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Merge pull request #186 from pkehr/turtlebot3
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Added turtlebot3 (waffle_pi)
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@sunava
sunava authored Aug 21, 2024
2 parents 20c64ab + fecadc0 commit 26bfb64
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6 changes: 6 additions & 0 deletions launch/ik_and_description.launch
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textfile="$(find pycram)/resources/robots/stretch_description.urdf"/>
</group>

<!-- turtlebot3 -->
<group if="$(eval robot == 'turtlebot')">
<param name="robot_description"
textfile="$(find pycram)/resources/robots/turtlebot.urdf"/>
</group>


<!-- Use Knowrob -->
<group if="$(eval use_knowrob)">
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371 changes: 371 additions & 0 deletions resources/robots/turtlebot.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from turtlebot3_waffle_pi.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="turtlebot3_waffle_pi">
<!-- Init colour -->
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="dark">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="light_black">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="grey">
<color rgba="0.5 0.5 0.5 1.0"/>
</material>
<material name="orange">
<color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
</material>
<material name="brown">
<color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
</material>
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<gazebo reference="base_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<gazebo reference="wheel_left_link">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="wheel_right_link">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<kp>500000.0</kp>
<kd>10.0</kd>
<minDepth>0.001</minDepth>
<maxVel>0.1</maxVel>
<fdir1>1 0 0</fdir1>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="caster_back_right_link">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="caster_back_left_link">
<mu1>0.1</mu1>
<mu2>0.1</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
<material>Gazebo/FlatBlack</material>
</gazebo>
<gazebo reference="imu_link">
<sensor name="imu" type="imu">
<always_on>true</always_on>
<visualize>false</visualize>
</sensor>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_diff_drive.so" name="turtlebot3_waffle_pi_controller">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometrySource>world</odometrySource>
<publishOdomTF>true</publishOdomTF>
<robotBaseFrame>base_footprint</robotBaseFrame>
<publishWheelTF>false</publishWheelTF>
<publishTf>true</publishTf>
<publishWheelJointState>true</publishWheelJointState>
<legacyMode>false</legacyMode>
<updateRate>30</updateRate>
<leftJoint>wheel_left_joint</leftJoint>
<rightJoint>wheel_right_joint</rightJoint>
<wheelSeparation>0.287</wheelSeparation>
<wheelDiameter>0.066</wheelDiameter>
<wheelAcceleration>1</wheelAcceleration>
<wheelTorque>10</wheelTorque>
<rosDebugLevel>na</rosDebugLevel>
</plugin>
</gazebo>
<gazebo>
<plugin filename="libgazebo_ros_imu.so" name="imu_plugin">
<alwaysOn>true</alwaysOn>
<bodyName>imu_link</bodyName>
<frameName>imu_link</frameName>
<topicName>imu</topicName>
<serviceName>imu_service</serviceName>
<gaussianNoise>0.0</gaussianNoise>
<updateRate>0</updateRate>
<imu>
<noise>
<type>gaussian</type>
<rate>
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</rate>
<accel>
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</accel>
</noise>
</imu>
</plugin>
</gazebo>
<gazebo reference="base_scan">
<material>Gazebo/FlatBlack</material>
<sensor name="lds_lfcd_sensor" type="ray">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>0.0</min_angle>
<max_angle>6.28319</max_angle>
</horizontal>
</scan>
<range>
<min>0.120</min>
<max>3.5</max>
<resolution>0.015</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_lds_lfcd_controller">
<topicName>scan</topicName>
<frameName>base_scan</frameName>
</plugin>
</sensor>
</gazebo>
<!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
<gazebo reference="camera_rgb_frame">
<sensor name="Pi Camera" type="camera">
<always_on>true</always_on>
<visualize>false</visualize>
<camera>
<horizontal_fov>1.085595</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.03</near>
<far>100</far>
</clip>
</camera>
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>camera</cameraName>
<frameName>camera_rgb_optical_frame</frameName>
<imageTopicName>rgb/image_raw</imageTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0.010"/>
</joint>
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="-0.064 0 0.0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="light_black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.064 0 0.047"/>
<geometry>
<box size="0.266 0.266 0.094"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.3729096e+00"/>
<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04" iyy="8.6195418e-03" iyz="-3.5422299e-06" izz="1.4612727e-02"/>
</inertial>
</link>
<joint name="wheel_left_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_left_link"/>
<origin rpy="-1.57 0 0" xyz="0.0 0.144 0.023"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_left_link">
<visual>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="2.8498940e-02"/>
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05"/>
</inertial>
</link>
<joint name="wheel_right_joint" type="continuous">
<parent link="base_link"/>
<child link="wheel_right_link"/>
<origin rpy="-1.57 0 0" xyz="0.0 -0.144 0.023"/>
<axis xyz="0 0 1"/>
</joint>
<link name="wheel_right_link">
<visual>
<origin rpy="1.57 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.018" radius="0.033"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="2.8498940e-02"/>
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05"/>
</inertial>
</link>
<joint name="caster_back_right_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_right_link"/>
<origin rpy="-1.57 0 0" xyz="-0.177 -0.064 -0.004"/>
</joint>
<link name="caster_back_right_link">
<collision>
<origin rpy="0 0 0" xyz="0 0.001 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.005"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="caster_back_left_joint" type="fixed">
<parent link="base_link"/>
<child link="caster_back_left_link"/>
<origin rpy="-1.57 0 0" xyz="-0.177 0.064 -0.004"/>
</joint>
<link name="caster_back_left_link">
<collision>
<origin rpy="0 0 0" xyz="0 0.001 0"/>
<geometry>
<box size="0.030 0.009 0.020"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0"/>
<mass value="0.005"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link"/>
<child link="imu_link"/>
<origin rpy="0 0 0" xyz="0.0 0 0.068"/>
</joint>
<link name="imu_link"/>
<joint name="scan_joint" type="fixed">
<parent link="base_link"/>
<child link="base_scan"/>
<origin rpy="0 0 0" xyz="-0.064 0 0.122"/>
</joint>
<link name="base_scan">
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="dark"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.015 0 -0.0065"/>
<geometry>
<cylinder length="0.0315" radius="0.055"/>
</geometry>
</collision>
<inertial>
<mass value="0.114"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
</inertial>
</link>
<joint name="camera_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.073 -0.011 0.084"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<collision>
<origin rpy="0 0 0" xyz="0.005 0.011 0.013"/>
<geometry>
<box size="0.015 0.030 0.027"/>
</geometry>
</collision>
</link>
<joint name="camera_rgb_joint" type="fixed">
<origin rpy="0 0 0" xyz="0.003 0.011 0.009"/>
<parent link="camera_link"/>
<child link="camera_rgb_frame"/>
</joint>
<link name="camera_rgb_frame"/>
<joint name="camera_rgb_optical_joint" type="fixed">
<origin rpy="-1.57 0 -1.57" xyz="0 0 0"/>
<parent link="camera_rgb_frame"/>
<child link="camera_rgb_optical_frame"/>
</joint>
<link name="camera_rgb_optical_frame"/>
</robot>
14 changes: 14 additions & 0 deletions src/pycram/robot_descriptions/turtlebot_description.py
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import rospkg

from pycram.robot_description import RobotDescriptionManager, RobotDescription

# Description for turtlebot3_waffle_pi
rospack = rospkg.RosPack()
filename = rospack.get_path('pycram') + '/resources/robots/' + "turtlebot" + '.urdf'

turtlebot = RobotDescription("turtlebot", "world", "base_link", "base_joint",
filename)

# Add to RobotDescriptionManager
rdm = RobotDescriptionManager()
rdm.register_description(turtlebot)
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