Model submission for Absolem sensor configurations 3,4,5 by CTU-CRAS-Norlab

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/.gitignore

@@ -1 +1 @@
-nifti_robot.sdf.urdf
+model.sdf.urdf

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/CMakeLists.txt

@@ -21,9 +21,12 @@ install(TARGETS laser_rotate_plugin flipper_control_plugin
         LIBRARY DESTINATION lib
         RUNTIME DESTINATION bin)
 
-install(DIRECTORY launch meshes textures urdf
+install(DIRECTORY config launch meshes textures urdf worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 install(FILES model.sdf model.config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
+install(PROGRAMS scripts/print_robot_urdf scripts/yaml_to_xacro_args
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
+

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/common.yaml

@@ -0,0 +1,68 @@
+revision: 2014  # 2014 for TRADR robot, 2021 for upgraded robot
+
+big_collision_box_on_top: False
+big_collision_box_height: 0.5
+big_collision_box_width: 0.5
+big_collision_box_x: -0.1
+
+flipper_inflation_ratio: 1.0
+flipper_inward_enlargement: 0.0
+
+has_flipper_touch_sensors: False
+has_omnicam: True
+has_omnicam_sensor_mount: True
+has_omnicam_vras: False
+has_sick_lidar: True
+has_ouster_lidar: False
+has_mote_deployer: False
+
+num_cliff_sensors: 0
+
+has_rear_sensor_item: True
+rear_sensor_item_height: 0.35
+
+has_top_box: True
+top_box_j_x: 0.472
+
+has_jetson: True
+jetson_shift_x: 0.515
+jetson_shift_y: 0.17
+jetson_version: 2
+jetson_yaw: 0.0
+
+laser_pitch: 0.0
+
+has_mobilicom: True
+mobilicom_antenna_l_rotation: -0.5
+mobilicom_antenna_l_tilt: 1.0
+mobilicom_antenna_r_rotation: 0.0
+mobilicom_antenna_r_tilt: 1.5758
+mobilicom_antennas_length: 0.17
+mobilicom_has_antenna_box: 0
+mobilicom_is_lite: True
+mobilicom_parent_link: rear_sensor_item
+mobilicom_pitch: 4.0
+mobilicom_roll: 1.5758
+mobilicom_shift_x: 0.0
+mobilicom_shift_y: 0.01
+mobilicom_shift_z: 0.2
+mobilicom_yaw: 3.14152
+
+ptuxthermo_x_offset: 0.2
+ptuxthermo_y_offset: 0.18
+
+has_new_realsense: False
+has_realsense: False
+has_realsense_d435: True
+realsense_holder_version: 5
+realsense_parent_link: omnicam_sensor_mount
+realsense_roll: 0.0
+realsense_shift_x: 0.0
+realsense_shift_y: 0.0
+realsense_shift_z: 0.0
+realsense_tilt: -1.15
+realsense_upside_down: False
+realsense_yaw: 0.62831853
+
+has_realsense_t265: False
+t265_parent_link: rear_sensor_item

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/sdf.yaml

@@ -0,0 +1,11 @@
+rendering_target: sdf
+
+has_differential: False
+
+realsense_width: 640
+realsense_tf_from_urdf: True
+
+simulate_sick_lidar: True
+simulate_omnicam: True
+simulate_imu: True
+simulate_realsense_d435: True

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/teleop_config.yaml

@@ -0,0 +1,4 @@
+scale_angular: 0.3
+scale_angular_turbo: 0.5
+scale_front_flippers: 1.0
+scale_rear_flippers: 1.0

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/config/urdf.yaml

@@ -0,0 +1,8 @@
+rendering_target: urdf
+
+big_collision_box_on_top: True
+
+flipper_inflation_ratio: 1.3
+flipper_inward_enlargement: 0.037
+
+mobilicom_has_antenna_box: True

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/common.rb

@@ -0,0 +1,138 @@
+def _spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF, _max_velocity=0.4, _max_acceleration=3)
+  numTrackWheels = 8
+  numFlipperWheels = 5
+
+  tracks = ["left", "right"]
+  flippers = ["front_left", "front_right", "rear_left", "rear_right"]
+
+  flippersOfTrack = Hash.new
+  flippersOfTrack["left"] = ["front_left", "rear_left"]
+  flippersOfTrack["right"] = ["front_right", "rear_right"]
+
+  # configuration of diffdrive
+  wheelSeparation = 0.397
+  wheelRadiuses = [0.089, 0.074, 0.059, 0.044, 0.029]
+
+  # configuration of wheel slip
+  slipCompliance = 0.0485
+  wheelNormalForce = 10.545
+
+  diffdriveJoints = []
+  for i in 0...numFlipperWheels
+    diffdriveJoints[i] = ""
+  end
+  wheelSlip = ""
+
+  for track in tracks
+    for wheel in 1..numTrackWheels
+      diffdriveJoints[0] += "<#{track}_joint>#{track}_track_wheel#{wheel}_j</#{track}_joint>\n"
+      wheelSlip += <<-HEREDOC
+        <wheel link_name="#{track}_track_wheel#{wheel}">
+          <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
+          <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+          <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
+          <wheel_radius>#{wheelRadiuses[0]}</wheel_radius>
+        </wheel>
+      HEREDOC
+    end
+    for flipper in flippersOfTrack[track]
+      for wheel in 1..numFlipperWheels
+        diffdriveJoints[wheel-1] += "<#{track}_joint>#{flipper}_flipper_wheel#{wheel}_j</#{track}_joint>\n"
+        wheelSlip += <<-HEREDOC
+          <wheel link_name="#{flipper}_flipper_wheel#{wheel}">
+            <slip_compliance_lateral>#{slipCompliance}</slip_compliance_lateral>
+            <slip_compliance_longitudinal>0</slip_compliance_longitudinal>
+            <wheel_normal_force>#{wheelNormalForce}</wheel_normal_force>
+            <wheel_radius>#{wheelRadiuses[wheel-1]}</wheel_radius>
+          </wheel>
+        HEREDOC
+      end
+    end
+  end
+
+  diffDrive = ""
+  for wheel in 0...numFlipperWheels
+    # we only want odometry from the first diffdrive
+    no_odom = ""
+    if wheel > 0
+      no_odom = "<odom_topic>unused_odom</odom_topic>\n"
+    end
+    diffDrive += <<-HEREDOC
+      <plugin filename="ignition-gazebo-diff-drive-system" name="ignition::gazebo::systems::DiffDrive">
+        #{diffdriveJoints[wheel]}
+        <wheel_separation>#{wheelSeparation}</wheel_separation>
+        <wheel_radius>#{wheelRadiuses[wheel]}</wheel_radius>
+        <topic>/model/#{_name}/cmd_vel_relay</topic>
+        <min_velocity>-#{_max_velocity}</min_velocity>
+        <max_velocity>#{_max_velocity}</max_velocity>
+        <min_acceleration>-#{_max_acceleration}</min_acceleration>
+        <max_acceleration>#{_max_acceleration}</max_acceleration>
+        #{no_odom}
+      </plugin>
+    HEREDOC
+  end
+
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.2} #{_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 -->
+      #{diffDrive}
+      <!-- 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>4.95</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>
+      <!-- Wheel slip -->
+      <plugin filename="ignition-gazebo-wheel-slip-system" name="ignition::gazebo::systems::WheelSlip">
+        #{wheelSlip}
+      </plugin>
+      #{_additionalSDF}
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def _rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/description.launch

@@ -1,6 +1,8 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="name" doc="Name of Vehicle"/>
-  <param name="$(arg name)/robot_description" command="$(find xacro)/xacro '$(find ctu_cras_norlab_absolem_sensor_config_1)/urdf/nifti_robot.xacro' render_target:=urdf name:=$(arg name) big_collision_box_height:=0.5 big_collision_box_on_top:=1 big_collision_box_width:=0.5 big_collision_box_x:=-0.1 flipper_inflation_ratio:=1.3 flipper_inward_enlargement:=0.037 has_flipper_touch_sensors:=0 has_jetson:=1 has_mobilicom:=1 has_new_realsense:=0 has_omnicam:=1 has_omnicam_sensor_mount:=1 has_realsense:=0 has_realsense_d435:=1 has_realsense_t265:=0 has_rear_sensor_item:=1 has_top_box:=1 jetson_shift_x:=0.515 jetson_shift_y:=0.17 jetson_version:=2 jetson_yaw:=0.0 laser_pitch:=0.0 mobilicom_antenna_l_rotation:=-0.5 mobilicom_antenna_l_tilt:=1.0 mobilicom_antenna_r_rotation:=0.0 mobilicom_antenna_r_tilt:=1.5758 mobilicom_antennas_length:=0.17 mobilicom_has_antenna_box:=0 mobilicom_is_lite:=1 mobilicom_parent_link:=rear_sensor_item mobilicom_pitch:=4.0 mobilicom_roll:=1.5758 mobilicom_shift_x:=0.0 mobilicom_shift_y:=0.01 mobilicom_shift_z:=0.2 mobilicom_yaw:=3.14152 ptuxthermo_x_offset:=0.2 ptuxthermo_y_offset:=0.18 realsense_holder_version:=5 realsense_parent_link:=omnicam_sensor_mount realsense_roll:=0.0 realsense_shift_x:=0.0 realsense_shift_y:=0.0 realsense_shift_z:=0.0 realsense_tilt:=-1.15 realsense_upside_down:=0 realsense_yaw:=0.62831853 t265_parent_link:=rear_sensor_item top_box_j_x:=0.472"/>
+  <arg name="print_command" default="$(dirname)/../scripts/print_robot_urdf" />
+
+  <param name="$(arg name)/robot_description" command="$(arg print_command) name:=$(arg name)" />
 </launch>
 

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/example.ign

@@ -7,7 +7,8 @@
 
 <%
   #require_relative 'spawner'
-  load File.join(File.dirname(__FILE__), "spawner.rb")
+  _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
+  load File.join(_base_dir, "launch", "spawner.rb")
 
   # Modify these as needed
   $enableGroundTruth = true
@@ -21,7 +22,7 @@
   end
 
   # This assumes that this launch file is in a directory below the model
-  modelURI = File.expand_path("../", File.dirname(__FILE__))
+  modelURI = File.expand_path(_base_dir, File.dirname(__FILE__))
   $worldName = 'example'
   worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
 
@@ -39,9 +40,17 @@
 
   <!-- Start ROS first. This is a bit hacky for now. -->
   <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+<% if local_variables.include?(:ros) and ros %>
   <executable name='ros'>
     <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
   </executable>
+<% end %>
+
+<% if local_variables.include?(:teleop) and teleop %>
+  <executable name='teleop'>
+    <command>roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 teleop.launch</command>
+  </executable>
+<% end %>
 
   <plugin name="ignition::launch::GazeboServer"
           filename="libignition-launch-gazebo.so">
@@ -171,7 +180,10 @@
         filename="libignition-launch-gazebo-factory.so">
 <%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0) %>
 </plugin>
-<%= rosExecutables(robotName, $worldName) %>
+
+<% if local_variables.include?(:ros) and ros %>
+  <%= rosExecutables(robotName, $worldName) %>
+<% end %>
 
 </ignition>
 

submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/flipper_control.launch

@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="robot_name"/>
+  <arg name="joint_prefix"/>
+
+  <arg name="joint_namespace" value="/model/$(arg robot_name)/joint/$(arg joint_prefix)_flipper_j"/>
+
+  <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+    name="ros_ign_bridge_$(arg joint_prefix)_flipper"
+    args="$(arg joint_namespace)/cmd_vel@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_namespace)/cmd_vel" to="flippers_cmd_vel/$(arg joint_prefix)"/>
+  </node>
+  <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+    name="ros_ign_bridge_$(arg joint_prefix)_flipper_pos"
+    args="$(arg joint_namespace)/cmd_pos@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_namespace)/cmd_pos" to="flippers_cmd_pos/$(arg joint_prefix)"/>
+  </node>
+  <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+    name="ros_ign_bridge_front_$(arg joint_prefix)_pos_rel"
+    args="$(arg joint_namespace)/cmd_pos_rel@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_namespace)/cmd_pos_rel" to="flippers_cmd_pos_rel/$(arg joint_prefix)"/>
+  </node>
+  <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+    name="ros_ign_bridge_$(arg joint_prefix)_flipper_torque"
+    args="$(arg joint_namespace)/cmd_max_torque@std_msgs/Float64]ignition.msgs.Double">
+    <remap from="$(arg joint_namespace)/cmd_max_torque" to="flippers_cmd_max_torque/$(arg joint_prefix)"/>
+  </node>
+</launch>