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Aug 25, 2020
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Spawner.rb syntax errors #570

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242548e
Fixed missing newlines in Robotika X2 sensor config 1 model spawner.
acschang Aug 24, 2020
769745f
Added/renamed missing model.xacro from robot_from_sdf.xacro for the E…
acschang Aug 24, 2020
e191a17
Updated robotika_x2_sensor_config_1 spawner.rb syntax.
acschang Aug 24, 2020
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201 changes: 201 additions & 0 deletions submitted_models/explorer_ds1_sensor_config_1/urdf/model.xacro
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<?xml version='1.0' encoding='utf-8'?>
<robot name="ds1" xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:arg name="name" default="ds1"/>
<xacro:property name="name" value="$(arg name)"/>

<link name='${name}/base_link'>
<inertial>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<mass value='1.5'/>
<inertia ixx='0.025' ixy='0' ixz='0' iyy='0.009' iyz='0' izz='0.033'/>
</inertial>
<collision name='base_link_inertia_collision'>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/DS1_COLLISION.STL' scale='1 1 1'/>
</geometry>
</collision>

<visual name='base_link_inertia_visual'>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/DS1.dae' scale='1 1 1'/>
</geometry>
</visual>
<!-- camera_visual -->
<visual name='rs_up_visual'>
<origin xyz='0.305 0 0.11' rpy='-1.57079632679 0 1.57079632679'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
</geometry>
</visual>
<visual name='rs_down_visual'>
<origin xyz='0.305 0 0.03' rpy='1.57079632679 0 1.57079632679'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
</geometry>
</visual>
<visual name='rs_front_visual'>
<origin xyz='0.325 0 0.07' rpy='0 -0 1.57079632679'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/realsense.dae' scale='1 1 1'/>
</geometry>
</visual>
<!-- Lidar visual -->
<visual name='laser_visual_base1'>
<origin xyz='0.18 0 0.19' rpy='0 -0 0'/>
<geometry>
<mesh filename="package://explorer_ds1_sensor_config_1/meshes/VLP16_base_1.dae" />
</geometry>
</visual>
<visual name='laser_visual_base2'>
<origin xyz='0.18 0 0.19' rpy='0 -0 0'/>
<geometry>
<mesh filename="package://explorer_ds1_sensor_config_1/meshes/VLP16_base_2.dae" />
</geometry>
</visual>
<visual name='laser_visual_scan'>
<origin xyz='0.18 0 0.19' rpy='0 -0 0'/>
<geometry>
<mesh filename="package://explorer_ds1_sensor_config_1/meshes/VLP16_scan.dae" />
</geometry>
</visual>
</link>

<sensor name='imu_sensor' update_rate='250'>
<parent link='${name}/base_link'/>
<origin xyz='0 0 0' rpy='0 -0 0'/>
</sensor>

<sensor name='air_pressure' update_rate='20'>
<parent link='${name}/base_link'/>
<origin xyz='0 0 0' rpy='0 -0 0'/>
</sensor>

<sensor name='magnetometer' update_rate='20'>
<parent link='${name}/base_link'/>
<origin xyz='0 0 0' rpy='0 -0 0'/>
</sensor>

<sensor name='rs_up' update_rate='20'>
<parent link='${name}/base_link'/>
<origin xyz='0.305 0 0.11' rpy='0 -1.57079632679 0'/>
<camera>
<image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
</camera>
</sensor>

<sensor name='rs_down' update_rate='20'>
<parent link='${name}/base_link'/>
<origin xyz='0.305 0 0.03' rpy='0 1.57079632679 0'/>
<camera>
<image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
</camera>
</sensor>

<sensor name='rs_front' update_rate='20'>
<parent link='${name}/base_link'/>
<origin xyz='0.325 0 0.07' rpy='0 -0 0'/>
<camera>
<image width='640' height='480' format='R8G8B8' hfov='1.0472' near='0.01' far='300' />
</camera>
</sensor>

<sensor name='front_laser' update_rate='15'>
<parent link='${name}/base_link'/>
<origin xyz='0.18 0 0.284' rpy='0 -0 0'/>
</sensor>

<link name='${name}/rotor_0'>
<inertial>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<mass value='0.005'/>
<inertia ixx='9.75e-07' ixy='0' ixz='0' iyy='4.17041e-05' iyz='0' izz='4.26041e-05'/>
</inertial>
<visual name='rotor_0_visual'>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/propeller_ccw.dae' scale='0.12 0.12 0.12'/>
</geometry>
</visual>
</link>

<link name='${name}/rotor_1'>
<inertial>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<mass value='0.005'/>
<inertia ixx='9.75e-07' ixy='0' ixz='0' iyy='4.17041e-05' iyz='0' izz='4.26041e-05'/>
</inertial>
<visual name='rotor_1_visual'>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/propeller_ccw.dae' scale='0.12 0.12 0.12'/>
</geometry>
</visual>
</link>

<link name='${name}/rotor_2'>
<inertial>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<mass value='0.005'/>
<inertia ixx='9.75e-07' ixy='0' ixz='0' iyy='4.17041e-05' iyz='0' izz='4.26041e-05'/>
</inertial>
<visual name='rotor_2_visual'>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/propeller_cw.dae' scale='0.12 0.12 0.12'/>
</geometry>
</visual>
</link>

<link name='${name}/rotor_3'>
<inertial>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<mass value='0.005'/>
<inertia ixx='9.75e-07' ixy='0' ixz='0' iyy='4.17041e-05' iyz='0' izz='4.26041e-05'/>
</inertial>
<visual name='rotor_3_visual'>
<origin xyz='0 0 0' rpy='0 -0 0'/>
<geometry>
<mesh filename='package://explorer_ds1_sensor_config_1/meshes/propeller_cw.dae' scale='0.12 0.12 0.12'/>
</geometry>
</visual>
</link>

<joint name='rotor_0_joint' type='revolute'>
<origin xyz='0.1644 -0.166 0.023' rpy='0 -0 0'/>
<parent link='${name}/base_link'/>
<child link='${name}/rotor_0'/>
<dynamics damping='0' friction='0' />
<axis xyz='0 0 1'/>
<limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
</joint>

<joint name='rotor_1_joint' type='revolute'>
<origin xyz='-0.16443 0.1661 0.023' rpy='0 -0 0'/>
<parent link='${name}/base_link'/>
<child link='${name}/rotor_1'/>
<dynamics damping='0' friction='0' />
<axis xyz='0 0 1'/>
<limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
</joint>

<joint name='rotor_2_joint' type='revolute'>
<origin xyz='0.16443 0.1661 0.023' rpy='0 -0 0'/>
<parent link='${name}/base_link'/>
<child link='${name}/rotor_2'/>
<dynamics damping='0' friction='0' />
<axis xyz='0 0 1'/>
<limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
</joint>

<joint name='rotor_3_joint' type='revolute'>
<origin xyz='-0.16443 -0.1661 0.023' rpy='0 -0 0'/>
<parent link='${name}/base_link'/>
<child link='${name}/rotor_3'/>
<dynamics damping='0' friction='0' />
<axis xyz='0 0 1'/>
<limit lower='-1e+16' upper='1e+16' effort='-1' velocity='-1'/>
</joint>
</robot>
124 changes: 63 additions & 61 deletions submitted_models/robotika_x2_sensor_config_1/launch/spawner.rb
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def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
"<spawn name=\"#{_name}\">\n"\
" <name>#{_name}</name>\n"\
" <allow_renaming>false</allow_renaming>\n"\
" <pose>#{_x} #{_y} #{_z+0.063494} #{_roll} #{_pitch} #{_yaw}</pose>\n"\
" <world>#{$worldName}</world>\n"\
" <is_performer>true</is_performer>\n"\
" <sdf version='1.6'>\n"\
" <include>\n"\
" <name>#{_name}</name>\n"\
" <uri>#{_modelURI}</uri>\n"\
" <!-- Diff drive -->\n"\
" <plugin filename=\"libignition-gazebo-diff-drive-system.so\"\n"\
" name=\"ignition::gazebo::systems::DiffDrive\">\n"\
" <left_joint>front_left_wheel_joint</left_joint>\n"\
" <left_joint>rear_left_wheel_joint</left_joint>\n"\
" <right_joint>front_right_wheel_joint</right_joint>\n"\
" <right_joint>rear_right_wheel_joint</right_joint>\n"\
" <wheel_separation>#{0.33559 * 1.23}</wheel_separation>\n"\
" <wheel_radius>0.098</wheel_radius>\n"\
" <topic>/model/#{_name}/cmd_vel_relay</topic>\n"\
" <min_velocity>-2</min_velocity>
" <max_velocity>2</max_velocity>
" <min_acceleration>-6</min_acceleration>
" <max_acceleration>6</max_acceleration>
" </plugin>\n"\
" <!-- Publish robot state information -->\n"\
" <plugin filename=\"libignition-gazebo-pose-publisher-system.so\"\n"\
" name=\"ignition::gazebo::systems::PosePublisher\">\n"\
" <publish_link_pose>true</publish_link_pose>\n"\
" <publish_sensor_pose>true</publish_sensor_pose>\n"\
" <publish_collision_pose>false</publish_collision_pose>\n"\
" <publish_visual_pose>false</publish_visual_pose>\n"\
" <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>\n"\
" <use_pose_vector_msg>true</use_pose_vector_msg>\n"\
" <static_publisher>true</static_publisher>\n"\
" <static_update_frequency>1</static_update_frequency>\n"\
" </plugin>\n"\
" <!-- Battery plugin -->\n"\
" <plugin filename=\"libignition-gazebo-linearbatteryplugin-system.so\"\n"\
" name=\"ignition::gazebo::systems::LinearBatteryPlugin\">\n"\
" <battery_name>linear_battery</battery_name>\n"\
" <voltage>12.694</voltage>\n"\
" <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>\n"\
" <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>\n"\
" <initial_charge>78.4</initial_charge>\n"\
" <capacity>78.4</capacity>\n"\
" <resistance>0.061523</resistance>\n"\
" <smooth_current_tau>1.9499</smooth_current_tau>\n"\
" <power_load>6.6</power_load>\n"\
" <start_on_motion>true</start_on_motion>\n"\
" </plugin>\n"\
" <!-- Gas Sensor plugin -->\n"\
" <plugin filename=\"libGasEmitterDetectorPlugin.so\"\n"\
" name=\"subt::GasDetector\">\n"\
" <topic>/model/#{_name}/gas_detected</topic>\n"\
" <update_rate>10</update_rate>\n"\
" <type>gas</type>\n"\
" </plugin>\n"\
" </include>\n"\
" </sdf>\n"\
"</spawn>\n"\
<<-HEREDOC
<spawn name='#{_name}'>
<name>#{_name}</name>
<allow_renaming>false</allow_renaming>
<pose>#{_x} #{_y} #{_z+0.063494} #{_roll} #{_pitch} #{_yaw}</pose>
<world>#{_worldName}</world>
<is_performer>true</is_performer>
<sdf version='1.6'>
<include>
<name>#{_name}</name>
<uri>#{_modelURI}</uri>
<!-- Diff drive -->
<plugin filename="libignition-gazebo-diff-drive-system.so"
name="ignition::gazebo::systems::DiffDrive">
<left_joint>front_left_wheel_joint</left_joint>
<left_joint>rear_left_wheel_joint</left_joint>
<right_joint>front_right_wheel_joint</right_joint>
<right_joint>rear_right_wheel_joint</right_joint>
<wheel_separation>#{0.33559 * 1.23}</wheel_separation>
<wheel_radius>0.098</wheel_radius>
<topic>/model/#{_name}/cmd_vel_relay</topic>
<min_velocity>-2</min_velocity>
<max_velocity>2</max_velocity>
<min_acceleration>-6</min_acceleration>
<max_acceleration>6</max_acceleration>
</plugin>
<!-- Publish robot state information -->
<plugin filename="libignition-gazebo-pose-publisher-system.so"
name="ignition::gazebo::systems::PosePublisher">
<publish_link_pose>true</publish_link_pose>
<publish_sensor_pose>true</publish_sensor_pose>
<publish_collision_pose>false</publish_collision_pose>
<publish_visual_pose>false</publish_visual_pose>
<publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
<use_pose_vector_msg>true</use_pose_vector_msg>
<static_publisher>true</static_publisher>
<static_update_frequency>1</static_update_frequency>
</plugin>
<!-- Battery plugin -->
<plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
name="ignition::gazebo::systems::LinearBatteryPlugin">
<battery_name>linear_battery</battery_name>
<voltage>12.694</voltage>
<open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
<open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
<initial_charge>78.4</initial_charge>
<capacity>78.4</capacity>
<resistance>0.061523</resistance>
<smooth_current_tau>1.9499</smooth_current_tau>
<power_load>6.6</power_load>
<start_on_motion>true</start_on_motion>
</plugin>
<!-- Gas Sensor plugin -->
<plugin filename="libGasEmitterDetectorPlugin.so"
name="subt::GasDetector">
<topic>/model/#{_name}/gas_detected</topic>
<update_rate>10</update_rate>
<type>gas</type>
</plugin>
</include>
</sdf>
</spawn>
HEREDOC
end

def rosExecutables(_name, _worldName)
Expand Down