mode 100644 index 0000000..39deab4 --- /dev/null +++ b/models/duckiebot/meshes/duckiebot.obj @@ -0,0 +1,22878 @@ +# Blender v2.79 (sub 0) OBJ 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+1,14 @@ +material house/house +{ + technique + { + pass + { + texture_unit + { + texture house.png + scale 1 1 + } + } + } +} \ No newline at end of file diff --git a/models/house/materials/textures/house.png b/models/house/materials/textures/house.png new file mode 100644 index 0000000..343b724 Binary files /dev/null and b/models/house/materials/textures/house.png differ diff --git a/models/house/meshes/house.obj b/models/house/meshes/house.obj new file mode 100644 index 0000000..4b28542 --- /dev/null +++ b/models/house/meshes/house.obj @@ -0,0 +1,4038 @@ +# Blender v2.79 (sub 0) OBJ File: '' +# www.blender.org +mtllib house.mtl +o Untitled_Box005.002 +v 1.832693 1.721347 -3.331001 +v 1.832693 2.392700 -2.494000 +v 2.009654 2.392700 -2.494000 +v 3.215445 1.721347 -3.330999 +v 1.832693 1.721345 4.085912 +v 3.215445 1.721344 4.085912 +v 2.009654 2.392698 3.248912 +v 1.832693 2.392698 3.248912 +v 1.245284 1.677920 -3.331001 +v 3.215445 1.677920 -3.330999 +v 3.215445 1.677917 4.085912 +v 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+ + true + + + + + 0 0 0 0 0 0 + + 0.19415283233733935 0.19415283233733935 0.19415283233733935 + + model://sign_blank/meshes/sign_blank.obj + + + + + + + 0 0 0 0 0 0 + 0.19415283233733935 0.19415283233733935 0.19415283233733935 + + + model://sign_blank/meshes/sign_blank.obj + + + + + + diff --git a/models/sign_do_not_enter/materials/scripts/sign_do_not_enter.material b/models/sign_do_not_enter/materials/scripts/sign_do_not_enter.material new file mode 100644 index 0000000..a0eaf8d --- /dev/null +++ b/models/sign_do_not_enter/materials/scripts/sign_do_not_enter.material @@ -0,0 +1,14 @@ +material sign_do_not_enter/sign_do_not_enter +{ + technique + { + pass + { + texture_unit + { + texture sign_do_not_enter.png + scale 1 1 + } + } + } +} \ No newline at end of file diff --git a/models/sign_do_not_enter/materials/textures/sign_do_not_enter.png b/models/sign_do_not_enter/materials/textures/sign_do_not_enter.png new file mode 100644 index 0000000..0f68509 Binary files /dev/null and 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11//11 12//11 13//11 +f 13//12 12//12 14//12 +f 14//13 12//13 15//13 +f 15//14 12//14 16//14 +f 16//15 12//15 17//15 +f 17//16 12//16 18//16 +f 19//17 22//17 20//17 +f 20//18 22//18 21//18 +f 21//19 22//19 23//19 +f 23//20 22//20 24//20 +f 24//21 22//21 25//21 +f 25//22 22//22 26//22 +f 26//23 22//23 27//23 +f 27//24 22//24 19//24 +f 2//25 3//25 5//2 +f 16//26 17//26 18//26 +f 25//27 26//27 27//27 +o body_Cone +v 0.033107 -0.003464 -0.336143 +v 0.236282 -0.003558 -0.236282 +v 0.317286 -0.003644 -0.096248 +v 0.316260 -0.002925 0.130999 +v 0.000000 1.976343 0.000000 +v 0.127876 -0.003578 0.308720 +v -0.098045 -0.003386 0.323212 +v -0.277830 -0.003498 0.185640 +v -0.334159 -0.003596 -0.000000 +v -0.242045 -0.002844 -0.242045 +vn 0.4356 0.1577 -0.8862 +vn 0.8544 0.1609 -0.4941 +vn 0.9874 0.1580 0.0040 +vn 0.6776 0.1558 0.7188 +vn 0.0633 0.1577 0.9854 +vn -0.6002 0.1577 0.7842 +vn -0.9447 0.1594 0.2866 +vn -0.9233 0.1558 -0.3509 +vn -0.3194 0.1534 -0.9351 +vn -0.0001 -1.0000 -0.0002 +usemtl 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168/346/43 +f 160/348/46 159/378/45 169/349/51 +f 169/340/51 159/379/45 170/350/54 +f 166/352/52 162/380/48 172/353/56 +f 157/317/43 166/334/52 171/347/55 diff --git a/models/truck/model.config b/models/truck/model.config new file mode 100644 index 0000000..038b871 --- /dev/null +++ b/models/truck/model.config @@ -0,0 +1,17 @@ + + + + truck + 1.0 + model.sdf + + + Arend-Jan van Hilten + a.j.vanhilten@tudelft.nl + + + + + Duckiebot truck + + diff --git a/models/truck/model.sdf b/models/truck/model.sdf new file mode 100644 index 0000000..9274abb --- /dev/null +++ b/models/truck/model.sdf @@ -0,0 +1,30 @@ + + + + true + + + + + 0 0 0 0 0 0 + + 0.1927574101731193 0.1927574101731193 0.1927574101731193 + + model://truck/meshes/truck.obj + + + + + + + 0 0 0 0 0 0 + 0.1927574101731193 0.1927574101731193 0.1927574101731193 + + + model://truck/meshes/truck.obj + + + + + + diff --git a/package.xml b/package.xml index ee8a403..0477d31 100755 --- a/package.xml +++ b/package.xml @@ -3,63 +3,29 @@ mirte_gazebo 0.0.0 The mirte_gazebo package - martin - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - rospy + roscpp std_msgs - rospy + pcl_ros + pcl_conversions + mirte_msgs + roscpp std_msgs - rospy + mirte_msgs + roscpp std_msgs - - + mirte_msgs + python-yaml - diff --git a/rviz/barrel_world.rviz b/rviz/barrel_world.rviz new file mode 100644 index 0000000..dca9519 --- /dev/null +++ b/rviz/barrel_world.rviz @@ -0,0 +1,217 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /DetectedObstacles1 + Splitter Ratio: 0.5 + Tree Height: 399 + - 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 + Name: Time + SyncMode: 0 + SyncSource: Velodyne +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 10 + 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: 1000 + 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 + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: false + Filter (blacklist): "" + Filter (whitelist): "" + 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 + - Class: rviz/Image + Enabled: true + Image Topic: /opencv_person_detector_node/visual + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image (detections) + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /prius/front_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: front_camera + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: -0.0017462894320487976 + Min Value: -0.09454228729009628 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: Velodyne + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: /point_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_3d_to_markers_node/markers + Name: DetectedObstacles + Namespaces: + "": true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: base_link + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 16.679302215576172 + 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: -0.15781402587890625 + Y: 0.20823419094085693 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.39539846777915955 + Target Frame: base_link + Yaw: 3.1453981399536133 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + Image (detections): + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 27 + front_camera: + collapsed: false diff --git a/rviz/demo.rviz b/rviz/demo.rviz new file mode 100644 index 0000000..f69677e --- /dev/null +++ b/rviz/demo.rviz @@ -0,0 +1,302 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 409 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Camera +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + center_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + fr_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + front_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + steering_wheel: + 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_link: + Value: true + center_laser_link: + Value: true + chassis: + Value: true + fl_axle: + Value: true + fr_axle: + Value: true + front_camera_link: + Value: true + front_left_wheel: + Value: true + front_right_wheel: + Value: true + map: + Value: true + odom: + Value: true + rear_left_wheel: + Value: true + rear_right_wheel: + Value: true + steering_wheel: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + map: + odom: + base_link: + chassis: + center_laser_link: + {} + fl_axle: + front_left_wheel: + {} + fr_axle: + front_right_wheel: + {} + front_camera_link: + {} + rear_left_wheel: + {} + rear_right_wheel: + {} + steering_wheel: + {} + Update Interval: 0 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /prius/front_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /opencv_line_detector_node/visual + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: OpencvDetections + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.47731948 + Min Value: -0.188124299 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Velodyne + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0299999993 + Style: Flat Squares + Topic: /point_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_3d_to_markers_node/markers + Name: DetectedObstacles + Namespaces: + {} + Queue Size: 100 + 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 + Topic: /initialpose + - 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: 74.4297104 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -10.7525301 + Y: -3.22040558 + Z: 0.723476529 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.855398655 + Target Frame: + Value: Orbit (rviz) + Yaw: 1.87357736 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + OpencvDetections: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 27 diff --git a/rviz/lab3.rviz b/rviz/lab3.rviz new file mode 100644 index 0000000..bbabc95 --- /dev/null +++ b/rviz/lab3.rviz @@ -0,0 +1,245 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 737 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Velodyne +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 1000 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + center_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + fr_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + front_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + steering_wheel: + 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: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /prius/front_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 1.48142326 + Min Value: -0.182572603 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Velodyne + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0299999993 + Style: Flat Squares + Topic: /point_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_3d_to_markers_node/markers + Name: DetectedObstacles + Namespaces: + markers: true + Queue Size: 100 + 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 + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 16.6793022 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.157814026 + Y: 0.208234191 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.395398468 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.14539814 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1025 + 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: 1853 + X: 67 + Y: 27 diff --git a/rviz/line_world.rviz b/rviz/line_world.rviz new file mode 100644 index 0000000..d947193 --- /dev/null +++ b/rviz/line_world.rviz @@ -0,0 +1,259 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 483 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Velodyne +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 1000 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + center_laser_link: + Alpha: 1 + Show Axes: false + Show Trail: false + chassis: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + fl_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + fr_axle: + Alpha: 1 + Show Axes: false + Show Trail: false + front_camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + front_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + steering_wheel: + 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: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Class: rviz/Image + Enabled: true + Image Topic: /opencv_line_detector_node/visual + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Camera + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.017962575 + Min Value: -0.246603966 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Velodyne + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.100000001 + Style: Spheres + Topic: /point_cloud + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_3d_to_markers_node/markers + Name: DetectedObstacles + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: /prius/front_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 255; 255; 255 + 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 + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 12.6959496 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 2.9682498 + Y: 0.377860159 + Z: 9.53674316e-06 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.31979835 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.14853525 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 27 diff --git a/scripts/buildMap.py b/scripts/buildMap.py new file mode 100755 index 0000000..cd43d2f --- /dev/null +++ b/scripts/buildMap.py @@ -0,0 +1,262 @@ +#!/usr/bin/env python + + +import os, sys +import yaml + + +def get_subdir_path(sub_dir): + # Get the directory this module is located in + abs_path_module = os.path.realpath(__file__) + module_dir, _ = os.path.split(abs_path_module) + + dir_path = os.path.join(module_dir, sub_dir) + + return dir_path + + +def get_file_path(sub_dir, file_name, default_ext): + """ + Get the absolute path of a resource file, which may be relative to + the gym_duckietown module directory, or an absolute path. + + This function is necessary because the simulator may be imported by + other packages, and we need to be able to load resources no matter + what the current working directory is. + """ + + assert "." not in default_ext + assert "/" not in default_ext + + # If this is already a real path + if os.path.exists(file_name): + return file_name + + subdir_path = get_subdir_path(sub_dir) + file_path = os.path.join(subdir_path, file_name) + + if "." not in file_name: + file_path += "." + default_ext + + return file_path + + +def loadMap(map_name): + """ + Load the map layout from a YAML file + """ + + # Store the map name + + # Get the full map file path + map_file_path = get_file_path("maps", map_name, "yaml") + + # print('loading map file "%s"' % map_file_path) + + with open(map_file_path, "r") as f: + map_data = yaml.load(f, Loader=yaml.Loader) + + if not "tile_size" in map_data: + msg = "Must now include explicit tile_size in the map data." + raise ValueError(msg) + road_tile_size = map_data["tile_size"] + # self._init_vlists() + + tiles = map_data["tiles"] + assert len(tiles) > 0 + assert len(tiles[0]) > 0 + + # Create the grid + grid_height = len(tiles) + grid_width = len(tiles[0]) + grid = [None] * grid_width * grid_height + + # We keep a separate list of drivable tiles + drivable_tiles = [] + + # For each row in the grid + for j, row in enumerate(tiles): + msg = "each row of tiles must have the same length" + if len(row) != grid_width: + raise Exception(msg) + + # For each tile in this row + for i, tile in enumerate(row): + tile = tile.strip() + + if tile == "empty": + continue + + if "/" in tile: + it = tile.split("/") + kind = it[0] + orient = it[1] + + kind = kind.strip(" ") + orient = orient.strip(" ") + # if(orient == ): + # angle = 0 + angle = ["N", "E", "S", "W"].index(orient) + drivable = True + elif "4" in tile: + kind = "4way" + angle = 2 + drivable = True + else: + kind = tile + angle = 0 + drivable = False + if kind.startswith("R"): + kind = "RCJ/" + kind[1:] + else: + kind = "DT/" + kind + tile = { + "coords": (i, j), + "kind": kind, + "angle": angle, + "drivable": drivable, + } + + set_tile(i, j, tile) + + if drivable: + pass + # tile['curves'] = self._get_curve(i, j) + # self.drivable_tiles.append(tile) + + # self.mesh = ObjMesh.get('duckiebot') + _load_objects(map_data) + + # Get the starting tile from the map, if specified + # self.start_tile = None + # if 'start_tile' in map_data: + # coords = map_data['start_tile'] + # self.start_tile = self._get_tile(*coords) + + +def _load_objects(map_data): + # Create the objects array + objects = [] + objects = map_data.get("objects", []) + if objects is None: + return + # For each object + for obj_idx, desc in enumerate(map_data.get("objects", [])): + kind = desc["kind"] + + pos = desc["pos"] + x, z = pos[0:2] + x = eval(str(x)) + z = eval(str(z)) + y = pos[2] if len(pos) == 3 else 0.0 + y = eval(str(y)) + rotate = desc["rotate"] + optional = desc.get("optional", False) + + # pos = road_tile_size * np.array((x, y, z)) + + # Load the mesh + # mesh = ObjMesh.get(kind) + if "static" in desc: + static = desc["static"] + else: + static = True + if "height" in desc: + scale = desc["height"] + else: + scale = desc["scale"] + if "included" in kind: + set_object_included( + x, z, kind.replace("included", ""), -rotate, static, scale + ) + else: + set_object(x, z, kind, -rotate, static, scale) + + +# +# +# +# +# tile = { +# 'coords': (i, j), +# 'kind': kind, +# 'angle': angle, +# 'drivable': drivable +# } + +tiles_world = ( + [] +) # +tiles_state = ( + [] +) # + +# +# +existing_objects = [] + + +def set_object(i, j, type, angle, static, scale): + # return + # print(i, j, type, angle, static, scale) + # scale = 1 + i = i - 0.5 + j = j - 0.5 + i_ = str(i).replace(".", "_") + j_ = str(j).replace(".", "_") + name = f"obj_{i_}_{j_}" + if name in existing_objects: + return + existing_objects.append(name) + tiles_world.append( + f'' + ) + tiles_state.append( + f'' + ) + + +def set_object_included(i, j, type, angle, static, scale): + # print(i, j, type, angle, static, scale) + # scale = 1 + i = i - 0.5 + j = j - 0.5 + i_ = str(i).replace(".", "_") + j_ = str(j).replace(".", "_") + tiles_world.append( + f'' + ) + tiles_state.append( + f'' + ) + + +size = 0.5 + + +def set_tile(i, j, tile): + tiles_world.append( + f"" + ) + tiles_state.append( + f"" + ) + + +mapN = sys.argv[1] +dest = sys.argv[2] +loadMap(mapN) + +# grid = "\n".join(tiles) + +empty_world_file = os.path.join( + os.path.dirname(__file__), "../urdf/empty_duckietown.world" +) + +with open(empty_world_file, "r") as file: + data = file.read() + data = data.replace("", "\n".join(tiles_world)).replace( + "", "\n".join(tiles_state) + ) + with open(dest, "w") as f: + f.write(data) diff --git a/scripts/buildMap.sh b/scripts/buildMap.sh new file mode 100755 index 0000000..55c1d89 --- /dev/null +++ b/scripts/buildMap.sh @@ -0,0 +1,4 @@ +#!/bin/bash + +$(dirname $0)/buildMap.py "$1" "$2" +$(which xacro) "$2" -o "$3" \ No newline at end of file diff --git a/scripts/generateCones.js b/scripts/generateCones.js new file mode 100644 index 0000000..ba10830 --- /dev/null +++ b/scripts/generateCones.js @@ -0,0 +1,49 @@ + +const yaml = require('js-yaml'); +const fs = require('fs') +function coneDistance(x) { + return 0.1 +} + +function places(x) { + // return Math.cos(x-2)+2 + // return 0.2083 *x*x*x - 2.125*x*x + 6.4167*x - 4 + // return 0.0333*x*x*x - 0.5*x*x + 1.8667*x + 1 + // return 0.1083*x*x*x - 1.175*x*x + 3.5167*x - 1.2 + return (x-6.8)*4+1 + +} + +function streetWidth(x) { + return 0 +} + +maxX = 7.8 +minX = 6.8 + + +currX = minX + +cones = [] +while(currX < maxX) { + y = places(currX) + yLeft = y-streetWidth(currX)/2 + yRight = y+streetWidth(currX)/2 + cones.push({kind: 'cone', + pos: [currX, yLeft], + rotate: 0, + height: 0.1 + }) + // cones.push({kind: 'cone', + // pos: [currX, yRight], + // rotate: 0, + // height: 0.1 + // }) + + + + currX+=coneDistance(currX) +} + +console.log(yaml.dump(cones)) +fs.writeFileSync('./cones.tmp', yaml.dump(cones), {encoding:'utf-8'}) \ No newline at end of file diff --git a/scripts/generateConesRoute.js b/scripts/generateConesRoute.js new file mode 100644 index 0000000..1f8e359 --- /dev/null +++ b/scripts/generateConesRoute.js @@ -0,0 +1,77 @@ + +const yaml = require('js-yaml'); +const fs = require('fs') +const path = require('path') + +const map = yaml.load(fs.readFileSync(path.join(__dirname, '../maps/routeE.yaml'))) + +// console.log(map); + +cones = [] +function buildStraight(x, y, direction) { + let additions = [[0,0], [0, 0.25], [0,0.5], [0,0.75], [0,1]] + additions.push(...additions.map(item=>{return [item[0]+1, item[1]]})); + if (direction == "N" || direction == "S") { + cones.push(...additions.map(item=>{return {x:x+item[0], y:y+item[1] }})); + // [ + // { x, y }, { y: y + 0.25, x }, { y: y + 0.5, x }, { y: y + 0.75, x }, { y: y + 1, x } + // ]) + // x += 1; + // cones.push(...[ + // { x, y }, { y: y + 0.25, x }, { y: y + 0.5, x }, { y: y + 0.75, x }, { y: y + 1, x } + // ]) + } else { // east/west + cones.push(...additions.map(item=>{return {x:x+item[1], y:y+item[0] }})); + + // cones.push(...[ + // { x, y }, { x: x + 0.25, y }, { x: x + 0.75, y }, { x: x + 0.5, y }, { x: x + 1, y } + // ]) + // y += 1; + // cones.push(...[ + // { x, y }, { x: x + 0.25, y }, { x: x + 0.75, y }, { x: x + 0.5, y }, { x: x + 1, y } + // ]) + } + +} + +function buildCorner(x, y, direction) { + additions = [ + [0, 1], [1, 0], [0.05, 0.75], [0.75, 0.05], [0.2,0.2], [0.5, 0.1], [0.1, 0.5] + ] + if (direction == "W") { + console.log('corner w') + cones.push(...additions.map(it => { return { x: x + it[0], y: y + it[1] } })); + } + if (direction == "E") { + console.log('corner e') + cones.push(...additions.map(it => { return { x: x+1 - it[0], y: y+1 - it[1] } })); + } + if (direction == "N") { + console.log('corner n') + cones.push(...additions.map(it => { return { x: x+1 - it[1], y: y + it[0] } })); + } + if (direction == "S") { + console.log('corner s') + cones.push(...additions.map(it => { return { x: x + it[1], y: y+1 - it[0] } })); + } +} + + +map.tiles.forEach((row, y) => { + row.forEach((item, x) => { + + if (item.startsWith('straight')) { + buildStraight(x, y, item.split('/')[1], item) + } + if (item.startsWith('curve_left')) { + buildCorner(x, y, item.split('/')[1]) + } + if(item.startsWith('curve_right')) { + dirs = ['N', "E", "S", 'W']; + buildCorner(x, y,dirs[(dirs.indexOf( item.split('/')[1])+3) %4]) + } + }) +}); +map.objects.push(...cones.map(it => { + return { kind: 'cone', pos: [it.x, it.y], rotate: 0, height: 0.1 }})) +fs.writeFileSync(path.join(__dirname,'../maps/route.yaml'), yaml.dump(map)) \ No newline at end of file diff --git a/scripts/generateModels.js b/scripts/generateModels.js new file mode 100644 index 0000000..1dcb485 --- /dev/null +++ b/scripts/generateModels.js @@ -0,0 +1,107 @@ +var fs = require('fs'); +const fse = require('fs-extra'); +const path = require('path'); + + +// To copy a folder or file, select overwrite accordingly +var textureFiles = fs.readdirSync('/home/arendjan/gym-duckietown/gym_duckietown/textures'); + +var files = fs.readdirSync('/home/arendjan/gym-duckietown/gym_duckietown/meshes'); +console.log(files) + +let items = files.filter(v => v.endsWith('.obj')).filter(v => !v.includes("barrier") && !v.includes("duckie.")); +console.log(items); +let states = []; +let worlds = []; +items.map(v => v.replace(".obj", '')).forEach(async v => { + + const srcDir = `/home/arendjan/catkin_ws/src/mirte-gazebo/models/barrier_orig`; + const destDir = `/home/arendjan/catkin_ws/src/mirte-gazebo/models/${v}`; + + + + let rewriteF = async (file) => { + let filename = `${destDir}/${file}` + let sdf = await fse.readFile(filename, { encoding: 'utf-8' }); + await fse.writeFile(filename, sdf.replaceAll('barrier', v).replaceAll('Barrier', v), { encoding: 'utf-8' }); + + } + await fse.copy(srcDir, destDir, { overwrite: true }); + await rewriteF('model.sdf'); + await rewriteF('model.config'); + await rewriteF('materials/scripts/barrier.material'); + await fse.move(`${destDir}/materials/scripts/barrier.material`, `${destDir}/materials/scripts/${v}.material`, { overwrite: true }) + await fse.copy(`/home/arendjan/gym-duckietown/gym_duckietown/meshes/${v}.obj`, `${destDir}/meshes/${v}.obj`) + await fse.remove(`${destDir}/meshes/barrier.obj`) + await fse.remove(`${destDir}/materials/textures/barrier.png`) + let text = textureFiles.filter(t => t.includes(v)) + if (text.length > 0) { + await fse.copy(`/home/arendjan/gym-duckietown/gym_duckietown/textures/${text[0]}`, `${destDir}/materials/textures/${v}.png`) + } + + let mtls = files.filter(t => t.endsWith('.mtl')).filter(t => t.includes(v)); + if (mtls.length > 0) { + let mtlF = `${destDir}/meshes/${v}.mtl`; + await fse.copy(`/home/arendjan/gym-duckietown/gym_duckietown/meshes/${mtls[0]}`, mtlF) + // await fse.remove(`${destDir}/materials/textures/${v}.mtl`) + let obj = await fse.readFile(`${destDir}/meshes/${v}.obj`, { encoding: "utf-8" }) + obj = obj.replace(/mtllib.*/, `mtllib ${v}.mtl`) + await fse.writeFile(`${destDir}/meshes/${v}.obj`, obj, { encoding: "utf-8" }) + let mtl = await fse.readFile(`${destDir}/meshes/${v}.mtl`, { encoding: "utf-8" }) + + // console.log([...mtl.matchAll(/textures/g)]); + + let mat = [...mtl.matchAll(/\.\.\/textures\/.*\.png/g), ...mtl.matchAll(/\.\.\/textures\/.*\.jpg/g)]; + mat.forEach(async (textureFile) => { + console.log(v, 'requres', textureFile[0]) + let tfN = path.basename(textureFile[0]) + await fse.copyFile(`/home/arendjan/gym-duckietown/gym_duckietown/textures/${textureFile[0]}`, `${destDir}/materials/textures/${tfN}`) + }); + // if(v == "sign_stop"){ + // console.log("stop",v) + // process.exit(); + // } + } + states.push(` `) + worlds.push(` `) + // + + await scaleObject(v); + console.log("done ", v); + +}) + +const OBJFile = require('obj-file-parser'); +let scales = []; +async function scaleObject(name) { + const fileDir = `/home/arendjan/catkin_ws/src/mirte-gazebo/models/${name}`; + let obj = await fse.readFile(`${fileDir}/meshes/${name}.obj`, { encoding: 'utf-8' }) + const objFile = new OBJFile(obj).parse(); + // console.log(objFile); + let maxX = objFile.models.reduce((prevX, currV)=>currV.vertices.reduce((prev, curr) => { + // console.log(curr) + return Math.max(curr.y, prev) + }, prevX), -1000); + let minX = objFile.models.reduce((prevX, currV)=>currV.vertices.reduce((prev, curr) => { + // console.log(curr) + return Math.min(curr.y, prev) + }, prevX),1000); + let scale = 1 / (maxX - minX); + let sdf = await fse.readFile(`${fileDir}/model.sdf`, { encoding: 'utf-8' }); + sdf = sdf.replaceAll('1 1 1', `${scale} ${scale} ${scale}`); + await fse.writeFile(`${fileDir}/model.sdf`, sdf, { encoding: 'utf-8' }) + scales.push(` + + + `) +} + + + +setTimeout(async () => { + await scaleObject('duckie'); + await scaleObject('barrier'); + // console.log(states.join('\n')); + // console.log(worlds.join('\n')); + console.log(scales.join('\n')); +}, 5000); \ No newline at end of file diff --git a/scripts/package-lock.json b/scripts/package-lock.json new file mode 100644 index 0000000..cd1f9e8 --- /dev/null +++ b/scripts/package-lock.json @@ -0,0 +1,72 @@ +{ + "name": "scripts", + "lockfileVersion": 3, + "requires": true, + "packages": { + "": { + "dependencies": { + "fs-extra": "^11.1.1", + "js-yaml": "^4.1.0", + "obj-file-parser": "^0.6.2" + } + }, + "node_modules/argparse": { + "version": "2.0.1", + "resolved": "https://registry.npmjs.org/argparse/-/argparse-2.0.1.tgz", + "integrity": "sha512-8+9WqebbFzpX9OR+Wa6O29asIogeRMzcGtAINdpMHHyAg10f05aSFVBbcEqGf/PXw1EjAZ+q2/bEBg3DvurK3Q==" + }, + "node_modules/fs-extra": { + "version": "11.1.1", + "resolved": "https://registry.npmjs.org/fs-extra/-/fs-extra-11.1.1.tgz", + "integrity": "sha512-MGIE4HOvQCeUCzmlHs0vXpih4ysz4wg9qiSAu6cd42lVwPbTM1TjV7RusoyQqMmk/95gdQZX72u+YW+c3eEpFQ==", + "dependencies": { + "graceful-fs": "^4.2.0", + "jsonfile": "^6.0.1", + "universalify": "^2.0.0" + }, + "engines": { + "node": ">=14.14" + } + }, + "node_modules/graceful-fs": { + "version": "4.2.11", + "resolved": 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"https://registry.npmjs.org/obj-file-parser/-/obj-file-parser-0.6.2.tgz", + "integrity": "sha512-eATpidA23O619wNjAcrve3WkNQ0vSTLiPSR8DLjPXrguD1DsN0/S49EMAI1T3wzhUD0aLGIiAZXLnWjORGOlng==" + }, + "node_modules/universalify": { + "version": "2.0.0", + "resolved": "https://registry.npmjs.org/universalify/-/universalify-2.0.0.tgz", + "integrity": "sha512-hAZsKq7Yy11Zu1DE0OzWjw7nnLZmJZYTDZZyEFHZdUhV8FkH5MCfoU1XMaxXovpyW5nq5scPqq0ZDP9Zyl04oQ==", + "engines": { + "node": ">= 10.0.0" + } + } + } +} diff --git a/scripts/package.json b/scripts/package.json new file mode 100644 index 0000000..777d559 --- /dev/null +++ b/scripts/package.json @@ -0,0 +1,7 @@ +{ + "dependencies": { + "fs-extra": "^11.1.1", + "js-yaml": "^4.1.0", + "obj-file-parser": "^0.6.2" + } +} diff --git a/scripts/pythonformat.sh b/scripts/pythonformat.sh new file mode 100755 index 0000000..d5123c2 --- /dev/null +++ b/scripts/pythonformat.sh @@ -0,0 +1,2 @@ +#!/bin/bash +black ./**/**.py \ No newline at end of file diff --git a/scripts/xmlformat.sh b/scripts/xmlformat.sh new file mode 100755 index 0000000..4736d37 --- /dev/null +++ b/scripts/xmlformat.sh @@ -0,0 +1,5 @@ +#!/bin/bash +find . -wholename "**/*.launch" -type f -exec xmllint --output '{}' --format '{}' \; +find . -wholename "**/*.xacro" -type f -exec xmllint --output '{}' --format '{}' \; +find . -wholename "**/*.world" -type f -exec xmllint --output '{}' --format '{}' \; +find . -wholename "**/*.xml" -type f -exec xmllint --output '{}' --format '{}' \; \ No newline at end of file diff --git a/scripts/yamlformat.sh b/scripts/yamlformat.sh new file mode 100755 index 0000000..b13bb16 --- /dev/null +++ b/scripts/yamlformat.sh @@ -0,0 +1,5 @@ +#!/bin/bash +yamlfmt ./config/**.yaml +yamlfmt ./config/**.yml +yamlfmt ./.github/workflows/**.yaml +yamlfmt ./.github/workflows/**.yml diff --git a/src/convert_encoder.cpp b/src/convert_encoder.cpp new file mode 100644 index 0000000..698dce1 --- /dev/null +++ b/src/convert_encoder.cpp @@ -0,0 +1,128 @@ +#include "std_msgs/String.h" +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +class map_encoder { + +public: + map_encoder(ros::NodeHandle nh, std::string side, bool bidirectional, + int ticks) { + + pub_ = n_.advertise("/mirte/encoder/" + side, 10); + pub_speed_ = + n_.advertise("/mirte/encoder_speed/" + side, 10); + + sub_ = + n_.subscribe("/mirte/joint_states", 10, &map_encoder::callback, this); + server_ = n_.advertiseService("/mirte/get_encoder_" + side, + &map_encoder::service_cb, this); + timer_ = n_.createTimer(ros::Duration(0.1), &map_encoder::timer, this); + this->joint_name = "joint_" + side + "_wheel"; + } + + void callback(const sensor_msgs::JointState &joints) { + if (joints.position.size() < 2) { + return; // sometimes receive empty message + } + auto names = joints.name; + auto index = std::distance( + names.begin(), find(names.begin(), names.end(), this->joint_name)); + if (index >= names.size()) { // not in this message + return; + } + auto distance = joints.position.at(index); + auto ticks = map_rad_to_ticks(distance); + + mirte_msgs::Encoder mess; + mess.header = joints.header; + this->last_header = joints.header; + + if (this->bidirectional) { + mess.value = ticks; + } else { + auto diff = ticks - this->last_actual_ticks; + this->last_actual_ticks = ticks; + mess.value = + this->last_published_ticks + abs(diff); // always increase the ticks + } + this->last_published_ticks = mess.value; + this->pub_.publish(mess); + } + + bool service_cb(mirte_msgs::GetEncoder::Request &req, + mirte_msgs::GetEncoder::Response &res) { + res.data = this->last_published_ticks; + return true; + } + + void timer(const ros::TimerEvent &event) { + static int last_tick_count = 0; + mirte_msgs::Encoder mess; + mess.value = this->last_published_ticks - last_tick_count; + if (!this->bidirectional) { + mess.value = abs(mess.value); + } + mess.header = this->last_header; + pub_speed_.publish(mess); + last_tick_count = this->last_published_ticks; + } + + int map_rad_to_ticks(double ang) { + return (int)(ang / (2 * M_PI) * this->ticks_per_rot); + } + +private: + // Create the necessary objects for subscribing and publishing + ros::NodeHandle n_; + ros::Publisher pub_; + ros::Publisher pub_speed_; + ros::Subscriber sub_; + ros::ServiceServer server_; + ros::Timer timer_; + std_msgs::Header last_header; + + int last_actual_ticks = 0; + int last_published_ticks = 0; + bool bidirectional = false; + int ticks_per_rot = 540; + std::string joint_name; +}; // End of class SubscribeAndPublish + +bool to_bool(std::string str) { + std::transform(str.begin(), str.end(), str.begin(), ::tolower); + std::istringstream is(str); + bool b; + is >> std::boolalpha >> b; + return b; +} + +int main(int argc, char **argv) { + bool bidirectional = false; + std::string side = argv[1]; + int ticks = 540; + if (argc > 2) { + bidirectional = to_bool(argv[2]); + if (argc > 3) { + ticks = std::stoi(argv[3]); + } + } + std::string name = "map_encoder_" + side; + ros::init(argc, argv, name); + ros::NodeHandle nh; + + // Create an object of class pcl_object_detector_sub_and_pub that will take + // care of everything + map_encoder map_encoder_object(nh, side, bidirectional, ticks); + ros::spin(); + return 0; +} diff --git a/src/convert_ir.cpp b/src/convert_ir.cpp new file mode 100644 index 0000000..8a91304 --- /dev/null +++ b/src/convert_ir.cpp @@ -0,0 +1,79 @@ +#include "std_msgs/String.h" +#include +#include +#include +#include +#include + +#include +#include +#include + +class map_ir { + +public: + map_ir(ros::NodeHandle nh, std::string side) { + + pub_ = n_.advertise("/mirte/intensity/" + side, 10); + pub_dig_ = n_.advertise( + "/mirte/intensity/" + side + "_digital", 10); + sub_ = n_.subscribe("/mirte/camera_ir_" + side + "/image_raw", 10, + &map_ir::callback, this); + server_ = n_.advertiseService("/mirte/get_intensity_" + side, + &map_ir::service_cb, this); + server_dig_ = + n_.advertiseService("/mirte/get_intensity_" + side + "_digital", + &map_ir::service_cb_dig, this); + } + + void callback(const sensor_msgs::Image &img) { + mirte_msgs::Intensity irInt; + irInt.value = img.data[0]; + irInt.header = img.header; + this->lastIntensity = irInt.value; + pub_.publish(irInt); + + mirte_msgs::IntensityDigital irIntDig; + irIntDig.value = img.data[0] > 128; + irIntDig.header = img.header; + this->lastIntensityDig = irIntDig.value; + pub_dig_.publish(irIntDig); + } + + bool service_cb(mirte_msgs::GetIntensity::Request &req, + mirte_msgs::GetIntensity::Response &res) { + + res.data = this->lastIntensity; + return true; + } + bool service_cb_dig(mirte_msgs::GetIntensityDigital::Request &req, + mirte_msgs::GetIntensityDigital::Response &res) { + res.data = this->lastIntensityDig; + return true; + } + +private: + // Create the necessary objects for subscribing and publishing + ros::NodeHandle n_; + ros::Publisher pub_; + ros::Publisher pub_dig_; + ros::Subscriber sub_; + ros::ServiceServer server_; + ros::ServiceServer server_dig_; + + int lastIntensity = 0; + bool lastIntensityDig = false; +}; // End of class SubscribeAndPublish + +int main(int argc, char **argv) { + std::string side = argv[1]; + std::string name = "map_ir_" + side; + ros::init(argc, argv, name); + ros::NodeHandle nh; + + // Create an object of class pcl_object_detector_sub_and_pub that will take + // care of everything + map_ir map_ir_object(nh, side); + ros::spin(); + return 0; +} diff --git a/src/convert_ultrasonic.cpp b/src/convert_ultrasonic.cpp new file mode 100644 index 0000000..9e9a402 --- /dev/null +++ b/src/convert_ultrasonic.cpp @@ -0,0 +1,55 @@ +#include +#include + +#include +#include +#include +#include + +class map_sonar { + +public: + map_sonar(ros::NodeHandle nh, std::string side) { + + pub_ = n_.advertise("/mirte/distance/" + side, 10); + + sub_ = + n_.subscribe("/mirte/scanSonar" + side, 10, &map_sonar::callback, this); + server_ = n_.advertiseService("/mirte/get_distance_" + side, + &map_sonar::service_cb, this); + } + + void callback(const sensor_msgs::LaserScan &scan) { + sensor_msgs::Range range; + range.header = scan.header; + range.radiation_type = sensor_msgs::Range::ULTRASOUND; + range.field_of_view = scan.angle_max - scan.angle_min; + range.min_range = scan.range_min; + range.max_range = scan.range_max; + range.range = *std::min_element(scan.ranges.begin(), scan.ranges.end()); + pub_.publish(range); + this->lastRange = range.range; + } + bool service_cb(mirte_msgs::GetDistance::Request &req, + mirte_msgs::GetDistance::Response &res) { + res.data = this->lastRange; + return true; + } + +private: + ros::NodeHandle n_; + ros::Publisher pub_; + ros::Subscriber sub_; + ros::ServiceServer server_; + float lastRange = 0; +}; + +int main(int argc, char **argv) { + std::string side = argv[1]; + std::string name = "map_sonar_" + side; + ros::init(argc, argv, name); + ros::NodeHandle nh; + map_sonar map_sonar_object(nh, side); + ros::spin(); + return 0; +} diff --git a/src/rotate.cpp b/src/rotate.cpp new file mode 100644 index 0000000..711411e --- /dev/null +++ b/src/rotate.cpp @@ -0,0 +1,165 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +class pcl_rotate { + +public: + void removePlane(pcl::PointCloud::Ptr cloud) { + pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients); + pcl::PointIndices::Ptr inliers(new pcl::PointIndices); + // std::cout << "planeStart" << cloud->size() << std::endl; + + // Create the segmentation object + pcl::SACSegmentation seg; + + // Optional + seg.setOptimizeCoefficients(true); + + // Mandatory + seg.setModelType(pcl::SACMODEL_PLANE); + seg.setMethodType(pcl::SAC_RANSAC); + seg.setDistanceThreshold(0.01); + + seg.setInputCloud(cloud); + seg.segment(*inliers, *coefficients); + + // Filter based on indices + pcl::ExtractIndices extract; + extract.setInputCloud(cloud); + extract.setIndices(inliers); + extract.setNegative(true); + extract.filter(*cloud); + // std::cout << "plane" << cloud->size() << std::endl; + } + std::vector> + cluster(pcl::PointCloud::Ptr const cloud) { + pcl::search::KdTree::Ptr tree( + new pcl::search::KdTree); + if (cloud->empty()) { + return {}; + } + tree->setInputCloud(cloud); + + std::vector cluster_indices; + pcl::EuclideanClusterExtraction ec; + // std::cout << __LINE__ << std::endl; + ec.setClusterTolerance(0.01); // in meters + ec.setMinClusterSize(2); + ec.setMaxClusterSize(25000); + ec.setSearchMethod(tree); + ec.setInputCloud(cloud); + ec.extract(cluster_indices); + + std::vector> clusters; + int j = 0; + for (std::vector::const_iterator it = + cluster_indices.begin(); + it != cluster_indices.end(); ++it) { + + pcl::PointCloud cloud_cluster; + for (std::vector::const_iterator pit = it->indices.begin(); + pit != it->indices.end(); ++pit) + cloud_cluster.points.push_back(cloud->points[*pit]); + cloud_cluster.width = cloud_cluster.points.size(); + cloud_cluster.height = 1; + cloud_cluster.is_dense = true; + + clusters.push_back(cloud_cluster); + j++; + } + + return clusters; + } + + pcl_rotate(ros::NodeHandle nh) { + // Topic you publish to + pub_ = n_.advertise("/mirte/depth_cam/pointsRot", + 1000); + + // Topic you subscribe to + sub_ = n_.subscribe("/mirte/depth_cam/points", 1000, &pcl_rotate::callback, + this); + } + + void callback(const sensor_msgs::PointCloud2 &input_cloud) { + pcl::PointCloud::Ptr cloud( + new pcl::PointCloud); + pcl::fromROSMsg(input_cloud, *cloud); + pcl::PassThrough pass; + pass.setInputCloud(cloud); + pass.setFilterFieldName("z"); + pass.setFilterLimits(0.0, 1.8); + pcl::PointCloud::Ptr cloud_filtered( + new pcl::PointCloud); + + pass.filter(*cloud_filtered); + + this->removeNan(cloud_filtered); + Eigen::Affine3f transform_2 = Eigen::Affine3f::Identity(); + + float theta = -M_PI / 2; + transform_2.rotate(Eigen::AngleAxisf(theta, Eigen::Vector3f::UnitX())); + transform_2.rotate(Eigen::AngleAxisf(-theta, Eigen::Vector3f::UnitY())); + + pcl::PointCloud::Ptr transformed_cloud( + new pcl::PointCloud()); + pcl::transformPointCloud(*cloud_filtered, *transformed_cloud, transform_2); + sensor_msgs::PointCloud2 out_cloud; + pcl::toROSMsg(*transformed_cloud, out_cloud); + + pub_.publish(out_cloud); + } + void removeNan(pcl::PointCloud::Ptr cloud) { + cloud->is_dense = false; + // std::cerr << "orig cloud data: " << cloud->size() << " points" << + // std::endl; + + boost::shared_ptr> indices(new std::vector); + pcl::removeNaNFromPointCloud(*cloud, *indices); + pcl::ExtractIndices extract; + extract.setInputCloud(cloud); + extract.setIndices(indices); + extract.setNegative(false); + extract.filter(*cloud); + } + +private: + // Create the necessary objects for subscribing and publishing + ros::NodeHandle n_; + ros::Publisher pub_; + ros::Publisher pub_2; + + ros::Subscriber sub_; +}; // End of class SubscribeAndPublish + +int main(int argc, char **argv) { + ros::init(argc, argv, "pcl_pointcloud_rotate"); + ros::NodeHandle nh; + + // Create an object of class pcl_object_detector_sub_and_pub that will take + // care of everything + pcl_rotate pcl_object(nh); + ros::spin(); + return 0; +} diff --git a/urdf/camera.xacro b/urdf/camera.xacro index 2d15caf..65a5f36 100755 --- a/urdf/camera.xacro +++ b/urdf/camera.xacro @@ -1,16 +1,14 @@ + - - - - - - - - - + + + + + + - 30 + 10 1.2 @@ -20,7 +18,7 @@ 0.0001 - 300 + 20 0.0 @@ -42,5 +40,4 @@ - diff --git a/urdf/diffdrive.xacro b/urdf/diffdrive.xacro new file mode 100644 index 0000000..56963ff --- /dev/null +++ b/urdf/diffdrive.xacro @@ -0,0 +1,29 @@ + + + + + + diff --git a/urdf/duckieModels.xacro b/urdf/duckieModels.xacro new file mode 100644 index 0000000..6ceb9c3 --- /dev/null +++ b/urdf/duckieModels.xacro @@ -0,0 +1,273 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${static} + + ${x * size} ${y * size} ${z_offset*size * model_scale * scale + 0.01} ${radians(90)} -0 ${radians(yaw)} + + + + + ${size * model_scale * scale} ${size * model_scale * scale} ${size * model_scale * scale} + file://$(find mirte_gazebo)/models/${type}/meshes/${type}.obj + + + 10 + + + + + + + + + + + + + + + + + + ${size * model_scale * scale} ${size * model_scale * scale} ${size * model_scale * scale} + file://$(find mirte_gazebo)/models/${type}/meshes/${type}.obj + + + + + + + + 0 + 0 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${x * size} ${y * size} ${z_offset*size * model_scale * scale + 0.01} ${radians(90)} -0 ${radians(yaw)} + ${model_scale* size * scale} ${model_scale* size * scale} ${model_scale* size * scale} + + ${x * size} ${y * size} ${z_offset*size * model_scale * scale + 0.01} ${radians(90)} -0 ${radians(yaw)} + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + diff --git a/urdf/duckietown.xacro b/urdf/duckietown.xacro index 1329716..5ca3994 100644 --- a/urdf/duckietown.xacro +++ b/urdf/duckietown.xacro @@ -1,19 +1,97 @@ - - + + + true - - - + + - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/urdf/empty_duckietown.world b/urdf/empty_duckietown.world new file mode 100644 index 0000000..f51d3ec --- /dev/null +++ b/urdf/empty_duckietown.world @@ -0,0 +1,123 @@ + + + + + + + + 0 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + 1 + + + + + 0 0 1 + 100 100 + + + + + 65535 + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.53 0.81 0.92 1 + 0 + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + + 0 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + + 0 0 10 0 -0 0 + + + + + 2.48203 2.4474 8.36958 -0 1.48 -3.13919 + orbit + perspective + + + + diff --git a/urdf/includedMacro.xacro b/urdf/includedMacro.xacro new file mode 100644 index 0000000..61f8337 --- /dev/null +++ b/urdf/includedMacro.xacro @@ -0,0 +1,71 @@ + + + + + + + ${static} + + ${x * size} ${y * size} ${z_offset*size * model_scale * scale + 0.01} 0 -0 ${radians(yaw)} + + + + + ${scale} ${ scale} ${ scale} + model://person_walking/meshes/walking.dae + + + 10 + + + + + + + + + + + + + + + + + + ${size * model_scale * scale} ${size * model_scale * scale} ${size * model_scale * scale} + model://person_walking/meshes/walking.dae + + + + + + 0 + 0 + 0 + + + + + + + + + + + ${x * size} ${y * size} ${z_offset*size * model_scale * scale + 0.01} 0 -0 ${radians(yaw)} + ${model_scale* size * scale} ${model_scale* size * scale} ${model_scale* size * scale} + + ${x * size} ${y * size} ${z_offset*size * model_scale * scale + 0.01} 0 -0 ${radians(yaw)} + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + diff --git a/urdf/ir.xacro b/urdf/ir.xacro new file mode 100755 index 0000000..f919528 --- /dev/null +++ b/urdf/ir.xacro @@ -0,0 +1,55 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 5 + + 1.2 + + 1 + 1 + L8 + + + 0.0001 + 1 + + + + camera_ir + base_ir_${name} + base_ir_${name} + camera_ir_${name} + + + + + diff --git a/urdf/lab3.world b/urdf/lab3.world new file mode 100644 index 0000000..4c620ba --- /dev/null +++ b/urdf/lab3.world @@ -0,0 +1,233 @@ + + + + + + + + 0 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + 1 + + + + + 0 0 1 + 100 100 + + + + + 65535 + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.53 0.81 0.92 1 + 0 + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 10 0 -0 0 + + + + + 2.48203 2.4474 8.36958 -0 1.48 -3.13919 + orbit + perspective + + + + diff --git a/urdf/lab4.world b/urdf/lab4.world new file mode 100644 index 0000000..e9093af --- /dev/null +++ b/urdf/lab4.world @@ -0,0 +1,499 @@ + + + + + + + + 0 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + 0 + 0 + 0 + + + + 1 + + + + + 0 0 1 + 100 100 + + + + + 65535 + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + 0.4 0.4 0.4 1 + 0.53 0.81 0.92 1 + 0 + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + 1 1 1 + + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 10 0 -0 0 + + + + + 2.48203 2.4474 8.36958 -0 1.48 -3.13919 + orbit + perspective + + + + diff --git a/urdf/lidar.xacro b/urdf/lidar.xacro index 1467887..e428157 100755 --- a/urdf/lidar.xacro +++ b/urdf/lidar.xacro @@ -1,44 +1,54 @@ + - - - - - - - - - - - - - - 0 0 0 0 0 0 - false - 15 - - - - 720 - 1 - -3.14 - 3.14 - - - - 2 - 12 - 0.1 - - - gaussian - 0.0 - 0.01 - - - - /mirte/scan - lidar_link - - - + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + true + 10 + + + + 720 + 1 + -3.14 + 3.14 + + + + 0.15 + + 12 + 0.01 + + + gaussian + 0.0 + 0.01 + + + + /mirte/scan + lidar_link + + + diff --git a/urdf/macros.xacro b/urdf/macros.xacro index 1e3156c..cc63c36 100755 --- a/urdf/macros.xacro +++ b/urdf/macros.xacro @@ -1,105 +1,118 @@ - + - + - - + - - + - - + - + + - + - + - - 0 + 0 - - - + - + - - transmission_interface/SimpleTransmission - - hardware_interface/VelocityJointInterface - - - hardware_interface/VelocityJointInterface - 120 - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1 - - - - - - - - - + transmission_interface/SimpleTransmission + + + hardware_interface/VelocityJointInterface + + + + hardware_interface/VelocityJointInterface + 1 + + + + + + + + + + + + + + 0.01 + 0.01 + + + + + + + + + + + + + + + + + 0 + + + + + + diff --git a/urdf/materials.xacro b/urdf/materials.xacro index 39231be..a8aa3fb 100755 --- a/urdf/materials.xacro +++ b/urdf/materials.xacro @@ -1,11 +1,14 @@ - + + + + @@ -27,23 +30,19 @@ - - false Gazebo/Orange - false Gazebo/Black - - + 0.001 0.55 Gazebo/Blue @@ -52,7 +51,7 @@ - + 0.001 0.55 Gazebo/Blue @@ -62,4 +61,14 @@ 0.0 Gazebo/Red + + 0.2 + 0.2 + Gazebo/Purple + + + 0.2 + 0.2 + Gazebo/Purple + diff --git a/urdf/mirte.xacro b/urdf/mirte.xacro index 169522d..f763c3f 100755 --- a/urdf/mirte.xacro +++ b/urdf/mirte.xacro @@ -1,88 +1,129 @@ - - + + + + + + + - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + 0 0 0.015 0 0 0 - - --> + - + - 0 - - - - - + + + true + 30.0 + + base_link_fixed_joint_lump__collision_chassis_collision + + + + contact + link_chassis + + + + 0 - - - - + - - + - - + - - - - + + + + + + + + + + + + + + + + + + + /mirte + + + + + + + + + base_link + base_pose_ground_truth + map + 10.0 + + diff --git a/urdf/realsense-RS200.macro.xacro b/urdf/realsense-RS200.macro.xacro new file mode 100644 index 0000000..5006500 --- /dev/null +++ b/urdf/realsense-RS200.macro.xacro @@ -0,0 +1,196 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${prefix} + + + + + + 0 + 0 + 0 + 1 + + 1 + 0 0 0 + + 1e+13 + 1 + + + 0 -0.046 0.004 0 0 0 + + + + 1.5 + + 640 + 480 + + RGB_INT8 + + + 0.1 + 10 + + + gaussian + 0.0 + 0.007 + + + 1 + 10 + 0 + + + 0 -0.06 0.004 0 0 0 + + 1.047 + + + + 640 + 480 + L_INT8 + + + 0.1 + 1 + + + gaussian + 0.0 + 0.05 + + + 1 + 1 + 0 + + + 0 0.01 0.004 0 0 0 + + 1.047 + + + 640 + 480 + L_INT8 + + + 0.1 + 1 + + + gaussian + 0.0 + 0.05 + + + 0 + 1 + 0 + + + 0 -0.03 0.004 0 0 0 + + + + 1.5 + + 640 + 480 + + + + 0.1 + 20 + + + gaussian + 0.0 + 0.100 + + + 1 + 10 + 1 + + + + diff --git a/urdf/realsense-depth.xacro b/urdf/realsense-depth.xacro new file mode 100644 index 0000000..2ddecf2 --- /dev/null +++ b/urdf/realsense-depth.xacro @@ -0,0 +1,99 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 30.0 + + + + + + + + + base_link_fixed_joint_lump__realsense_collision_collision_${lidar + 2*ir + 2} + + + realsense_contact + ${prefix}rs200_camera + + + + + + true + False + 10 + + 2.5 + + 640 + 480 + R8G8B8 + + + 0.02 + 2 + + + + 1 + 10.0 + image_raw + points + camera_info + depth_cam + ${prefix}depth + 0.001 + + + + + diff --git a/urdf/realsense-lidar.xacro b/urdf/realsense-lidar.xacro new file mode 100644 index 0000000..9e443f5 --- /dev/null +++ b/urdf/realsense-lidar.xacro @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 0 0 0 0 0 + true + 10 + + + + 640 + 1 + -0.75 + 0.75 + + + 48 + 1 + -${radians(30)} + 0 + + + + 0.15 + + 2 + 0.01 + + + gaussian + 0.0 + 0.01 + + + + /mirte/scan + ${prefix}depth + + + + + diff --git a/urdf/realsense.xacro b/urdf/realsense.xacro new file mode 100644 index 0000000..49ffc1b --- /dev/null +++ b/urdf/realsense.xacro @@ -0,0 +1,7 @@ + + + + + + + diff --git a/urdf/ros_control.xacro b/urdf/ros_control.xacro index ac59258..5194eda 100644 --- a/urdf/ros_control.xacro +++ b/urdf/ros_control.xacro @@ -1,12 +1,8 @@ - - - - - - - - - - - /mirte - - - - + diff --git a/urdf/tile.xacro b/urdf/tile.xacro index 2a3aa2b..b1c9416 100644 --- a/urdf/tile.xacro +++ b/urdf/tile.xacro @@ -1,37 +1,30 @@ + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${material} - - - + + + + + + + + + + + + + + + + + + + + + + + + + ${material} + + diff --git a/urdf/tileWorld.xacro b/urdf/tileWorld.xacro new file mode 100644 index 0000000..fb6d409 --- /dev/null +++ b/urdf/tileWorld.xacro @@ -0,0 +1,71 @@ + + + + + 1 + ${x * size} ${y * size} 0. 0 -0 ${pi / 180 * yaw} + + + 1 + + 0. + 0 + 0 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + + + ${size} ${size} 0.01 + + + 10 + + + + + + + + + + + + + + + + + ${size} ${size} 0.01 + + + + + + + 0 + 0 + 0 + + + + + + ${x * size} ${y * size} 0 -1e-05 -0 ${pi / 180 * yaw} + ${size} ${size} 0.01 + + ${x * size} ${y * size} 0 -1e-05 -0 ${pi / 180 * yaw} + 0 0 0 0 -0 0 + 0.00 0.00 -9.78158 -0.00 0.0 1e-06 + 0.000 0.00 -9.78158 0 -0 0 + + + + diff --git a/urdf/ultrasonic.xacro b/urdf/ultrasonic.xacro index d61831d..0525f2c 100755 --- a/urdf/ultrasonic.xacro +++ b/urdf/ultrasonic.xacro @@ -1,90 +1,89 @@ + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - false - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + - - 2 - 1 - -0.26 - 0.26 + + 4 + 1 + ${-sonar_angle_max/2} + ${sonar_angle_max/2} - 2 - 1 - -0.014835 - 0.014835 + 4 + 1 + 0 + + ${sonar_angle_max/4} - - + + 0.01 5 0.01 - - - - gaussian - 0.0 - 0.01 - - - - 30 - - - - /mirte - ~/out:=distance/${name} + + + + gaussian + 0.0 + 0.01 + + + + 30 + + /mirte/scanSonar${name} + sensor_msgs/Range + ultrasound + base_sonar_${name} + + + sensor_msgs/Range - ultrasound - - - - + ultrasonic_1_link + --> + - - - - + diff --git a/worlds/barrels.world b/worlds/barrels.world new file mode 100644 index 0000000..eea1566 --- /dev/null +++ b/worlds/barrels.world @@ -0,0 +1,2230 @@ + + + + + + + 12 + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + 1 + + + 1 + 0 0 10 0 -0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + 1 + + + + + 0 0 1 + 100 100 + + + + + 65535 + + + + + 100 + 50 + + + + + + + + 10 + + + 0 + + + 0 0 1 + 100 100 + + + + + + + 0 + 0 + 0 + + + 0 0 -9.8 + 6e-06 2.3e-05 -4.2e-05 + + + 0.001 + 1 + 1000 + + + + EARTH_WGS84 + 0 + 0 + 0 + 0 + + + + + 0 0 0.4 0 -0 0 + 500 + + 51.2096 + 51.2096 + 25 + 0 + 0 + 0 + + + + + + model://construction_barrel/meshes/construction_barrel.dae + + 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