Adding new world

Added world and models Big changes,added launch file, apriltag on create robot, erased to cameras, cleaned the world file Changed the apriltags and camera plugin fixup! Adding new world Change apriltags for improve the visualization Added in launch file apriltag and tf_state nodes
RoboticaUtnFrba · Oct 28, 2019 · 9c0df02 · 9c0df02
1 parent 3c5e68f
commit 9c0df02
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diff --git a/ca_description/urdf/create_apriltag.xacro b/ca_description/urdf/create_apriltag.xacro
@@ -0,0 +1,37 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+<xacro:macro name="create_apriltag" params="parent *origin">
+ <joint name="apriltag_joint" type="fixed">
+    <xacro:insert_block name='origin' />
+    <parent link="${parent}" />
+    <child link="apriltag_link" />
+  </joint>
+
+  <link name="apriltag_link">
+    <visual>
+        <geometry>
+  	       <box size="0.5 0.5 0.01"/>
+        </geometry>            
+      </visual>
+  </link> 
+
+  <gazebo reference="apriltag_link">
+    <visual>
+      <material>
+        <script>
+          <uri>model://camera_world/apriltag3/materials/scripts/textures.material</uri>
+          <uri>model://camera_world/apriltag3/materials/textures/apriltag3.png</uri>
+          <name>apriltag3</name>
+        </script>-
+        <ambient>1 1 1 1</ambient>
+        <diffuse>1 1 1 1</diffuse>
+        <specular>1 1 1 1</specular>
+        <emissive>1 1 1 1</emissive>
+      </material>
+    </visual>
+  </gazebo>
+
+</xacro:macro>  
+
+</robot>
diff --git a/ca_description/urdf/create_base.xacro b/ca_description/urdf/create_base.xacro
@@ -9,6 +9,7 @@
     <xacro:include filename="$(find ca_description)/urdf/sensors/imu_sensor.xacro"/>
     <xacro:include filename="$(find ca_description)/urdf/sensors/wall_sensor.xacro"/>
     <xacro:include filename="$(find ca_description)/urdf/sensors/cliff_sensors.xacro"/>
+    <xacro:include filename="$(find ca_description)/urdf/create_apriltag.xacro"/>
 
     <xacro:property name="base_link_offset_z" value="0.0308"/>
     <xacro:property name="base_offset_z" value="0.017"/>
@@ -50,6 +51,11 @@
       <origin xyz="0 -0.04 0.13" rpy="0 0 0"/>
     </xacro:imu_sensor>
 
+    <xacro:create_apriltag parent="base_link">
+      <origin xyz="0 0 0.25"  rpy="0 0 0"/>
+    </xacro:create_apriltag>
+
+
     <xacro:create_wheel prefix="left" y_offset="${wheel_separation / 2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
     <xacro:create_wheel prefix="right" y_offset="${wheel_separation / -2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
     <xacro:caster_wheel/>

diff --git a/ca_gazebo/launch/create_camera_world.launch b/ca_gazebo/launch/create_camera_world.launch
@@ -0,0 +1,19 @@
+<launch>
+  <param name="create1/amcl/initial_pose_x" value="0"/>
+  <param name="create1/amcl/initial_pose_y" value="4"/>
+  <param name="create1/amcl/initial_pose_a" value="0"/>
+
+  <include file="$(find ca_gazebo)/launch/create_empty_world.launch">
+    <arg name="env" value="camera_world"/>
+  </include>
+
+    <node pkg="tf" type="static_transform_publisher" name="camera_link_tf" args="0 4 15 0 3.1416 0 map camera_link 50" />
+
+  <include file="$(find apriltag_ros)/launch/continuous_detection.launch">
+    <arg name="camera_name" value="camera_world/camera1"/>
+    <arg name="camera_frame" value="camera_link"/>
+    <arg name="image_topic" value="apriltag_tracking_camera"/>
+  </include>
+
+</launch>
+
diff --git a/ca_gazebo/models/camera_world/apriltag1/materials/scripts/textures.material b/ca_gazebo/models/camera_world/apriltag1/materials/scripts/textures.material
@@ -0,0 +1,15 @@
+material apriltag1
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture apriltag1.png
+        scale 1 1
+      }
+    }
+  }
+}
+
diff --git a/ca_gazebo/models/camera_world/apriltag1/materials/textures/apriltag1.png b/ca_gazebo/models/camera_world/apriltag1/materials/textures/apriltag1.png
diff --git a/ca_gazebo/models/camera_world/apriltag1/model.config b/ca_gazebo/models/camera_world/apriltag1/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag1</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>[email protected]</email>
+    </author>
+    <description>SDF model for apriltag1</description>
+</model>
diff --git a/ca_gazebo/models/camera_world/apriltag1/model.sdf b/ca_gazebo/models/camera_world/apriltag1/model.sdf
@@ -0,0 +1,34 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='apriltag1'>
+  <static>1</static>
+    <link name="box">
+      <pose frame=''>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://camera_world/apriltag1/materials/scripts </uri>
+            <uri>model://camera_world/apriltag1/materials/textures </uri>
+            <name>apriltag1</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>1 1 1 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/ca_gazebo/models/camera_world/apriltag2/materials/scripts/textures.material b/ca_gazebo/models/camera_world/apriltag2/materials/scripts/textures.material
@@ -0,0 +1,15 @@
+material apriltag2
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture apriltag2.png
+        scale 1 1
+      }
+    }
+  }
+}
+
diff --git a/ca_gazebo/models/camera_world/apriltag2/materials/textures/apriltag2.png b/ca_gazebo/models/camera_world/apriltag2/materials/textures/apriltag2.png
diff --git a/ca_gazebo/models/camera_world/apriltag2/model.config b/ca_gazebo/models/camera_world/apriltag2/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag2</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>[email protected]</email>
+    </author>
+    <description>SDF model for apriltag2</description>
+</model>
diff --git a/ca_gazebo/models/camera_world/apriltag2/model.sdf b/ca_gazebo/models/camera_world/apriltag2/model.sdf
@@ -0,0 +1,34 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='apriltag2'>
+  <static>1</static>
+    <link name="box">
+      <pose frame=''>0 0 0 0 0 0</pose>
+      <collision name="collision">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+      </collision>
+      <visual name="visual">
+        <geometry>
+          <box>
+            <size>0.5 0.5 0.01</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>model://camera_world/apriltag2/materials/scripts </uri>
+            <uri>model://camera_world/apriltag2/materials/textures </uri>
+            <name>apriltag2</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+          <diffuse>1 1 1 1</diffuse>
+          <specular>1 1 1 1</specular>
+          <emissive>1 1 1 1</emissive>
+        </material>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/ca_gazebo/models/camera_world/apriltag3/materials/scripts/textures.material b/ca_gazebo/models/camera_world/apriltag3/materials/scripts/textures.material
@@ -0,0 +1,15 @@
+material apriltag3
+{
+  technique
+  {
+    pass
+    {
+      texture_unit
+      {
+        texture apriltag3.png
+        scale 1 1
+      }
+    }
+  }
+}
+
diff --git a/ca_gazebo/models/camera_world/apriltag3/materials/textures/apriltag3.png b/ca_gazebo/models/camera_world/apriltag3/materials/textures/apriltag3.png
diff --git a/ca_gazebo/models/camera_world/apriltag3/model.config b/ca_gazebo/models/camera_world/apriltag3/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>apriltag3</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>[email protected]</email>
+    </author>
+    <description>SDF model for apriltag3</description>
+</model>
diff --git a/ca_gazebo/models/camera_world/camera/model.config b/ca_gazebo/models/camera_world/camera/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>camera</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>[email protected]</email>
+    </author>
+    <description>SDF model for camera</description>
+</model>
diff --git a/ca_gazebo/models/camera_world/camera/model.sdf b/ca_gazebo/models/camera_world/camera/model.sdf
@@ -0,0 +1,58 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='camera'>
+  <static>1</static>
+  <link name='camera_link'>
+    <visual name='visual'>
+      <geometry>
+        <box>
+          <size>0.1 0.1 0.1</size>
+        </box>
+      </geometry>
+    </visual>
+    <sensor type="camera" name="camera1">
+      <update_rate>30.0</update_rate>
+      <camera name="head">
+        <horizontal_fov>1.3962634</horizontal_fov>
+        <image>
+          <width>800</width>
+          <height>800</height>
+          <format>R8G8B8</format>
+        </image>
+        <clip>
+          <near>0.02</near>
+          <far>300</far>
+        </clip>
+        <noise>
+          <type>gaussian</type>
+          <mean>0.0</mean>
+          <stddev>0.007</stddev>
+        </noise>
+      </camera>
+      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+        <alwaysOn>true</alwaysOn>
+        <updateRate>60.0</updateRate>
+        <cameraName>camera_world/camera1</cameraName>
+        <imageTopicName>apriltag_tracking_camera</imageTopicName>
+        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+        <frameName>camera_link</frameName>
+        <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>
+  </link>
+
+  <joint name="camera_optical_joint" type="fixed">
+     <parent>camera_link</parent>
+     <child>camera_optical_frame</child>
+     <pose frame=''>0 0 0 0 1.57 0</pose>
+   </joint>
+
+  <link name="camera_optical_frame"/>
+
+  </model>
+</sdf>
diff --git a/ca_gazebo/models/camera_world/model.config b/ca_gazebo/models/camera_world/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>camera_world</name>
+  <version>1.0</version>
+  <sdf version="1.6">model.sdf</sdf>
+  <author>
+    <name></name>
+    <email></email>
+  </author>
+
+  <description>
+    Dummy config file to avoid a warning message
+  </description>
+</model>
+
diff --git a/ca_gazebo/models/camera_world/walls/model.config b/ca_gazebo/models/camera_world/walls/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>walls</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+    <author>
+        <name>Steven Desvars</name>
+        <email>[email protected]</email>
+    </author>
+    <description>Walls necessary to create an square room</description>
+</model>