Model submission for Husky sensor configuration 1 by Marble #384

nkoenig · 2020-04-09T22:52:02Z

CU's husky config with 3 D435i RGBD cameras, a pan-tilt turret, the Ouster OS1 64 channel lidar, and an RPLidar S1. We have added a pan/tilt capability and mounted one of the rgbd cameras on a gimble.

Additional details are included in the specifications.md file.

NOTE: you must build the custom ros-ign as described in BuildingCustomRosIgnForMarble.txt to run this model.

testing to see if I brett can commit a dummy file
Made marble folder
test commit
Close branch submitted_models/marble_husky_sensor_config_1.
Added files for husky. Name will need to be changed
Downward facing facing is there
Got all sensor positioned and represented visually up to the pan tilt tower. That comes next
Model sdf now has the gimbal pan, still unsure of how to control it though
Until the joints can be tested this is where the marble hsuky model will get
Got the joint state controller and publisher added in. Pan/Tilt can be controlled using ignition messages.
More works needs to be done on bridges to control gimbal, but commented out in progress work is available in vehicle_topics.launch for the marble husky
Rudimentary visuals done
We can now command the gimbal pan/tilt using ros topics as long as you use the modified version of ros_ign_bridge committed under pull request 64
*Fixed the joint publisher. Topic shows up in ros as //joint_state.
Update sdf file, add test_gimbal script, add specifications.md file, and remove CU_MARBLE folder
Added the xacro file for rviz
added a file
Updated sensor description in package.xml
Updated IMU model to Microstrain 3DM-GX5-25 as in HD2. Added link to datasheet for IMU in specifications.md file
Add pan and tilt echoing scripts
Updated and completed specifications.md file for husky
Couple of edits to description files.
Update cost info in specs.
‌

… tower. That comes next

…hough

…ill get

can be controlled using ignition messages.

…ed out in progress work is available in vehicle_topics.launch for the marble husky

…u use the modified version of ros_ign_bridge committed under pull request 64

…oint_state.

…and remove CU_MARBLE folder

…ng the base_link model. Added specfications.md file (which needs to be updated). Add some missing mesh files.

…over all sensors and make sure they work. Also added scripts for echoing the current pan and tilt angles

…in 3DM-GX5-25 used in Marble ground vehicles

…datasheet for IMU in specifications.md file

bfotheri · 2020-06-09T17:32:39Z

Thanks for the comments. We didn't get any notifications you had responded, hence the lateness. We have a number of small changes we've been working on for the past 2 months in our local branches that we would still like to submit a pull request for if possible.

RPLIDAR: I wasn't able to reproduce the RPLIDAR getting ground strikes (the model sdf shows it having a (0, -0, 0) RPY) but it does self intersect and we take care of that in software (like we do on our physical system)

IMU: The Marble HD2 and Husky use the Lord Microstrain 3DM-GX5-25 IMU/AHRS and we derived the IMU noise model using the datasheet of this IMU so our solutions in simulation (for SLAM and so forth) would match the ones on our hardware vehicle. We certainly can change the model to be the same as the X1-X4, it is just convenient to have our simulation vehicle specs match the one in lab.

GIMBAL: The gimbal works only if you build a custom version of ros_ign bridge as there wasn't support for conversion from float64 to doubles. Are there no topics named "/X1/pan_tilt/pan_rate_cmd_double" or "/X1/pan_tilt/tilt_rate_cmd_double" then? I ran our vehicle models and was unable to reproduce this. The topics listed above were there each time. Perhaps our local branches have changes that have since fixed this issue. test_gimbal.sh was able to work locally as a result. In addition, the name of the vehicle is hardcoded in test_gimbal.sh so if you don't name the vehicle X1 it must be changed inside the script.

I have a meeting later today with the team so we'll discuss these issues and submit a pull request to update our submission by tomorrow hopefully. Thanks!

Model pr 426 Update

acschang · 2020-06-11T20:39:12Z

Thank you for making the requested changes to the IMU characteristics.

The RPLIDAR is mounted in such a way that the most rear-facing returns are blocked. This is acceptable given your clarification on the mounting.

The gimbal test script is functional. As noted in the specifications.md, the simulator is not adhering to the tilt limits in the model.sdf.

caguero · 2020-06-15T13:47:05Z

submitted_models/marble_husky_sensor_config_1/launch/vehicle_topics.launch

+      pkg="ros_ign_bridge"
+      type="parameter_bridge"
+      name="ros_ign_bridge_pose"
+      args="/model/$(arg name)/pose@tf2_msgs/TFMessage[ignition.msgs.Pose_V">


I'm observing some errors when running your bridge:

[ERROR] [1592228288.828625446]: Failed to create a bridge for topic [/model/X2/pose] with ROS type [tf2_msgs/TFMessage] and Ignition Transport type [ignition.msgs.Pose_V]

I suspect your version of the ros_ign bridge doesn't include this change:
gazebosim/ros_gz#67

Could you please double-check?

I will check it out.

I'll go ahead and update our ros_ign bridge by merging in ignitionrobotics/ros_ign#67 and other changes that have been made since we forked the repo

Also on the subject, we made our fork to add support for conversions from std_msgs/float64 to ignition doubles. Has the PR been approved? Because if so our custom version is no longer needed.

Also on the subject, we made our fork to add support for conversions from std_msgs/float64 to ignition doubles. Has the PR been approved? Because if so our custom version is no longer needed.

It looks merged: gazebosim/ros_gz#64

Could you update your instructions if your fork of ros_ign bridge is not needed please?

Yes, I will update those instructions. Although I believe ros_ign still needs to be built from source does it not? Unless another binary release of ros_ign has been made in the past month or so which includes those latest merges.

It's merged, but I believe it's not part of the ros package yet (the binaries). Or it wasn't a month ago so from my understanding this bridge still needs to be built from source to include this change correct?

0.9.3 has been released: http://packages.osrfoundation.org/gazebo/ubuntu-stable/pool/main/r/ros-melodic-ros-ign-bridge/

We shouldn't need to compile the bridge from source.

caguero · 2020-06-15T13:59:37Z

submitted_models/marble_husky_sensor_config_1/launch/spawner.rb

+        <right_joint>rear_right_wheel_joint</right_joint>
+        <wheel_separation>#{0.45649 * 1.5}</wheel_separation>
+        <wheel_radius>0.1651</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>


Please, consider adding this block to limit the maximum velocities and accelerations:

" <min_velocity>-1</min_velocity>\n"\ " <max_velocity>1</max_velocity>\n"\ " <min_acceleration>-2</min_acceleration>\n"\ " <max_acceleration>3</max_acceleration>\n"\

These parameters have been introduced here. ~~You should also add it to the same file under robotica_x2_sensor_config_1.~~

Done. PR will be submitted shortly to reflect these changes.

Sorry, I was reusing the same comment from other team. Feel free to ignore my comment about robotika.

bfotheri · 2020-06-15T15:55:47Z

@iche033 also suggested I add the following to each of the depth cameras so I went ahead and did so. Minor adaptations were made to reflect the correct naming for each camera in the following code.

    <node
      pkg="subt_ros"
      type="optical_frame_publisher"
      name="optical_frame_publisher_image_pan_tilt">
      <remap from="input/image" to="pan_tilt/image_raw" />
      <remap from="output/image" to="pan_tilt/optical/image_raw" />
      <remap from="input/camera_info" to="pan_tilt/camera_info" />
      <remap from="output/camera_info" to="pan_tilt/optical/camera_info" />
    </node>
    <node
      pkg="subt_ros"
      type="optical_frame_publisher"
      name="optical_frame_publisher_depth_pan_tilt"
      args="depth">
      <remap from="input/image" to="pan_tilt/depth" />
      <remap from="output/image" to="pan_tilt/optical/depth" />
    </node>

bfotheri · 2020-06-15T16:28:32Z

A pull request has been made from realdealneil/subt/model_pr_426 to osrf/subt/model_pr_426 to reflect these updates.

* Made changes based on pull request comments * Update spawner.rb to fix negative accel limit * updated instructions for building ros ign bridge * Update spawner.rb Co-authored-by: Carlos Agüero <[email protected]>

caguero

All changes look good to me now.

nkoenig · 2020-06-18T20:26:11Z

@caguero , did you test the gimbal?

Signed-off-by: Nate Koenig <[email protected]>

nkoenig · 2020-06-18T20:33:07Z

I think the joint limits on the gimbal are incorrect.

caguero · 2020-06-18T20:54:47Z

@caguero , did you test the gimbal?

I did and it moved as expected. I'll check the limits.

nkoenig · 2020-06-18T21:09:15Z

I used their test_gimbal.sh script and it seemed like the head rotated through the support.

Signed-off-by: Carlos Aguero <[email protected]>

Signed-off-by: Nate Koenig <[email protected]>

nkoenig · 2020-06-19T21:01:20Z

I'm merging this PR into the cave_feature_release3 branch. This robot will be available when the feature release branch is merged into master.

* Submitted models/robotika kloubak sensor config 1 (#381) * Model submission for Kloubak sensor configuration 1 from Robotika * Kloubak URDF ver0 * Robotika Kloubak URDF ver1 * Robotika Kloubak - scale material parameters to 0..1 * Kloubak specification.md ver0 * Robotika Kloubak - update specification.md * Robotika Kloubak - fix also urdf/model.xacro (range 0..1) * Branch for pull request #431 * Robotika Kloubak K2 - fixes (lidar, odometry, battery power_load, ...) * Adjustment to route front and rear DiffDrive odometry to the appropriate topics. * Robotika Kloubak K2 - update specification * Robotika Kloubak K2 - update specification2 * Robotika Kloubak K2 - update specification3 * Update specifications.md with magnetometer and added optical frame publishers Signed-off-by: Nate Koenig <[email protected]> * Updating tf Signed-off-by: Nate Koenig <[email protected]> * Fix spawning Signed-off-by: Nate Koenig <[email protected]> * Updated to use photogrammetry meshes Signed-off-by: Nate Koenig <[email protected]> * Download model Signed-off-by: Nate Koenig <[email protected]> * 60 minutes of charge Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: md <devnull@localhost> Co-authored-by: Martin Dlouhy <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Arthur Schang <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Model submission for Freyja sensor configuration 1 from Robotika (#382) * Model submission for Freyja sensor configuration 1 from Robotika * Model submission for Freyja sensor configuration 1 from Robotika (FIXUP specification.md) * Update info about Freyja communication (LoRa) * Freyja - fix camera center * Robotika Freyja - fix filename model.urdf * Robotika Freyja - fix materials to be in parameters in range 0..1 * Robotika Freyja - fix mount parts of the wheel * Branch for pull request #423 * Virtual Freyja fixes * Virtual Freyja - fix power_load to reflect much longer durability * Adjustment of battery life to 240 minutes. * update model to use tf2 static pose messages, and added a better xacro file Signed-off-by: Nate Koenig <[email protected]> * spacing Signed-off-by: Nate Koenig <[email protected]> * Download model Signed-off-by: Nate Koenig <[email protected]> * Updated thumbnails and battery life Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: md <devnull@localhost> Co-authored-by: Martin Dlouhy <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Arthur Schang <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Model submission for QAV500 sensor configuration 1 by Marble (#385) * creating qav500 branch * working on qav500 * working on qav500. I need to remember to commit during the day * Commented out bridge logger * One functioning pico flexx camera pointing up * added bottom tof * modified position of downward tof camera * Added xacro file and modified description. Modified model.sdf to remove local links to URI * modified descriptions in model.config and package.xml * Added point clouds to tof cameras * Modified files to load properly in rviz. Added description on package * Remove husky folder * Update IMU to reflect terms for Microstrain 3DM-GX5-15 * Started editing the specs and package.xml * Adding specifications file * updated price in spec file * Small update to specs to add Intel Nuc * modified inertia of vehicle * Added light, needs fix * modifying motor paramters * Reverted to original motor parameters * Reverted motor parameters. Fixed ghost drone * Branch for pull request #428 * Removed scientific notation in model.sdf IMU settings * updated ouster lidar model * Reduce the resolution of the rgbd camera on the qav500 to help the simulator go a little faster. * Fix the wideness of the light to mirror that on the ground vehicles * Edited the velocity controller for the qav500 so that it holds yaw better and has a little more umph to it. * fixed issue with tof point clouds not publishing * updated to be compatible with latest OSRF changes * Updated from OS1 gen 2 to OS1 gen 1 * marble_qav500 updated lidar rate from 15 to 20 to reflect actual sensor configuration * updated IMU to X1 model * Model maximum linear velocity limited to 4m/s and battery life is limited to 10 minutes until validation data is provided. * Readjusted OS1-64 to align with specification sheet for vertical FoV (+-22.5 degrees). * Revert "Readjusted OS1-64 to align with specification sheet for vertical FoV (+-22.5 degrees)." This reverts commit e7e26b5. OS1-64 generation 1 is actually +-16.6 degrees. * clarifications to specifications.md * added optical frame publisher * added bridge_logger back in * Model pr 428 -Improved UAV drift && Updated camera topic names (#467) * making qav500 fly better * renamed certain qav500 camera topics * tweaking max velocities and accels Co-authored-by: Derek Vasquez <[email protected]> Co-authored-by: Derek Vasquez <[email protected]> * reset model's max linear velocity to 4m/s * Updated model, thumbnails, and added to download scipt Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: derekvasquez <devnull@localhost> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: hector_escobar <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: bfotheri <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Arthur Schang <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Derek Vasquez <[email protected]> Co-authored-by: Derek Vasquez <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Model submission for CERBERUS ANYmal sensor configuration 1 from RSL-ETH Zurich (#383) * Model submission for CERBERUS ANYmal sensor configuration 1 from RSL-ETH Zurich. * update readme * Branch for pull request #434 * add new plugin and adjusted launch files * remove old laser * cleanup files for renaming * renaming * rename and adjust plugin package * update REDME * add gas sensor, enable battery plugin * change camera parameters * add noise, fix camera pose * recompile plugin * reduce noise std dev * change parameter name * adjust realsense position * Corrected adjusted power_load to set battery life to 70 minutes. * Use `<spawn>` instead of `<plugin>` Signed-off-by: Addisu Z. Taddese <[email protected]> * Add static pose publisher Signed-off-by: Addisu Z. Taddese <[email protected]> * Add optical frame, rename downward_realsense/depth/image_raw to downward_realsense/depth The rename makes DepthCloud in Rviz work without any topic relays Signed-off-by: Addisu Z. Taddese <[email protected]> * Minor tweak Signed-off-by: Addisu Z. Taddese <[email protected]> * Minor tweaks and added to download script Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Marco Tranzatto <[email protected]> Co-authored-by: zsamuel <[email protected]> Co-authored-by: Angela Maio <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Arthur Schang <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Model Submission for Marble HD2 sensor configuration 1 (#387) * test commit * Close branch submitted_models/marble_husky_sensor_config_1. * Added files for husky. Name will need to be changed * creating hd2 branch * Downward facing facing is there * working on qav500 * Got all sensor positioned and represented visually up to the pan tilt tower. That comes next * Model sdf now has the gimbal pan, still unsure of how to control it though * Until the joints can be tested this is where the marble hsuky model will get * Got the joint state controller and publisher added in. Pan/Tilt can be controlled using ignition messages. * More works needs to be done on bridges to control gimbal, but commented out in progress work is available in vehicle_topics.launch for the marble husky * adding hd2. stl of tracked vehicle is in * We can now command the gimbal pan/tilt using ros topics as long as you use the modified version of ros_ign_bridge committed under pull request 64 * Rudimentary visuals done * Fixed the joint publisher. Topic shows up in ros as /<vehicle name>/joint_state. * hd2 model in. Working on sensors * Removing non-hd2 vehicles from this branch * Update sdf file, add test_gimbal script, add specifications.md file, and remove CU_MARBLE folder * Added the xacro file for rviz * added a file * Started over on sdf file by starting with husky file and just replacing the base_link model. Added specfications.md file (which needs to be updated). Add some missing mesh files. * Updated sensor description in package.xml * Got the pan/tilt and all vehicle topics working, I think. Need to go over all sensors and make sure they work. Also added scripts for echoing the current pan and tilt angles * Added urdf file (xacro) for rviz * Updated the IMU model to match the specs from datasheet for Microstrain 3DM-GX5-25 used in Marble ground vehicles * Updated IMU model to Microstrain 3DM-GX5-25 as in HD2. Added link to datasheet for IMU in specifications.md file * Add pan and tilt echoing scripts * Updated and completed specifications.md file for husky * Put in four wheels and modified the differential drive system * Updated package.xml, specifications.md, and added Build instructions for ros_ign_bridge * Couple of edits to description files. * added tracks. modified sensor placement * Updated the xacro * Update cost info in specs. * Update cost info * Fixed 3d Lidar obstructions * Get rid of garbage file... * Fixed position of lidar and plate sensor * Fixed urdf and xacro * Updated xacro/urdf file * Fixing inertia gimbal problems * Fixing gimbal inertia * Fixing gimbal inertia, using rod inertia formulas * Fixing gimbal inertia, using rod inertia formulas, and correct tabbing * Updated intertias using rod formulas * Branch for pull request #427 * Branch for pull request #426 * Fix scientific notation in husky model.sdf file * Removed scientific notation in model.sdf file IMU settings * reduce the resolution of the husky cameras. At 720p, everything is really slow * Updated ouster lidar sensor model * Updated ouster lidar model * Reduce resolution of cameras on hd2 to 640x480 to help simulation work smoother. * Changed the forward and downward facing rgbd cameras to use a lower resolution (which matches the model for d435i cameras which have selectable resolutions). Also, updated the scaled focal length parameters for all cameras which were previously wrong. * Removed husky files from hd2 branch. These should be the other branch, not here. * Fix the parameters for the lights (mount angle and bean width) * updated to work on newest OSRF code * Updated from OS1 gen 2 to OS1 gen 1 * updated IMU to X1 model * Weight updated to be 75 lbs total * Corrected typo in model.sdf * Adjusted power_load to reduce battery life to 60 minutes. * Updated vehicle params based on PR feedback (depth topics, vel limits, uncommented logger (#463) * remove trailing chars Signed-off-by: Ian Chen <[email protected]> * Model pr 427 - Updated custom ign bridge build instructions as per request (#466) * Updated vehicle params based on PR feedback (depth topics, vel limits, uncommented logger * updated instructions for building ros ign bridge * force control for gimbal Signed-off-by: Ian Chen <[email protected]> * Updated mesh Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: bfotheri <[email protected]> Co-authored-by: derekvasquez <devnull@localhost> Co-authored-by: derek knowles <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: hector_escobar <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Arthur Schang <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Model submission for Husky sensor configuration 1 by Marble (#384) * test commit * Close branch submitted_models/marble_husky_sensor_config_1. * Added files for husky. Name will need to be changed * creating hd2 branch * Downward facing facing is there * working on qav500 * Got all sensor positioned and represented visually up to the pan tilt tower. That comes next * Model sdf now has the gimbal pan, still unsure of how to control it though * Until the joints can be tested this is where the marble hsuky model will get * Got the joint state controller and publisher added in. Pan/Tilt can be controlled using ignition messages. * More works needs to be done on bridges to control gimbal, but commented out in progress work is available in vehicle_topics.launch for the marble husky * adding hd2. stl of tracked vehicle is in * We can now command the gimbal pan/tilt using ros topics as long as you use the modified version of ros_ign_bridge committed under pull request 64 * Rudimentary visuals done * Fixed the joint publisher. Topic shows up in ros as /<vehicle name>/joint_state. * hd2 model in. Working on sensors * Removing non-hd2 vehicles from this branch * Update sdf file, add test_gimbal script, add specifications.md file, and remove CU_MARBLE folder * Added the xacro file for rviz * added a file * Started over on sdf file by starting with husky file and just replacing the base_link model. Added specfications.md file (which needs to be updated). Add some missing mesh files. * Updated sensor description in package.xml * Got the pan/tilt and all vehicle topics working, I think. Need to go over all sensors and make sure they work. Also added scripts for echoing the current pan and tilt angles * Added urdf file (xacro) for rviz * Updated the IMU model to match the specs from datasheet for Microstrain 3DM-GX5-25 used in Marble ground vehicles * Updated IMU model to Microstrain 3DM-GX5-25 as in HD2. Added link to datasheet for IMU in specifications.md file * Add pan and tilt echoing scripts * Updated and completed specifications.md file for husky * Put in four wheels and modified the differential drive system * Updated package.xml, specifications.md, and added Build instructions for ros_ign_bridge * Couple of edits to description files. * added tracks. modified sensor placement * Updated the xacro * Update cost info in specs. * Update cost info * Fixed 3d Lidar obstructions * Get rid of garbage file... * Fixed position of lidar and plate sensor * Fixed urdf and xacro * Updated xacro/urdf file * Fixing inertia gimbal problems * Fixing gimbal inertia * Fixing gimbal inertia, using rod inertia formulas * Fixing gimbal inertia, using rod inertia formulas, and correct tabbing * Updated intertias using rod formulas * Branch for pull request #427 * Branch for pull request #426 * Fix scientific notation in husky model.sdf file * Removed scientific notation in model.sdf file IMU settings * reduce the resolution of the husky cameras. At 720p, everything is really slow * Updated ouster lidar sensor model * Updated ouster lidar model * Reduce resolution of cameras on hd2 to 640x480 to help simulation work smoother. * Changed the forward and downward facing rgbd cameras to use a lower resolution (which matches the model for d435i cameras which have selectable resolutions). Also, updated the scaled focal length parameters for all cameras which were previously wrong. * Reduce resolution of forward and downward rgbd cameras to help simulator run faster. Also, fix the scaled focal lengths on all 3 rgbd cameras to match reality * Removing hd2 from husky branch. It shouldn't be here. * Fix the mount angle and sweep angle of the light, and fix the pose of the down-pointing camera (the pose seems to have been deleted at some point, so we are simply restoring it) * updated with master * changing from OS1 gen 2 to OS1 gen 1 * updated IMU to X1 model * Updated branch based on recommended PR changes (#464) * Made changes based on pull request comments * Update spawner.rb to fix negative accel limit * updated instructions for building ros ign bridge * Update spawner.rb Co-authored-by: Carlos Agüero <[email protected]> * Added to download script Signed-off-by: Nate Koenig <[email protected]> * Change pan/tilt joints to be controlled by force commands. Signed-off-by: Carlos Aguero <[email protected]> * Tweak gimbal limits Signed-off-by: Carlos Aguero <[email protected]> * Merged and added missing download Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: bfotheri <[email protected]> Co-authored-by: derekvasquez <devnull@localhost> Co-authored-by: derek knowles <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: hector_escobar <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Carlos Aguero <[email protected]> * Model submission for m100 sensor configuration 1 from CERBERUS. (#386) * Model submission for m100 sensor configuration 1 from CERBERUS. * Branch for pull request #432 * fix: + camera intrinsic + gas sensor + lidar vertical resolution * minor fix * another fix * Updates to m100 model submission (#470) * Remove .orig file Signed-off-by: Michael Carroll <[email protected]> * Add support for efficient pose publisher Signed-off-by: Michael Carroll <[email protected]> * Add optical frame publisher Signed-off-by: Michael Carroll <[email protected]> * Update spawner syntax Signed-off-by: Michael Carroll <[email protected]> Co-authored-by: pdepetris <[email protected]> Co-authored-by: tiralonghipol <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Added model to download Signed-off-by: Nate Koenig <[email protected]> * Setting max_velocities/accelerations for X1 and X2 (#453) * Setting max_velocities/accelerations for X1 and X2. Signed-off-by: Carlos Aguero <[email protected]> * Added to other launch files Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Carlos Aguero <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Robotika Kloubak model updates (#472) * Fixed the ign topic transport topic mapping for the front and rear odometry on the Robotika Kloubak model. * Adjusted camera placement to correct field of view. * Update Marble HD2 gimbal meshes and sensor pose (#471) * update marble hd2 meshes Signed-off-by: Ian Chen <[email protected]> * add some friction to pan joint Signed-off-by: Ian Chen <[email protected]> * Websocket (#474) * websockets Signed-off-by: Nate Koenig <[email protected]> * Working on websockets Signed-off-by: Nate Koenig <[email protected]> * Added SSL Signed-off-by: Nate Koenig <[email protected]> * Remove branch Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> * Update Marble And Kloubak models. (#473) * Updated specifications and added missing optical frames Signed-off-by: Nate Koenig <[email protected]> * Fix kloubak axle and wheel positions Signed-off-by: Nate Koenig <[email protected]> * New mesh with axel submesh Signed-off-by: Nate Koenig <[email protected]> * bridge tof camera info Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: md <devnull@localhost> Co-authored-by: Martin Dlouhy <[email protected]> Co-authored-by: acschang <[email protected]> Co-authored-by: Arthur Schang <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: hector_escobar <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: Neil Johnson <[email protected]> Co-authored-by: bfotheri <[email protected]> Co-authored-by: Ashton Larkin <[email protected]> Co-authored-by: Derek Vasquez <[email protected]> Co-authored-by: Derek Vasquez <[email protected]> Co-authored-by: Marco Tranzatto <[email protected]> Co-authored-by: zsamuel <[email protected]> Co-authored-by: Angela Maio <[email protected]> Co-authored-by: Addisu Z. Taddese <[email protected]> Co-authored-by: derek knowles <[email protected]> Co-authored-by: Ian Chen <[email protected]> Co-authored-by: Carlos Agüero <[email protected]> Co-authored-by: Carlos Aguero <[email protected]> Co-authored-by: pdepetris <[email protected]> Co-authored-by: tiralonghipol <[email protected]> Co-authored-by: Michael Carroll <[email protected]> Co-authored-by: Carlos Agüero <[email protected]>

bfotheri and others added 30 commits March 17, 2020 11:07

test commit

7a63579

Close branch submitted_models/marble_husky_sensor_config_1.

329de4c

Added files for husky. Name will need to be changed

030c799

trying to commit husky stuff

a192cfb

creating hd2 branch

5caea1e

Downward facing facing is there

3d3e31e

working on qav500

5aafe9e

Got all sensor positioned and represented visually up to the pan tilt…

890e3fa

… tower. That comes next

Model sdf now has the gimbal pan, still unsure of how to control it t…

db38616

…hough

Until the joints can be tested this is where the marble hsuky model w…

fc7865f

…ill get

Got the joint state controller and publisher added in. Pan/Tilt

2a60738

can be controlled using ignition messages.

More works needs to be done on bridges to control gimbal, but comment…

4da704e

…ed out in progress work is available in vehicle_topics.launch for the marble husky

adding hd2. stl of tracked vehicle is in

6fa2260

We can now command the gimbal pan/tilt using ros topics as long as yo…

875f505

…u use the modified version of ros_ign_bridge committed under pull request 64

Rudimentary visuals done

6dee0db

Merged Brett's changes with mine

8b1987f

Fixed the joint publisher. Topic shows up in ros as /<vehicle name>/j…

173d7fa

…oint_state.

hd2 model in. Working on sensors

e53d69e

Removing non-hd2 vehicles from this branch

5d518e0

Update sdf file, add test_gimbal script, add specifications.md file, …

25aac74

…and remove CU_MARBLE folder

Added the xacro file for rviz

04215ba

added a file

13cbf0f

Started over on sdf file by starting with husky file and just replaci…

0252f36

…ng the base_link model. Added specfications.md file (which needs to be updated). Add some missing mesh files.

How about now?? remerging!

79727f5

Updated sensor description in package.xml

e5ef73b

Got the pan/tilt and all vehicle topics working, I think. Need to go …

a2f9261

…over all sensors and make sure they work. Also added scripts for echoing the current pan and tilt angles

Added urdf file (xacro) for rviz

76ee296

Updated the IMU model to match the specs from datasheet for Microstra…

7ed1b24

…in 3DM-GX5-25 used in Marble ground vehicles

Updated IMU model to Microstrain 3DM-GX5-25 as in HD2. Added link to …

849d602

…datasheet for IMU in specifications.md file

Add pan and tilt echoing scripts

e5ef8d8

bfotheri added 3 commits June 3, 2020 10:59

Merge branch 'master' into model_pr_426

1d2062f

updated with master

bf85a41

changing from OS1 gen 2 to OS1 gen 1

fd9ad0c

bfotheri and others added 2 commits June 10, 2020 09:52

updated IMU to X1 model

37ef025

Merge pull request #456 from realdealneil/model_pr_426

656b10b

Model pr 426 Update

caguero suggested changes Jun 15, 2020

View reviewed changes

nkoenig changed the base branch from master to cave_feature_release3 June 15, 2020 15:00

Updated branch based on recommended PR changes (#464)

65acd3c

* Made changes based on pull request comments * Update spawner.rb to fix negative accel limit * updated instructions for building ros ign bridge * Update spawner.rb Co-authored-by: Carlos Agüero <[email protected]>

caguero approved these changes Jun 18, 2020

View reviewed changes

Merge branch 'cave_feature_release3' into model_pr_426

4e80116

Added to download script

252b726

Signed-off-by: Nate Koenig <[email protected]>

caguero added 2 commits June 19, 2020 01:51

Change pan/tilt joints to be controlled by force commands.

5facc3e

Signed-off-by: Carlos Aguero <[email protected]>

Tweak gimbal limits

c3a79f8

Signed-off-by: Carlos Aguero <[email protected]>

iche033 mentioned this pull request Jun 19, 2020

Model Submission for Marble HD2 sensor configuration 1 #387

Merged

Nate Koenig added 3 commits June 19, 2020 13:17

Merge branch 'cave_feature_release3' into model_pr_426

9d80031

Merged and added missing download

677a7fe

Signed-off-by: Nate Koenig <[email protected]>

Merge branch 'model_pr_426' of github.com:osrf/subt into model_pr_426

d89eadf

nkoenig merged commit 9070671 into cave_feature_release3 Jun 19, 2020

nkoenig deleted the model_pr_426 branch December 10, 2020 22:30

Model submission for Husky sensor configuration 1 by Marble #384

Model submission for Husky sensor configuration 1 by Marble #384

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