diff --git a/cadre_demo/CAD_and_Blender_files/CADRE_body.SLDPRT b/cadre_demo/CAD_and_Blender_files/CADRE_body.SLDPRT new file mode 100644 index 0000000..1b32eb2 Binary files /dev/null and b/cadre_demo/CAD_and_Blender_files/CADRE_body.SLDPRT differ diff --git a/cadre_demo/CAD_and_Blender_files/CADRE_screw.SLDPRT b/cadre_demo/CAD_and_Blender_files/CADRE_screw.SLDPRT new file mode 100644 index 0000000..d700062 Binary files /dev/null and b/cadre_demo/CAD_and_Blender_files/CADRE_screw.SLDPRT differ diff --git a/cadre_demo/CAD_and_Blender_files/CADRE_solar.SLDPRT b/cadre_demo/CAD_and_Blender_files/CADRE_solar.SLDPRT new file mode 100644 index 0000000..68c14cf Binary files /dev/null and b/cadre_demo/CAD_and_Blender_files/CADRE_solar.SLDPRT differ diff --git a/cadre_demo/CAD_and_Blender_files/CADRE_wheels.SLDPRT b/cadre_demo/CAD_and_Blender_files/CADRE_wheels.SLDPRT new file mode 100644 index 0000000..f82ec1b Binary files /dev/null and b/cadre_demo/CAD_and_Blender_files/CADRE_wheels.SLDPRT differ diff --git a/cadre_demo/CAD_and_Blender_files/Lunar lander.blend b/cadre_demo/CAD_and_Blender_files/Lunar lander.blend new file mode 100644 index 0000000..78d7c52 Binary files /dev/null and b/cadre_demo/CAD_and_Blender_files/Lunar lander.blend differ diff --git a/cadre_demo/CAD_and_Blender_files/lunar_surface.blend b/cadre_demo/CAD_and_Blender_files/lunar_surface.blend new file mode 100644 index 0000000..ba0d2c1 Binary files /dev/null and b/cadre_demo/CAD_and_Blender_files/lunar_surface.blend differ diff --git a/cadre_demo/Dockerfile b/cadre_demo/Dockerfile new file mode 100755 index 0000000..9a36af1 --- /dev/null +++ b/cadre_demo/Dockerfile @@ -0,0 +1,66 @@ +# Base image +FROM osrf/space-ros:latest + +# Switch to root user +USER root + +# Update and install base packages +RUN apt-get update && apt-get dist-upgrade -y +RUN apt-get install -y \ + build-essential \ + clang-format \ + cmake \ + git \ + libbullet-dev \ + python3-colcon-common-extensions \ + python3-flake8 \ + python3-pip \ + python3-pytest-cov \ + python3-rosdep \ + python3-setuptools \ + python3-vcstool \ + wget \ + # Install additional utilities + ros-humble-xacro \ + ros-humble-rviz2 \ + # Clean up to reduce image size + && apt-get clean \ + && rm -rf /var/lib/apt/lists/* + +# Install ROS 2 dependencies +RUN apt-get update && apt-get install -y \ + ros-humble-robot-state-publisher \ + ros-humble-gazebo-ros-pkgs \ + ros-humble-ament-lint-auto \ + ros-humble-ament-lint-common \ + ros-humble-ros2launch \ + && apt-get clean && rm -rf /var/lib/apt/lists/* + +# Install colcon extensions +RUN pip install colcon-common-extensions + +# Set the working directory +WORKDIR /app + +# Create the workspace directory for ROS 2 +RUN mkdir -p /root/cadre_demo/src + +# Copy project files into the workspace +COPY . /root/cadre_demo/src/ + +# Set environment variables +ENV ROS_WORKSPACE=/root/cadre_demo +ENV ROS_DISTRO=humble + +# Source ROS 2 setup script in the container environment +RUN echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc + +# Build the ROS 2 workspace +RUN bash -c "source /opt/ros/humble/setup.bash \ + && cd /root/cadre_demo \ + && rosdep update --rosdistro humble \ + && rosdep install --from-paths src --ignore-src -r -y \ + && colcon build --symlink-install" + +# Set entrypoint +ENTRYPOINT ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash && exec /root/cadre_demo/src/entrypoint.sh"] diff --git a/cadre_demo/LICENSE b/cadre_demo/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/cadre_demo/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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The simulation is developed using ROS 2 and is part of NASA's lunar exploration initiative for Spring 2026. + + ![CADRE](assets/Offical_image.png) + Image Credits: https://www.jpl.nasa.gov/missions/cadre + + + + + + +# The package consists of the following: + + +- **Lunar Landscape Design:** + +1. Created a realistic lunar environment using Blender, based on publicly available lunar images from NASA’s gallery (https://science.nasa.gov/gallery/moon-images/). +2. Configured world parameters such as gravity, atmosphere, and pressure using data from NASA’s planetary factsheet for gazebo (https://nssdc.gsfc.nasa.gov/planetary/factsheet/moonfact.html). + + ![CADRE](assets/Lunar.png) + +- **CAD Model Development:** + +1. Constructed the CAD model of the CADRE rover from scratch using images and information from NASA JPL’s website (https://www.jpl.nasa.gov/missions/cadre). +2. Implemented the model in SolidWorks and converted it to URDF format for use with ROS2 Humble. + + ![CADRE](assets/solidworks.png) + +- **Simulation and Integration:** +1. Integrated rover controls, IMU, LRF, and RGBD sensors for lunar mapping within the simulation. +2. Developed Python code to utilize point cloud data for mapping in relation to the Lander. + + + ![CADRE](assets/point_cloud.png) + +- **Teleoperation and Control:** +1. Created a Python GUI for teleoperation control of individual rovers, including camera visualization. +2. Set up ROS2 launch files to facilitate spawning multiple rovers as needed. + + + ![CADRE](assets/Gui_control.png) +- **Cross-Platform Compatibility:** +1. Tested the simulation on Windows Subsystem for Linux (WSL) and VMware Linux, ensuring compatibility for developers who wish to avoid dual boot or having access to a Linux environment. + +- **Open-sourced :** +1. Open-sourced SolidWorks CAD files and Blender files for additional changes. (https://github.com/Sanjay-j-p/demos/tree/main/CADRE_demo/CAD_and_Blender_files) + + + +# Future Work: + +- Implementing reinforcement learning for coordinated mapping and exploration in Gazebo. + +# Definition and description of the public API + + +The CADRE rover topics: +- /clicked_point +- /clock +- /goal_pose +- /initialpose +- /parameter_events +- /performance_metrics +- /robot_1/cmd_vel +- /robot_1/joint_states +- /robot_1/odom +- /robot_1/robot_1_camera/camera_info +- /robot_1/robot_1_camera/depth/camera_info +- /robot_1/robot_1_camera/depth/image_raw +- /robot_1/robot_1_camera/depth/image_raw/compressed +- /robot_1/robot_1_camera/depth/image_raw/compressedDepth +- /robot_1/robot_1_camera/depth/image_raw/theora +- /robot_1/robot_1_camera/image_raw +- /robot_1/robot_1_camera/image_raw/compressed +- /robot_1/robot_1_camera/image_raw/compressedDepth +- /robot_1/robot_1_camera/image_raw/theora +- /robot_1/robot_1_camera/points +- /robot_1_front/scan +- /robot_1_imu/data +- /robot_1_robot_description +- /robot_2/cmd_vel +- /robot_2/joint_states +- /robot_2/odom +- /robot_2/robot_2_camera/camera_info +- /robot_2/robot_2_camera/depth/camera_info +- /robot_2/robot_2_camera/depth/image_raw +- /robot_2/robot_2_camera/depth/image_raw/compressed +- /robot_2/robot_2_camera/depth/image_raw/compressedDepth +- /robot_2/robot_2_camera/depth/image_raw/theora +- /robot_2/robot_2_camera/image_raw +- /robot_2/robot_2_camera/image_raw/compressed +- /robot_2/robot_2_camera/image_raw/compressedDepth +- /robot_2/robot_2_camera/image_raw/theora +- /robot_2/robot_2_camera/points +- /robot_2_front/scan +- /robot_2_imu/data +- /robot_2_robot_description +- /robot_3/cmd_vel +- /robot_3/joint_states +- /robot_3/odom +- /robot_3/robot_3_camera/camera_info +- /robot_3/robot_3_camera/depth/camera_info +- /robot_3/robot_3_camera/depth/image_raw +- /robot_3/robot_3_camera/depth/image_raw/compressed +- /robot_3/robot_3_camera/depth/image_raw/compressedDepth +- /robot_3/robot_3_camera/depth/image_raw/theora +- /robot_3/robot_3_camera/image_raw +- /robot_3/robot_3_camera/image_raw/compressed +- /robot_3/robot_3_camera/image_raw/compressedDepth +- /robot_3/robot_3_camera/image_raw/theora +- /robot_3/robot_3_camera/points +- /robot_3_front/scan +- /robot_3_imu/data +- /robot_3_robot_description +- /rosout +- /tf +- /tf_static + + +More Rovers can be added by using the following modification main.launch.xml: + +'#' - numbers + +Spawn coordinates[ x_,y_z_,roll_,pitch_yaw_]- location of the new rover + +```xml + + + + + + + + + + +``` + +# How to build and install + +Follow these passages to build the docker image and start a docker container. + +1. Clone this repository, Go inside the directory to demos\CADRE_demo + +2. Run the build script +`````` +chmod +x build.sh +./build.sh +`````` + +3. Start the container by executing + +``` +docker run -it --entrypoint /bin/bash openrobotics/cadre_demo +``` + +4. (optional) Additional terminals can be opened by executing + ``` + chmod +x open_cmd.sh + ./open_cmd.sh + ``` + +5. **PLEASE MOVE THE MODELS [ Lunar and Luanr_lander ] to .gazebo/models in Home** (https://github.com/Sanjay-j-p/simulation/tree/main/models) + +6. **Please modify the locations in the robot.xacro for stl files. Rviz2 as Bug for not detecing Find package xml so i had to use hard location.** + current"file:///home/ros2/multi_space_ros/src/robot_description/meshes/ .stl" + ( https://github.com/Sanjay-j-p/demos/blob/main/CADRE_demo/robot_description/robot/robot.xacro) + +## # CADRE simulation launch and run. + +1. Source your ROS2 distribution. +``` +source /opt/ros/${ROS_DISTRO}/setup.bash +``` + +2. Build Your Workspace ex: CADRE_demo + +``` +cd .. +cd CADRE_demo/ +colcon build --symlink-install +``` +3. Source your workspace. +``` +source install/setup.bash +``` + +4. Run the launch file. +``` +ros2 launch robot_gazebo main.launch.xml +``` +With this, will start the gazebo simulator and Rviz with the three CADRE rovers in the Lunar world. + + + + + +# CADRE GUI teleopration. + +In another terminal, + +1. Excutable Premmsion for python files. +```cd CADRE_demo/src/robot_control/scripts/ + chmod +x joy.py + chmod +x mapping.py +``` + + 2. Run + ``` + ros2 run robot_control joy.py + ``` + This will start GUI control for controlling individual Rovers. + +# CADRE point clouds [ **Added only for one rover due to Hardware limit** ]. + +In another terminal, run +``` +ros2 run robot_control mapping.py +``` +This will start the point cloud node and publishes tranformed depth topic. + + +# License + +Apache License 2.0 diff --git a/cadre_demo/assets/CADRE.png b/cadre_demo/assets/CADRE.png new file mode 100644 index 0000000..922b8ff Binary files /dev/null and b/cadre_demo/assets/CADRE.png differ diff --git a/cadre_demo/assets/Gazebo_CADRE.png b/cadre_demo/assets/Gazebo_CADRE.png new file mode 100644 index 0000000..1e35ce1 Binary files /dev/null and b/cadre_demo/assets/Gazebo_CADRE.png differ diff --git a/cadre_demo/assets/Gui_control.png b/cadre_demo/assets/Gui_control.png new file mode 100644 index 0000000..f2418d5 Binary files /dev/null and b/cadre_demo/assets/Gui_control.png differ diff --git a/cadre_demo/assets/Lunar.png b/cadre_demo/assets/Lunar.png new file mode 100644 index 0000000..3117852 Binary files /dev/null and b/cadre_demo/assets/Lunar.png differ diff --git a/cadre_demo/assets/Offical_image.png b/cadre_demo/assets/Offical_image.png new file mode 100644 index 0000000..de5ba43 Binary files /dev/null and b/cadre_demo/assets/Offical_image.png differ diff --git a/cadre_demo/assets/blender_lunar.png b/cadre_demo/assets/blender_lunar.png new file mode 100644 index 0000000..cbae559 Binary files /dev/null and b/cadre_demo/assets/blender_lunar.png differ diff --git a/cadre_demo/assets/image.png b/cadre_demo/assets/image.png new file mode 100644 index 0000000..603c285 Binary files /dev/null and b/cadre_demo/assets/image.png differ diff --git a/cadre_demo/assets/point_cloud.png b/cadre_demo/assets/point_cloud.png new file mode 100644 index 0000000..598fc79 Binary files /dev/null and b/cadre_demo/assets/point_cloud.png differ diff --git a/cadre_demo/assets/solidworks.png b/cadre_demo/assets/solidworks.png new file mode 100644 index 0000000..a719575 Binary files /dev/null and b/cadre_demo/assets/solidworks.png differ diff --git a/cadre_demo/build.sh b/cadre_demo/build.sh new file mode 100755 index 0000000..b49305a --- /dev/null +++ b/cadre_demo/build.sh @@ -0,0 +1,26 @@ +#!/usr/bin/env bash + +ORG=openrobotics +IMAGE=cadre_demo +TAG=latest + +VCS_REF="" +VERSION=preview + +# Exit script with failure if build fails +set -eo pipefail + +echo "" +echo "##### Building Space ROS Demo Docker Image #####" +echo "" + +# get the folder of the script +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )" + +docker build -t $ORG/$IMAGE:$TAG \ + --build-arg VCS_REF="$VCS_REF" \ + --build-arg VERSION="$VERSION" \ + $DIR # Dockerfile is in the current directory, no need for -f + +echo "" +echo "##### Done! #####" diff --git a/cadre_demo/demo-pkgs.txt b/cadre_demo/demo-pkgs.txt new file mode 100644 index 0000000..f7a4c36 --- /dev/null +++ b/cadre_demo/demo-pkgs.txt @@ -0,0 +1,12 @@ +angles +backward_ros +control_msgs +ros2_control +warehouse_ros +xacro +yaml_cpp_vendor +python_qt_binding +control_toolbox +ros_warehouse +mongo +ackermann_msgs diff --git a/cadre_demo/demo_manual_pkgs.repos b/cadre_demo/demo_manual_pkgs.repos new file mode 100644 index 0000000..a8b2ed6 --- /dev/null +++ b/cadre_demo/demo_manual_pkgs.repos @@ -0,0 +1,130 @@ +repositories: + demos: + type: git + url: https://github.com/Sanjay-j-p/demos.git + version: main + simulation: + type: git + url: https://github.com/Sanjay-j-p/simulation.git + version: main + realtime_tools: + type: git + url: https://github.com/ros-controls/realtime_tools.git + version: master + ros2_control: + type: git + url: https://github.com/ros-controls/ros2_control.git + version: humble + ackermann_msgs: + type: git + url: https://github.com/ros-drivers/ackermann_msgs.git + version: ros2 + resource_retriever: + type: git + url: https://github.com/ros/resource_retriever.git + version: humble + angles: + type: git + url: https://github.com/ros/angles.git + version: humble-devel + control_toolbox: + type: git + url: https://github.com/ros-controls/control_toolbox.git + version: ros2-master + control_msgs: + type: git + url: https://github.com/ros-controls/control_msgs.git + version: humble + gz_ros2_control: + type: git + url: https://github.com/jasmeet0915/gz_ros2_control.git + version: jasmeet/humble_harmonic_support + backward_ros: + type: git + url: https://github.com/pal-robotics/backward_ros.git + version: foxy-devel + qt_gui_core: + type: git + url: https://github.com/ros-visualization/qt_gui_core.git + version: humble + python_qt_binding: + type: git + url: https://github.com/ros-visualization/python_qt_binding.git + version: humble + ros2_controllers: + type: git + url: https://github.com/tonylitianyu/ros2_controllers.git + version: effort_group_position_controller_2 + actuator_msgs: + type: git + url: https://github.com/rudislabs/actuator_msgs.git + version: main + filters: + type: git + url: https://github.com/ros/filters.git + version: ros2 + rviz: + type: git + url: https://github.com/ros2/rviz.git + version: humble + ros_gz: + type: git + url: https://github.com/gazebosim/ros_gz.git + version: humble + generate_parameter_library: + type: git + url: https://github.com/PickNikRobotics/generate_parameter_library.git + version: main + joint_state_publisher: + type: git + url: https://github.com/ros/joint_state_publisher.git + version: ros2 + rsl: + type: git + url: https://github.com/PickNikRobotics/RSL.git + version: main + cpp_polyfills: + type: git + url: https://github.com/PickNikRobotics/cpp_polyfills.git + version: main + image_transport: + type: git + url: https://github.com/ros-perception/image_common.git + version: humble + interactive_markers: + type: git + url: https://github.com/ros-visualization/interactive_markers.git + version: humble + laser_geometry: + type: git + url: https://github.com/ros-perception/laser_geometry.git + version: humble + warehouse_ros: + type: git + url: https://github.com/moveit/warehouse_ros.git + version: ros2 + ros-humble-warehouse-ros-mongo: + type: git + url: https://github.com/ros-planning/warehouse_ros_mongo.git + version: ros2 + vision_msgs: + type: git + url: https://github.com/ros-perception/vision_msgs.git + version: ros2 + navigation_msgs: + type: git + url: https://github.com/ros-planning/navigation_msgs.git + version: humble + gps_msgs: + type: git + url: https://github.com/swri-robotics/gps_umd.git + path: gps_msgs + version: 113782d + yaml_cpp_vendor: + type: git + url: https://github.com/ros2/yaml_cpp_vendor.git + version: humble + xacro: + type: git + url: https://github.com/ros/xacro.git + version: ros2 diff --git a/cadre_demo/entrypoint.sh b/cadre_demo/entrypoint.sh new file mode 100755 index 0000000..79765c7 --- /dev/null +++ b/cadre_demo/entrypoint.sh @@ -0,0 +1,14 @@ +#!/usr/bin/env bash + +# Source ROS 2 setup files +source /opt/ros/humble/setup.bash +source /root/cadre_demo/install/setup.bash + +# Print debug information +echo "ROS 2 environment set up." +echo "Current working directory: $(pwd)" +echo "Contents of /root/cadre_demo/src:" +ls -l /root/cadre_demo/src + +# Execute the command passed to the container +exec "$@" diff --git a/cadre_demo/excluded-pkgs.txt b/cadre_demo/excluded-pkgs.txt new file mode 100644 index 0000000..c9d845c --- /dev/null +++ b/cadre_demo/excluded-pkgs.txt @@ -0,0 +1,9 @@ +fastrtps +fastcdr +rmw_fastrtps_cpp +rmw_fastrtps_dynamic_cpp +rmw_fastrtps_shared_cpp +rmw_connextdds +rosidl_typesupport_fastrtps_c +rosidl_typesupport_fastrtps_cpp +fastrtps_cmake_module \ No newline at end of file diff --git a/cadre_demo/robot_control/CMakeLists.txt b/cadre_demo/robot_control/CMakeLists.txt new file mode 100644 index 0000000..55934c0 --- /dev/null +++ b/cadre_demo/robot_control/CMakeLists.txt @@ -0,0 +1,50 @@ +cmake_minimum_required(VERSION 3.5) +project(robot_control) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + +install( + DIRECTORY + scripts + DESTINATION + share/${PROJECT_NAME}/ +) + +install( + PROGRAMS + scripts/robot_control.py + scripts/joy.py + scripts/mapping.py + DESTINATION lib/${PROJECT_NAME} +) + +ament_package() diff --git a/cadre_demo/robot_control/package.xml b/cadre_demo/robot_control/package.xml new file mode 100644 index 0000000..3731e89 --- /dev/null +++ b/cadre_demo/robot_control/package.xml @@ -0,0 +1,18 @@ + + + + robot_control + 0.0.0 + TODO: Package description + sjp + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/cadre_demo/robot_control/scripts/joy.py b/cadre_demo/robot_control/scripts/joy.py new file mode 100644 index 0000000..a285d26 --- /dev/null +++ b/cadre_demo/robot_control/scripts/joy.py @@ -0,0 +1,157 @@ +#!/usr/bin/env python3 + +import tkinter as tk +from tkinter import ttk +from PIL import Image, ImageTk +import rclpy +from geometry_msgs.msg import Twist +from sensor_msgs.msg import Image as SensorImage +from rclpy.node import Node +from threading import Thread, Event +import cv2 +from cv_bridge import CvBridge + +class RobotControlNode(Node): + def __init__(self, robot_name, image_callback): + super().__init__('robot_control_node') + self.publisher = self.create_publisher(Twist, f'/{robot_name}/cmd_vel', 10) + self.twist = Twist() + self.image_callback = image_callback + self.create_subscription(SensorImage, f'/{robot_name}/{robot_name}_camera/image_raw', self.image_callback, 10) + + def update_velocity(self, linear_x, angular_z): + self.twist.linear.x = linear_x + self.twist.angular.z = angular_z + self.publisher.publish(self.twist) + +class RobotControlApp: + def __init__(self, root): + self.root = root + self.root.title("CADRE Control GUI") + self.root.geometry("900x900") + rclpy.init(args=None) + self.robot_name = 'robot_1' + self.node = RobotControlNode(self.robot_name, self.image_callback) + self.bridge = CvBridge() + self.shutdown_event = Event() + + + self.robot_var = tk.StringVar(value=self.robot_name) + # ttk.Label(root, text="Select Robot:").grid(row=0, column=0, padx=10, pady=10) + ttk.Radiobutton(root, text="Robot 1", variable=self.robot_var, value='robot_1', command=self.select_robot).grid(row=0, column=0, padx=5, pady=5) + ttk.Radiobutton(root, text="Robot 2", variable=self.robot_var, value='robot_2', command=self.select_robot).grid(row=0, column=1, padx=5, pady=5) + ttk.Radiobutton(root, text="Robot 3", variable=self.robot_var, value='robot_3', command=self.select_robot).grid(row=0, column=2, padx=5, pady=5) + + + self.canvas = tk.Canvas(root, width=300, height=300, bg='lightgrey') + self.canvas.grid(row=1, column=0, columnspan=3, padx=10, pady=10) + + self.joystick_radius = 200 + self.joystick_center = (150, 150) + + self.canvas.create_oval(self.joystick_center[0]-self.joystick_radius, + self.joystick_center[1]-self.joystick_radius, + self.joystick_center[0]+self.joystick_radius, + self.joystick_center[1]+self.joystick_radius, + fill='grey', outline='black') + + self.joystick_marker = self.canvas.create_oval(self.joystick_center[0]-10, + self.joystick_center[1]-10, + self.joystick_center[0]+10, + self.joystick_center[1]+10, + fill='blue') + + self.stop_button = tk.Button(root, text="Stop", command=self.stop_robot, bg='red', fg='white') + self.stop_button.grid(row=2, column=1, padx=10, pady=10) + + self.canvas.bind("", self.move_joystick) + self.current_linear = 0 + self.current_angular = 0 + + + self.camera_label = tk.Label(root) + self.camera_label.grid(row=1, column=3, padx=10, pady=10) + self.image = None + self.image_tk = None + + self.thread = Thread(target=self.update_ros, daemon=True) + self.thread.start() + + def select_robot(self): + new_robot_name = self.robot_var.get() + if new_robot_name != self.robot_name: + self.robot_name = new_robot_name + if self.node: + self.node.destroy_node() + self.node = RobotControlNode(self.robot_name, self.image_callback) + + def stop_robot(self): + + self.node.update_velocity(0.0, 0.0) + + self.canvas.coords(self.joystick_marker, + self.joystick_center[0]-10, + self.joystick_center[1]-10, + self.joystick_center[0]+10, + self.joystick_center[1]+10) + + def move_joystick(self, event): + x = event.x + y = event.y + dx = x - self.joystick_center[0] + dy = y - self.joystick_center[1] + distance = (dx**2 + dy**2)**0.5 + + if distance > self.joystick_radius: + dx = dx * self.joystick_radius / distance + dy = dy * self.joystick_radius / distance + + new_x = self.joystick_center[0] + dx + new_y = self.joystick_center[1] + dy + + self.canvas.coords(self.joystick_marker, + new_x-10, new_y-10, + new_x+10, new_y+10) + + linear_x = dy / self.joystick_radius + angular_z = dx / self.joystick_radius + + self.current_linear = -angular_z*0.9 + self.current_angular = -linear_x*4.0 + + if self.node: + self.node.update_velocity(self.current_linear, self.current_angular) + + def image_callback(self, msg): + try: + cv_image = self.bridge.imgmsg_to_cv2(msg, desired_encoding='bgr8') + self.image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB) + except Exception as e: + print(f"Error converting image: {e}") + + def update_ros(self): + while not self.shutdown_event.is_set(): + if self.node: + try: + rclpy.spin_once(self.node, timeout_sec=0.01) + except Exception as e: + print(f"Error spinning node: {e}") + if self.image is not None: + self.image_tk = ImageTk.PhotoImage(image=Image.fromarray(self.image)) + self.camera_label.config(image=self.image_tk) + + def run(self): + self.root.protocol("WM_DELETE_WINDOW", self.on_closing) + self.root.mainloop() + + def on_closing(self): + self.shutdown_event.set() + if self.node: + self.node.destroy_node() + rclpy.shutdown() + self.root.destroy() + +if __name__ == "__main__": + root = tk.Tk() + app = RobotControlApp(root) + app.run() diff --git a/cadre_demo/robot_control/scripts/mapping.py b/cadre_demo/robot_control/scripts/mapping.py new file mode 100644 index 0000000..4ce0d17 --- /dev/null +++ b/cadre_demo/robot_control/scripts/mapping.py @@ -0,0 +1,65 @@ +#!/usr/bin/env python3 + +import rclpy +from rclpy.node import Node +from rclpy.executors import MultiThreadedExecutor +from sensor_msgs.msg import PointCloud2 +from sensor_msgs_py.point_cloud2 import create_cloud_xyz32 +import numpy as np +from scipy.spatial.transform import Rotation as R + +class PointCloudTransformer(Node): + + def __init__(self): + super().__init__('point_cloud_transformer') + + self.declare_parameter('input_topic', '/robot_1/robot_1_camera/points') + self.declare_parameter('output_topic', '/robot_1/robot_1_camera/points_transformed') + self.declare_parameter('roll_degrees', 90.0) + self.declare_parameter('pitch_degrees', 180.0) + self.declare_parameter('yaw_degrees', 90.0) + + input_topic = self.get_parameter('input_topic').get_parameter_value().string_value + output_topic = self.get_parameter('output_topic').get_parameter_value().string_value + roll_degrees = self.get_parameter('roll_degrees').get_parameter_value().double_value + pitch_degrees = self.get_parameter('pitch_degrees').get_parameter_value().double_value + yaw_degrees = self.get_parameter('yaw_degrees').get_parameter_value().double_value + + self.subscription = self.create_subscription( + PointCloud2, + input_topic, + self.pc_callback, + 1 + ) + self.publisher = self.create_publisher(PointCloud2, output_topic, 1) + + self.rotation = R.from_euler('xyz', [roll_degrees, pitch_degrees, yaw_degrees], degrees=True) + + def pc_callback(self, msg): + + points = np.frombuffer(msg.data, dtype=np.float32).reshape(-1, int(msg.point_step / 4)) + xyz_points = points[:, :3] + distances = np.linalg.norm(xyz_points, axis=1) + valid_points = xyz_points[distances <= 3.0] + + if len(valid_points) == 0: + return + valid_points_rotated = self.rotation.apply(valid_points) + + header = msg.header + transformed_pc = create_cloud_xyz32(header, valid_points_rotated) + self.publisher.publish(transformed_pc) + +def main(args=None): + rclpy.init(args=args) + executor = MultiThreadedExecutor() + node = PointCloudTransformer() + executor.add_node(node) + try: + executor.spin() + finally: + node.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/cadre_demo/robot_control/scripts/robot_control.py b/cadre_demo/robot_control/scripts/robot_control.py new file mode 100644 index 0000000..afa47f3 --- /dev/null +++ b/cadre_demo/robot_control/scripts/robot_control.py @@ -0,0 +1,139 @@ +#!/usr/bin/env python3 +import threading +import rclpy +import numpy as np +from rclpy.node import Node +from std_msgs.msg import Float64MultiArray +from geometry_msgs.msg import Twist +import tkinter as tk # Use Tkinter for GUI + +class Commander(Node): + + def __init__(self, robot_name): + super().__init__('commander_' + robot_name) + timer_period = 0.002 + + self.robot_name = robot_name + self.wheel_seperation = 0.41605 + self.wheel_base = 0.425 + self.wheel_radius = 0.099 + + # Initialize wheel velocities + self.vel = np.array([0, 0, 0, 0], float) # left_front, right_front, left_rear, right_rear + + # Initialize velocity message and mode selection + self.vel_msg = Twist() + self.mode_selection = 0 + + # Publishers + self.pub_vel = self.create_publisher(Float64MultiArray, f'{self.robot_name}/forward_velocity_controller/commands', 100) + self.timer = self.create_timer(timer_period, self.timer_callback) + + def timer_callback(self): + # Default to zero velocities + self.vel[:] = 0 + + if self.mode_selection == 1: # Forward/Reverse + self.vel[0] = -self.vel_msg.linear.x + self.vel[1] = -self.vel_msg.linear.x + self.vel[2] = self.vel_msg.linear.x + self.vel[3] = self.vel_msg.linear.x + elif self.mode_selection == 2: # Rotate Left + self.vel[0] = -self.vel_msg.angular.z*0 + self.vel[1] = -self.vel_msg.angular.z*0 + self.vel[2] = -self.vel_msg.angular.z*1 + self.vel[3] = -self.vel_msg.angular.z*1 + elif self.mode_selection == 3: # Rotate Right + self.vel[0] = self.vel_msg.angular.z*0 + self.vel[1] = self.vel_msg.angular.z*0 + self.vel[2] = self.vel_msg.angular.z*1 + self.vel[3] = self.vel_msg.angular.z*1 + elif self.mode_selection == 4: # Stop + self.vel[:] = 0 + + # Publish the velocity command + vel_array = Float64MultiArray(data=self.vel) + self.pub_vel.publish(vel_array) + +def send_command(robot_commander, command, speed): + if command == "Forward": + robot_commander.vel_msg.linear.x = float(speed) + robot_commander.mode_selection = 1 + elif command == "Reverse": + robot_commander.vel_msg.linear.x = float(-speed) + robot_commander.mode_selection = 1 + elif command == "Left": + robot_commander.vel_msg.angular.z = float(speed) + robot_commander.mode_selection = 2 + elif command == "Right": + robot_commander.vel_msg.angular.z = float(speed) + robot_commander.mode_selection = 3 + elif command == "Stop": + robot_commander.vel_msg.linear.x = float(0) + robot_commander.vel_msg.angular.z = float(0) + robot_commander.mode_selection = 4 + + # Trigger the timer callback to publish the updated velocities + robot_commander.timer_callback() + +def create_gui(): + root = tk.Tk() + root.title("Robot Control GUI") + + # Speed Control + speed_scale = tk.Scale(root, from_=0, to=10, orient=tk.HORIZONTAL, label="Speed") + speed_scale.pack() + + # Robot 1 Control + tk.Label(root, text="Robot 1 Control").pack() + tk.Button(root, text="Forward", command=lambda: send_command(commander1, "Forward", speed_scale.get())).pack() + tk.Button(root, text="Reverse", command=lambda: send_command(commander1, "Reverse", speed_scale.get())).pack() + tk.Button(root, text="Left", command=lambda: send_command(commander1, "Left", speed_scale.get())).pack() + tk.Button(root, text="Right", command=lambda: send_command(commander1, "Right", speed_scale.get())).pack() + tk.Button(root, text="Stop", command=lambda: send_command(commander1, "Stop", speed_scale.get())).pack() + + # Robot 2 Control + tk.Label(root, text="Robot 2 Control").pack() + tk.Button(root, text="Forward", command=lambda: send_command(commander2, "Forward", speed_scale.get())).pack() + tk.Button(root, text="Reverse", command=lambda: send_command(commander2, "Reverse", speed_scale.get())).pack() + tk.Button(root, text="Left", command=lambda: send_command(commander2, "Left", speed_scale.get())).pack() + tk.Button(root, text="Right", command=lambda: send_command(commander2, "Right", speed_scale.get())).pack() + tk.Button(root, text="Stop", command=lambda: send_command(commander2, "Stop", speed_scale.get())).pack() + + # Robot 3 Control + tk.Label(root, text="Robot 3 Control").pack() + tk.Button(root, text="Forward", command=lambda: send_command(commander3, "Forward", speed_scale.get())).pack() + tk.Button(root, text="Reverse", command=lambda: send_command(commander3, "Reverse", speed_scale.get())).pack() + tk.Button(root, text="Left", command=lambda: send_command(commander3, "Left", speed_scale.get())).pack() + tk.Button(root, text="Right", command=lambda: send_command(commander3, "Right", speed_scale.get())).pack() + tk.Button(root, text="Stop", command=lambda: send_command(commander3, "Stop", speed_scale.get())).pack() + + root.mainloop() + +def main(): + rclpy.init(args=None) + + global commander1, commander2, commander3 + commander1 = Commander("robot_1") + commander2 = Commander("robot_2") + commander3 = Commander("robot_3") + + executor = rclpy.executors.MultiThreadedExecutor() + executor.add_node(commander1) + executor.add_node(commander2) + executor.add_node(commander3) + + # Start the executor in a separate thread + executor_thread = threading.Thread(target=executor.spin, daemon=True) + executor_thread.start() + + try: + create_gui() + except KeyboardInterrupt: + pass + finally: + rclpy.shutdown() + executor_thread.join() + +if __name__ == '__main__': + main() diff --git a/cadre_demo/robot_description/CMakeLists.txt b/cadre_demo/robot_description/CMakeLists.txt new file mode 100644 index 0000000..cea97a4 --- /dev/null +++ b/cadre_demo/robot_description/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.5) +project(robot_description) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(urdf REQUIRED) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + + +install( + DIRECTORY + robot + meshes + config + launch + DESTINATION + share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/cadre_demo/robot_description/config/mapper_params_online_async.yaml b/cadre_demo/robot_description/config/mapper_params_online_async.yaml new file mode 100644 index 0000000..7e0e508 --- /dev/null +++ b/cadre_demo/robot_description/config/mapper_params_online_async.yaml @@ -0,0 +1,74 @@ +slam_toolbox: + ros__parameters: + + # Plugin params + solver_plugin: solver_plugins::CeresSolver + ceres_linear_solver: SPARSE_NORMAL_CHOLESKY + ceres_preconditioner: SCHUR_JACOBI + ceres_trust_strategy: LEVENBERG_MARQUARDT + ceres_dogleg_type: TRADITIONAL_DOGLEG + ceres_loss_function: None + + # ROS Parameters + map_frame: world + odom_frame: robot_1_odom + base_frame: robot_1_base_link + scan_topic: /robot_1_front/scan + use_map_saver: true + mode: mapping #localization + + # if you'd like to immediately start continuing a map at a given pose + # or at the dock, but they are mutually exclusive, if pose is given + # will use pose + #map_file_name: test_steve + # map_start_pose: [0.0, 0.0, 0.0] + #map_start_at_dock: true + + debug_logging: false + throttle_scans: 1 + transform_publish_period: 0.02 #if 0 never publishes odometry + map_update_interval: 5.0 + resolution: 0.05 + max_laser_range: 20.0 #for rastering images + minimum_time_interval: 0.5 + transform_timeout: 0.2 + tf_buffer_duration: 30. + stack_size_to_use: 40000000 #// program needs a larger stack size to serialize large maps + enable_interactive_mode: true + + # General Parameters + use_scan_matching: true + use_scan_barycenter: true + minimum_travel_distance: 0.5 + minimum_travel_heading: 0.5 + scan_buffer_size: 10 + scan_buffer_maximum_scan_distance: 10.0 + link_match_minimum_response_fine: 0.1 + link_scan_maximum_distance: 1.5 + loop_search_maximum_distance: 3.0 + do_loop_closing: true + loop_match_minimum_chain_size: 10 + loop_match_maximum_variance_coarse: 3.0 + loop_match_minimum_response_coarse: 0.35 + loop_match_minimum_response_fine: 0.45 + + # Correlation Parameters - Correlation Parameters + correlation_search_space_dimension: 0.5 + correlation_search_space_resolution: 0.01 + correlation_search_space_smear_deviation: 0.1 + + # Correlation Parameters - Loop Closure Parameters + loop_search_space_dimension: 8.0 + loop_search_space_resolution: 0.05 + loop_search_space_smear_deviation: 0.03 + + # Scan Matcher Parameters + distance_variance_penalty: 0.5 + angle_variance_penalty: 1.0 + + fine_search_angle_offset: 0.00349 + coarse_search_angle_offset: 0.349 + coarse_angle_resolution: 0.0349 + minimum_angle_penalty: 0.9 + minimum_distance_penalty: 0.5 + use_response_expansion: true diff --git a/cadre_demo/robot_description/config/robot_1_controllers.yaml b/cadre_demo/robot_description/config/robot_1_controllers.yaml new file mode 100644 index 0000000..bbbc2fc --- /dev/null +++ b/cadre_demo/robot_description/config/robot_1_controllers.yaml @@ -0,0 +1,23 @@ +robot_1: + controller_manager: + ros__parameters: + update_rate: 100 # Hz + + forward_velocity_controller: + type: forward_command_controller/ForwardCommandController + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + forward_velocity_controller: + ros__parameters: + joints: + - robot_1_Solar2_joint + - robot_1_Solar1_joint + # - robot_1_right_back_wheel_joint + # - robot_1_right_front_wheel_joint + interface_name: velocity + command_interfaces: + - velocity + state_interfaces: + - velocity diff --git a/cadre_demo/robot_description/config/robot_2_controllers.yaml b/cadre_demo/robot_description/config/robot_2_controllers.yaml new file mode 100644 index 0000000..38c43b0 --- /dev/null +++ b/cadre_demo/robot_description/config/robot_2_controllers.yaml @@ -0,0 +1,21 @@ +robot_2: + controller_manager: + ros__parameters: + update_rate: 100 # Hz + + forward_velocity_controller: + type: forward_command_controller/ForwardCommandController + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + forward_velocity_controller: + ros__parameters: + joints: + - robot_2_Solar2_joint + - robot_2_Solar1_joint + interface_name: velocity + command_interfaces: + - velocity + state_interfaces: + - velocity diff --git a/cadre_demo/robot_description/config/robot_3_controllers.yaml b/cadre_demo/robot_description/config/robot_3_controllers.yaml new file mode 100644 index 0000000..4aff075 --- /dev/null +++ b/cadre_demo/robot_description/config/robot_3_controllers.yaml @@ -0,0 +1,21 @@ +robot_3: + controller_manager: + ros__parameters: + update_rate: 100 # Hz + + forward_velocity_controller: + type: forward_command_controller/ForwardCommandController + + joint_state_broadcaster: + type: joint_state_broadcaster/JointStateBroadcaster + + forward_velocity_controller: + ros__parameters: + joints: + - robot_3_Solar1_joint + - robot_3_Solar2_joint + interface_name: velocity + command_interfaces: + - velocity + state_interfaces: + - velocity diff --git a/cadre_demo/robot_description/config/slam_params.yaml b/cadre_demo/robot_description/config/slam_params.yaml new file mode 100644 index 0000000..a24d1d2 --- /dev/null +++ b/cadre_demo/robot_description/config/slam_params.yaml @@ -0,0 +1,8 @@ +slam_toolbox: + ros__parameters: + map_frame: "robot_1_map" + odom_frame: "robot_1_odom" + base_frame: "robot_1_base_link" + scan_topic: "/robot_1_front/scan" + use_sim_time: true + # mode: "mapping" diff --git a/cadre_demo/robot_description/launch/robot_state_publisher.launch.py b/cadre_demo/robot_description/launch/robot_state_publisher.launch.py new file mode 100644 index 0000000..4106c97 --- /dev/null +++ b/cadre_demo/robot_description/launch/robot_state_publisher.launch.py @@ -0,0 +1,63 @@ +import os +import xacro +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.substitutions import LaunchConfiguration + + +def launch_setup(context, *args, **kwargs): + # Accessing the argument variables. + robot_name = LaunchConfiguration('robot_name').perform(context) + robot_file = LaunchConfiguration('robot_file').perform(context) + robot_description_topic_name = "/" + robot_name + "_robot_description" + joint_state_topic_name = "/" + robot_name + "/joint_states" + robot_state_publisher_name = robot_name + "_robot_state_publisher" + + package_description = "robot_description" + + extension = robot_file.split(".")[1] + + if extension == "urdf": + robot_desc_path = os.path.join(get_package_share_directory( + package_description), "urdf", robot_file) + robot_desc = xacro.process_file(robot_desc_path) + elif extension == "xacro": + robot_desc_path = os.path.join(get_package_share_directory( + package_description), "robot", robot_file) + robot_desc = xacro.process_file(robot_desc_path, mappings={'robot_name' : robot_name}) + else: + assert False, "Extension of robot file not suppored = "+str(extension) + + + xml = robot_desc.toxml() + + robot_state_publisher_node = Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name=robot_state_publisher_name, + emulate_tty=True, + parameters=[{'use_sim_time': True, 'robot_description': xml}], + remappings=[("/robot_description", robot_description_topic_name), + ("/joint_states", joint_state_topic_name) + ], + output="screen" + ) + + return [robot_state_publisher_node] + +def generate_launch_description(): + + robot_name_arg = DeclareLaunchArgument('robot_name', default_value='robot') + robot_file_arg = DeclareLaunchArgument('robot_file', default_value='robot.urdf') + + return LaunchDescription([ + robot_name_arg, + robot_file_arg, + OpaqueFunction(function = launch_setup) + ]) + + + diff --git a/cadre_demo/robot_description/meshes/DAE/camera/camera.dae b/cadre_demo/robot_description/meshes/DAE/camera/camera.dae new file mode 100644 index 0000000..bb4b17a --- /dev/null +++ b/cadre_demo/robot_description/meshes/DAE/camera/camera.dae @@ -0,0 +1,191 @@ + + + + + Blender User + Blender 2.80.75 commit date:2019-07-29, commit time:14:47, hash:f6cb5f54494e + + 2020-08-23T15:08:17 + 2020-08-23T15:08:17 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 1000 1000 1000 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1000 + 29.99998 + 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+ + + + + + + + -4.37114e-11 4.37114e-11 0.001 0 0.001 0 4.37114e-11 0 0 0.001 -4.37114e-11 0 0 0 0 1 + + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/cadre_demo/robot_description/meshes/Left_back_wheel_link.stl b/cadre_demo/robot_description/meshes/Left_back_wheel_link.stl new file mode 100644 index 0000000..0c42fd3 Binary files /dev/null and b/cadre_demo/robot_description/meshes/Left_back_wheel_link.stl differ diff --git a/cadre_demo/robot_description/meshes/Left_front_wheel_link.stl b/cadre_demo/robot_description/meshes/Left_front_wheel_link.stl new file mode 100644 index 0000000..6e5f836 Binary files /dev/null and b/cadre_demo/robot_description/meshes/Left_front_wheel_link.stl differ diff --git a/cadre_demo/robot_description/meshes/STL/camera/camera.stl b/cadre_demo/robot_description/meshes/STL/camera/camera.stl new file mode 100644 index 0000000..bda022c Binary files /dev/null and b/cadre_demo/robot_description/meshes/STL/camera/camera.stl differ diff --git a/cadre_demo/robot_description/meshes/Solar1_link.stl b/cadre_demo/robot_description/meshes/Solar1_link.stl new file mode 100644 index 0000000..0eee926 Binary files /dev/null and b/cadre_demo/robot_description/meshes/Solar1_link.stl differ diff --git a/cadre_demo/robot_description/meshes/Solar2_link.stl b/cadre_demo/robot_description/meshes/Solar2_link.stl new file mode 100644 index 0000000..1c816ab Binary files /dev/null and b/cadre_demo/robot_description/meshes/Solar2_link.stl differ diff --git a/cadre_demo/robot_description/meshes/base_link.stl b/cadre_demo/robot_description/meshes/base_link.stl new file mode 100644 index 0000000..6322231 Binary files /dev/null and b/cadre_demo/robot_description/meshes/base_link.stl differ diff --git a/cadre_demo/robot_description/meshes/right_back_wheel_link.stl b/cadre_demo/robot_description/meshes/right_back_wheel_link.stl new file mode 100644 index 0000000..a98b3e6 Binary files /dev/null and b/cadre_demo/robot_description/meshes/right_back_wheel_link.stl differ diff --git a/cadre_demo/robot_description/meshes/right_front_wheel_link.stl b/cadre_demo/robot_description/meshes/right_front_wheel_link.stl new file mode 100644 index 0000000..86167f2 Binary files /dev/null and b/cadre_demo/robot_description/meshes/right_front_wheel_link.stl differ diff --git a/cadre_demo/robot_description/package.xml b/cadre_demo/robot_description/package.xml new file mode 100644 index 0000000..6ee7970 --- /dev/null +++ b/cadre_demo/robot_description/package.xml @@ -0,0 +1,21 @@ + + + + robot_description + 0.0.0 + TODO: Package description + sjp + TODO: License declaration + + ament_cmake + + ament_cmake + urdf + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/cadre_demo/robot_description/robot/parts/camera/camera.xacro b/cadre_demo/robot_description/robot/parts/camera/camera.xacro new file mode 100644 index 0000000..1452432 --- /dev/null +++ b/cadre_demo/robot_description/robot/parts/camera/camera.xacro @@ -0,0 +1,60 @@ + + + + + + + + + + + + + + + + + + + 20 + + + + 1.047198 + + 640 + 480 + R8G8B8 + + + 0.05 + 3 + + + + + ${robot_name} + + + ${robot_name}_rgb_camera + image_raw + camera_info + + + /depth/image_raw + /depth/camera_info + /depth/points + + ${robot_name}_rgb_camera_link_frame + + + + + + + + + + + + \ No newline at end of file diff --git a/cadre_demo/robot_description/robot/parts/imu/imu.urdf.xacro b/cadre_demo/robot_description/robot/parts/imu/imu.urdf.xacro new file mode 100644 index 0000000..b258ba4 --- /dev/null +++ b/cadre_demo/robot_description/robot/parts/imu/imu.urdf.xacro @@ -0,0 +1,78 @@ + + + + + + + + + + + + true + + true + 100 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + + + + + ${robot_namee} + ~/out:=/${robot_namee}_imu/data + + ${robot_namee}_imu/data + ${robot_namee}_imu_link + + ${robot_namee}_imu_frame + false + + 0 0 0 0 0 0 + + + + diff --git a/cadre_demo/robot_description/robot/parts/lrf/lrf.gazebo b/cadre_demo/robot_description/robot/parts/lrf/lrf.gazebo new file mode 100644 index 0000000..7849a49 --- /dev/null +++ b/cadre_demo/robot_description/robot/parts/lrf/lrf.gazebo @@ -0,0 +1,42 @@ + + + + + + + 0 0 0 0 0 0 + true + 40 + + + + 360 + 1 + ${min_rad} + ${max_rad} + + + + ${min_range} + ${max_range} + 0.01 + + + gaussian + 0.0 + 0.03 + + + + + ${prefix} + ~/out:=/${prefix}/scan + + sensor_msgs/LaserScan + + ${prefix}_lrf_link + + + + + diff --git a/cadre_demo/robot_description/robot/parts/lrf/lrf.xacro b/cadre_demo/robot_description/robot/parts/lrf/lrf.xacro new file mode 100644 index 0000000..565e7c1 --- /dev/null +++ b/cadre_demo/robot_description/robot/parts/lrf/lrf.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/cadre_demo/robot_description/robot/parts/sensors.xacro b/cadre_demo/robot_description/robot/parts/sensors.xacro new file mode 100644 index 0000000..755ea9a --- /dev/null +++ b/cadre_demo/robot_description/robot/parts/sensors.xacro @@ -0,0 +1,63 @@ + + + + + + + + + + + + + + + + + + + + 1.0472 + + 320 + 240 + + + 0.1 + 100 + + + custom + + 1.05 + 4 + 1.0 + tan + + true + 3.1415 + 512 + + 1 + 30 + + + + ${robot_name} + + ${robot_name}_rgb_camera + image_raw + camera_info + ${robot_name}_rgb_camera_link_frame + 0.07 + + + + + + + + + + + \ No newline at end of file diff --git a/cadre_demo/robot_description/robot/robot.xacro b/cadre_demo/robot_description/robot/robot.xacro new file mode 100644 index 0000000..576948b --- /dev/null +++ b/cadre_demo/robot_description/robot/robot.xacro @@ -0,0 +1,358 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Orange + + + Gazebo/Blue + + + Gazebo/Blue + + + Gazebo/Black + + + Gazebo/Black + + + Gazebo/Black + + + Gazebo/Black + + + + + + + $(arg robot_name) + + 30 + $(arg robot_name)_Left_back_wheel_joint + $(arg robot_name)_Left_front_wheel_joint + $(arg robot_name)_right_back_wheel_joint + $(arg robot_name)_right_front_wheel_joint + $(arg robot_name)_Solar2_joint + $(arg robot_name)_Solar1_joint + + + + + + $(arg robot_name) + --ros-args --remap /cmd_vel:=/$(arg robot_name)/cmd_vel /odom:=/$(arg robot_name)/odom + + + false + + 2 + + $(arg robot_name)_right_back_wheel_joint + + $(arg robot_name)_Left_front_wheel_joint + $(arg robot_name)_Left_back_wheel_joint + $(arg robot_name)_right_front_wheel_joint + + + 0.418 + 0.195 + + + + + + true + true + + + + $(arg robot_name)_odom + $(arg robot_name)_base_link + + + + + + + + + + + + + + + + + diff --git a/cadre_demo/robot_description/rviz/CADRE.rviz b/cadre_demo/robot_description/rviz/CADRE.rviz new file mode 100644 index 0000000..ef74ea9 --- /dev/null +++ b/cadre_demo/robot_description/rviz/CADRE.rviz @@ -0,0 +1,621 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1/Status1 + - /RobotModel1 + - /RobotModel2 + - /RobotModel3 + - /LaserScan1 + - /LaserScan2 + - /LaserScan3 + - /Image1 + - /Image1/Topic1 + Splitter Ratio: 0.5 + Tree Height: 549 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: LaserScan +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_1_robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + robot_1_Left_back_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_1_Left_front_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_1_Solar1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_1_Solar2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_1_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_1_front_lrf_link: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_1_imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_1_rgb_camera_link_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_1_right_back_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_1_right_front_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_2_robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + robot_2_Left_back_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_2_Left_front_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_2_Solar1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_2_Solar2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_2_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_2_front_lrf_link: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_2_imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_2_rgb_camera_link_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_2_right_back_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_2_right_front_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_3_robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + robot_3_Left_back_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_3_Left_front_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_3_Solar1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_3_Solar2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_3_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_3_front_lrf_link: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_3_imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_3_rgb_camera_link_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + robot_3_right_back_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + robot_3_right_front_wheel_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_1_front/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_2_front/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_3_front/scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + robot_1_Left_back_wheel_link: + Value: true + robot_1_Left_front_wheel_link: + Value: true + robot_1_Solar1_link: + Value: true + robot_1_Solar2_link: + Value: true + robot_1_base_link: + Value: true + robot_1_front_lrf_link: + Value: true + robot_1_imu_link: + Value: true + robot_1_odom: + Value: true + robot_1_rgb_camera_link_frame: + Value: true + robot_1_right_back_wheel_link: + Value: true + robot_1_right_front_wheel_link: + Value: true + robot_2_Left_back_wheel_link: + Value: true + robot_2_Left_front_wheel_link: + Value: true + robot_2_Solar1_link: + Value: true + robot_2_Solar2_link: + Value: true + robot_2_base_link: + Value: true + robot_2_front_lrf_link: + Value: true + robot_2_imu_link: + Value: true + robot_2_odom: + Value: true + robot_2_rgb_camera_link_frame: + Value: true + robot_2_right_back_wheel_link: + Value: true + robot_2_right_front_wheel_link: + Value: true + robot_3_Left_back_wheel_link: + Value: true + robot_3_Left_front_wheel_link: + Value: true + robot_3_Solar1_link: + Value: true + robot_3_Solar2_link: + Value: true + robot_3_base_link: + Value: true + robot_3_front_lrf_link: + Value: true + robot_3_imu_link: + Value: true + robot_3_odom: + Value: true + robot_3_rgb_camera_link_frame: + Value: true + robot_3_right_back_wheel_link: + Value: true + robot_3_right_front_wheel_link: + Value: true + world: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + world: + robot_1_odom: + robot_1_base_link: + robot_1_Left_back_wheel_link: + {} + robot_1_Left_front_wheel_link: + {} + robot_1_Solar1_link: + {} + robot_1_Solar2_link: + {} + robot_1_front_lrf_link: + {} + robot_1_imu_link: + {} + robot_1_rgb_camera_link_frame: + {} + robot_1_right_back_wheel_link: + {} + robot_1_right_front_wheel_link: + {} + robot_2_odom: + robot_2_base_link: + robot_2_Left_back_wheel_link: + {} + robot_2_Left_front_wheel_link: + {} + robot_2_Solar1_link: + {} + robot_2_Solar2_link: + {} + robot_2_front_lrf_link: + {} + robot_2_imu_link: + {} + robot_2_rgb_camera_link_frame: + {} + robot_2_right_back_wheel_link: + {} + robot_2_right_front_wheel_link: + {} + robot_3_odom: + robot_3_base_link: + robot_3_Left_back_wheel_link: + {} + robot_3_Left_front_wheel_link: + {} + robot_3_Solar1_link: + {} + robot_3_Solar2_link: + {} + robot_3_front_lrf_link: + {} + robot_3_imu_link: + {} + robot_3_rgb_camera_link_frame: + {} + robot_3_right_back_wheel_link: + {} + robot_3_right_front_wheel_link: + {} + Update Interval: 0 + Value: true + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_1/robot_1_camera/image_raw + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 20.799999237060547 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.785398006439209 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.785398006439209 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1047 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1908 + X: 0 + Y: 0 diff --git a/cadre_demo/robot_gazebo/CMakeLists.txt b/cadre_demo/robot_gazebo/CMakeLists.txt new file mode 100644 index 0000000..0f127dd --- /dev/null +++ b/cadre_demo/robot_gazebo/CMakeLists.txt @@ -0,0 +1,52 @@ +cmake_minimum_required(VERSION 3.5) +project(robot_gazebo) + +# Default to C99 +if(NOT CMAKE_C_STANDARD) + set(CMAKE_C_STANDARD 99) +endif() + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# find dependencies +find_package(ament_cmake REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(rclpy REQUIRED) + + +# Skip if Gazebo not present +find_package(gazebo QUIET) +if(NOT gazebo_FOUND) + message(WARNING "Gazebo not found, proceeding without that simulator.") + return() +endif() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + # the following line skips the linter which checks for copyrights + # uncomment the line when a copyright and license is not present in all source files + #set(ament_cmake_copyright_FOUND TRUE) + # the following line skips cpplint (only works in a git repo) + # uncomment the line when this package is not in a git repo + #set(ament_cmake_cpplint_FOUND TRUE) + ament_lint_auto_find_test_dependencies() +endif() + + +install( + DIRECTORY + launch + worlds + DESTINATION + share/${PROJECT_NAME}/ +) + +ament_package() diff --git a/cadre_demo/robot_gazebo/launch/main.launch.xml b/cadre_demo/robot_gazebo/launch/main.launch.xml new file mode 100644 index 0000000..29bfb4c --- /dev/null +++ b/cadre_demo/robot_gazebo/launch/main.launch.xml @@ -0,0 +1,59 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/cadre_demo/robot_gazebo/launch/publish_static_transform_odom_to_world.launch.py b/cadre_demo/robot_gazebo/launch/publish_static_transform_odom_to_world.launch.py new file mode 100644 index 0000000..4700b96 --- /dev/null +++ b/cadre_demo/robot_gazebo/launch/publish_static_transform_odom_to_world.launch.py @@ -0,0 +1,20 @@ +#! /usr/bin/env python3 +from launch import LaunchDescription +from launch_ros.actions import Node + +def generate_launch_description(): + + st_pub = Node( + package='tf2_ros', + executable='static_transform_publisher', + name='static_transform_publisher_turtle_odom', + output='screen', + emulate_tty=True, + arguments=['0', '0', '0', '0', '0', '0', 'world', 'odom'] + ) + + return LaunchDescription( + [ + st_pub + ] + ) diff --git a/cadre_demo/robot_gazebo/launch/spawn_in_gazebo.launch.py b/cadre_demo/robot_gazebo/launch/spawn_in_gazebo.launch.py new file mode 100644 index 0000000..c3673d4 --- /dev/null +++ b/cadre_demo/robot_gazebo/launch/spawn_in_gazebo.launch.py @@ -0,0 +1,61 @@ +#!/usr/bin/python3 + +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +import time + +def launch_setup(context, *args, **kwargs): + # time.sleep(5) + + entity_name = LaunchConfiguration('robot_name').perform(context) + x_spawn = LaunchConfiguration('x_spawn').perform(context) + y_spawn = LaunchConfiguration('y_spawn').perform(context) + z_spawn = LaunchConfiguration('z_spawn').perform(context) + roll_spawn = LaunchConfiguration('roll_spawn').perform(context) + pitch_spawn = LaunchConfiguration('pitch_spawn').perform(context) + yaw_spawn = LaunchConfiguration('yaw_spawn').perform(context) + + robot_description_topic_name = "/" + entity_name + "_robot_description" + robot_state_publisher_name= entity_name + "_robot_state_publisher" + + + + spawn_robot = Node( + package='gazebo_ros', + executable='spawn_entity.py', + name='robot_spawn_entity', + output='screen', + emulate_tty=True, + arguments=['-entity',entity_name, + '-x', str(x_spawn), '-y', str(y_spawn), '-z', str(z_spawn), + '-R', str(roll_spawn), '-P', str(pitch_spawn), '-Y', str(yaw_spawn), + '-topic', robot_description_topic_name + ], + remappings=[("/robot_state_publisher", robot_state_publisher_name) + ] + ) + return [spawn_robot] + +def generate_launch_description(): + + robot_name_arg = DeclareLaunchArgument('robot_name', default_value='robot') + x_spawn_arg = DeclareLaunchArgument('x_spawn', default_value='0.0') + y_spawn_arg = DeclareLaunchArgument('y_spawn', default_value='0.0') + z_spawn_arg = DeclareLaunchArgument('z_spawn', default_value='0.0') + roll_spawn_arg = DeclareLaunchArgument('roll_spawn', default_value='0.0') + pitch_spawn_arg = DeclareLaunchArgument('pitch_spawn', default_value='0.0') + yaw_spawn_arg = DeclareLaunchArgument('yaw_spawn', default_value='0.0') + + return LaunchDescription([ + robot_name_arg, + x_spawn_arg, + y_spawn_arg, + z_spawn_arg, + roll_spawn_arg, + pitch_spawn_arg, + yaw_spawn_arg, + OpaqueFunction(function = launch_setup) + ]) diff --git a/cadre_demo/robot_gazebo/launch/spawn_robots.launch.py b/cadre_demo/robot_gazebo/launch/spawn_robots.launch.py new file mode 100644 index 0000000..036c25d --- /dev/null +++ b/cadre_demo/robot_gazebo/launch/spawn_robots.launch.py @@ -0,0 +1,183 @@ +#!/usr/bin/python3 + +import os +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +from launch.launch_description_sources import PythonLaunchDescriptionSource +from ament_index_python.packages import get_package_share_directory + +def generate_launch_description(): + + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + pkg_robot_gazebo = get_package_share_directory('robot_gazebo') + + # Declare arguments for world file + world_arg = DeclareLaunchArgument( + 'world', + default_value=os.path.join(pkg_robot_gazebo, 'worlds', 'empty_world.world'), + description='Path to the SDF world file' + ) + + # Declare arguments for Robot 1 + robot_name_1_arg = DeclareLaunchArgument('robot_name_1', default_value='robot_1') + robot_file_1_arg = DeclareLaunchArgument('robot_file_1', default_value='robot.xacro') + x_spawn_1_arg = DeclareLaunchArgument('x_spawn_1', default_value='0.0') + y_spawn_1_arg = DeclareLaunchArgument('y_spawn_1', default_value='4.5') + z_spawn_1_arg = DeclareLaunchArgument('z_spawn_1', default_value='2.2') + roll_spawn_1_arg = DeclareLaunchArgument('roll_spawn_1', default_value='0.0') + pitch_spawn_1_arg = DeclareLaunchArgument('pitch_spawn_1', default_value='0.0') + yaw_spawn_1_arg = DeclareLaunchArgument('yaw_spawn_1', default_value='1.57') + + # Declare arguments for Robot 2 + robot_name_2_arg = DeclareLaunchArgument('robot_name_2', default_value='robot_2') + robot_file_2_arg = DeclareLaunchArgument('robot_file_2', default_value='robot1.xacro') + x_spawn_2_arg = DeclareLaunchArgument('x_spawn_2', default_value='4.5') + y_spawn_2_arg = DeclareLaunchArgument('y_spawn_2', default_value='0.0') + z_spawn_2_arg = DeclareLaunchArgument('z_spawn_2', default_value='2.5') + roll_spawn_2_arg = DeclareLaunchArgument('roll_spawn_2', default_value='0.0') + pitch_spawn_2_arg = DeclareLaunchArgument('pitch_spawn_2', default_value='0.0') + yaw_spawn_2_arg = DeclareLaunchArgument('yaw_spawn_2', default_value='0.0') + + # Include Gazebo launch description + gazebo_launch = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py') + ) + ) + + # Define nodes for Robot 1 + robot_1_nodes = [ + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name=[LaunchConfiguration('robot_name_1'), '_robot_state_publisher'], + parameters=[{ + 'robot_description': LaunchConfiguration('robot_file_1') + }], + remappings=[ + ('/robot_description', [LaunchConfiguration('robot_name_1'), '_robot_description']), + ('/joint_states', [LaunchConfiguration('robot_name_1'), '/joint_states']) + ], + output='screen' + ), + Node( + package='controller_manager', + executable='spawner', + name=[LaunchConfiguration('robot_name_1'), '_joint_state_broadcaster'], + namespace=LaunchConfiguration('robot_name_1'), + arguments=['joint_state_broadcaster', '--controller-manager', 'controller_manager'], + output='screen' + ), + Node( + package='controller_manager', + executable='spawner', + name=[LaunchConfiguration('robot_name_1'), '_forward_velocity_controller'], + namespace=LaunchConfiguration('robot_name_1'), + arguments=['forward_velocity_controller', '--controller-manager', 'controller_manager'], + output='screen' + ), + Node( + package='gazebo_ros', + executable='spawn_entity.py', + name=[LaunchConfiguration('robot_name_1'), '_spawn_entity'], + arguments=[ + '-entity', LaunchConfiguration('robot_name_1'), + '-x', LaunchConfiguration('x_spawn_1'), + '-y', LaunchConfiguration('y_spawn_1'), + '-z', LaunchConfiguration('z_spawn_1'), + '-R', LaunchConfiguration('roll_spawn_1'), + '-P', LaunchConfiguration('pitch_spawn_1'), + '-Y', LaunchConfiguration('yaw_spawn_1'), + '-topic', [LaunchConfiguration('robot_name_1'), '_robot_description'] + ], + output='screen' + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name=[LaunchConfiguration('robot_name_1'), '_static_transform_publisher'], + arguments=['0', '0', '0', '0', '0', '0', 'world', [LaunchConfiguration('robot_name_1'), '_odom']], + output='screen' + ) + ] + + # Define nodes for Robot 2 + robot_2_nodes = [ + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name=[LaunchConfiguration('robot_name_2'), '_robot_state_publisher'], + parameters=[{ + 'robot_description': LaunchConfiguration('robot_file_2') + }], + remappings=[ + ('/robot_description', [LaunchConfiguration('robot_name_2'), '_robot_description']), + ('/joint_states', [LaunchConfiguration('robot_name_2'), '/joint_states']) + ], + output='screen' + ), + Node( + package='controller_manager', + executable='spawner', + name=[LaunchConfiguration('robot_name_2'), '_joint_state_broadcaster'], + namespace=LaunchConfiguration('robot_name_2'), + arguments=['joint_state_broadcaster', '--controller-manager', 'controller_manager'], + output='screen' + ), + Node( + package='controller_manager', + executable='spawner', + name=[LaunchConfiguration('robot_name_2'), '_forward_velocity_controller'], + namespace=LaunchConfiguration('robot_name_2'), + arguments=['forward_velocity_controller', '--controller-manager', 'controller_manager'], + output='screen' + ), + Node( + package='gazebo_ros', + executable='spawn_entity.py', + name=[LaunchConfiguration('robot_name_2'), '_spawn_entity'], + arguments=[ + '-entity', LaunchConfiguration('robot_name_2'), + '-x', LaunchConfiguration('x_spawn_2'), + '-y', LaunchConfiguration('y_spawn_2'), + '-z', LaunchConfiguration('z_spawn_2'), + '-R', LaunchConfiguration('roll_spawn_2'), + '-P', LaunchConfiguration('pitch_spawn_2'), + '-Y', LaunchConfiguration('yaw_spawn_2'), + '-topic', [LaunchConfiguration('robot_name_2'), '_robot_description'] + ], + output='screen' + ), + Node( + package='tf2_ros', + executable='static_transform_publisher', + name=[LaunchConfiguration('robot_name_2'), '_static_transform_publisher'], + arguments=['0', '0', '0', '0', '0', '0', 'world', [LaunchConfiguration('robot_name_2'), '_odom']], + output='screen' + ) + ] + + return LaunchDescription([ + world_arg, + robot_name_1_arg, + robot_file_1_arg, + x_spawn_1_arg, + y_spawn_1_arg, + z_spawn_1_arg, + roll_spawn_1_arg, + pitch_spawn_1_arg, + yaw_spawn_1_arg, + robot_name_2_arg, + robot_file_2_arg, + x_spawn_2_arg, + y_spawn_2_arg, + z_spawn_2_arg, + roll_spawn_2_arg, + pitch_spawn_2_arg, + yaw_spawn_2_arg, + gazebo_launch, + *robot_1_nodes, + *robot_2_nodes + ]) diff --git a/cadre_demo/robot_gazebo/launch/spawn_with_control.launch.xml b/cadre_demo/robot_gazebo/launch/spawn_with_control.launch.xml new file mode 100644 index 0000000..9ae44bb --- /dev/null +++ b/cadre_demo/robot_gazebo/launch/spawn_with_control.launch.xml @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/cadre_demo/robot_gazebo/launch/start_control.launch.py b/cadre_demo/robot_gazebo/launch/start_control.launch.py new file mode 100644 index 0000000..fd54885 --- /dev/null +++ b/cadre_demo/robot_gazebo/launch/start_control.launch.py @@ -0,0 +1,48 @@ +#!/usr/bin/python3 + +from launch_ros.actions import Node +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.actions import OpaqueFunction + + + +def launch_setup(context, *args, **kwargs): + + robot_name = LaunchConfiguration('robot_name').perform(context) + spawn_controller_1_name = robot_name + "_spawn_controller_joint_state_broadcaster" + spawn_controller_2_name = robot_name + "_spawn_controller_forward_velocity_controller" + controller_manager_name = "controller_manager" + + + + spawn_controller_1 = Node( + package="controller_manager", + executable="spawner", + name=spawn_controller_1_name, + namespace=robot_name, + arguments=["joint_state_broadcaster", "--controller-manager", controller_manager_name], + output="screen" + ) + + spawn_controller_2 = Node( + package="controller_manager", + executable="spawner", + name=spawn_controller_2_name, + namespace=robot_name, + arguments=["forward_velocity_controller", "--controller-manager", controller_manager_name], + output="screen" + ) + + return [spawn_controller_1, spawn_controller_2] + + +def generate_launch_description(): + + robot_name_arg = DeclareLaunchArgument('robot_name', default_value='robot') + + return LaunchDescription([ + robot_name_arg, + OpaqueFunction(function = launch_setup) + ]) \ No newline at end of file diff --git a/cadre_demo/robot_gazebo/launch/start_world.launch.py b/cadre_demo/robot_gazebo/launch/start_world.launch.py new file mode 100644 index 0000000..ef88c70 --- /dev/null +++ b/cadre_demo/robot_gazebo/launch/start_world.launch.py @@ -0,0 +1,40 @@ +#!/usr/bin/python3 +# -*- coding: utf-8 -*- +import os + +from ament_index_python.packages import get_package_share_directory +from ament_index_python.packages import get_package_prefix +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource + + +def generate_launch_description(): + + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + pkg_robot_gazebo = get_package_share_directory('robot_gazebo') + install_dir = get_package_prefix('robot_description') + + gazebo_models_path = os.path.join(pkg_robot_gazebo, 'models') + if 'GAZEBO_MODEL_PATH' in os.environ: + os.environ['GAZEBO_MODEL_PATH'] = os.environ['GAZEBO_MODEL_PATH'] + \ + ':' + install_dir + '/share' + ':' + gazebo_models_path + else: + os.environ['GAZEBO_MODEL_PATH'] = install_dir + \ + '/share' + ':' + gazebo_models_path + + gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py'), + ) + ) + + return LaunchDescription([ + DeclareLaunchArgument( + 'world', + default_value=[os.path.join( + pkg_robot_gazebo, 'worlds', 'Lunar.world'), ''], + description='SDF world file'), + gazebo + ]) diff --git a/cadre_demo/robot_gazebo/launch/static_odom_to_world.launch.py b/cadre_demo/robot_gazebo/launch/static_odom_to_world.launch.py new file mode 100644 index 0000000..c72a0f0 --- /dev/null +++ b/cadre_demo/robot_gazebo/launch/static_odom_to_world.launch.py @@ -0,0 +1,34 @@ +#!/usr/bin/python3 + +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.actions import OpaqueFunction + +def launch_setup(context, *args, **kwargs): + + entity_name = LaunchConfiguration('robot_name').perform(context) + odom_frame_name = entity_name + "_odom" + name_node = odom_frame_name + "_static_transform_publisher" + + st_pub = Node( + package='tf2_ros', + executable='static_transform_publisher', + name=name_node, + output='screen', + emulate_tty=True, + arguments=['0', '0', '0', '0', '0', '0', 'world', odom_frame_name], + parameters=[{"use_sim_time": True}] + ) + + return [st_pub] + +def generate_launch_description(): + + robot_name_arg = DeclareLaunchArgument('robot_name', default_value='robot') + + return LaunchDescription([ + robot_name_arg, + OpaqueFunction(function = launch_setup) + ]) diff --git a/cadre_demo/robot_gazebo/package.xml b/cadre_demo/robot_gazebo/package.xml new file mode 100644 index 0000000..454537e --- /dev/null +++ b/cadre_demo/robot_gazebo/package.xml @@ -0,0 +1,27 @@ + + + + robot_gazebo + 0.0.0 + TODO: Package description + sjp + TODO: License declaration + + ament_cmake + + + ament_cmake + rclcpp + rclpy + gazebo_ros + + ament_lint_auto + ament_lint_common + + gazebo_ros_pkgs + ros2launch + + + ament_cmake + + diff --git a/cadre_demo/robot_gazebo/worlds/Lunar.world b/cadre_demo/robot_gazebo/worlds/Lunar.world new file mode 100644 index 0000000..84e1b26 --- /dev/null +++ b/cadre_demo/robot_gazebo/worlds/Lunar.world @@ -0,0 +1,54 @@ + + + + + + model://sun + + + + + true + 200 0 14 0 0 0 + 0.7 0.7 0.7 1 + 0.001 0.001 0.001 1 + -1 -0.1 -0.15 + + 1000 + 1 + 0 + + + + + 0.30 0.30 0.30 1.0 + 0.0 0.0 0.0 1 + 0 + false + true + + + + 0.04 + 0 0 -1.62 + 6e-06 2.3e-05 -4.2e-05 + + + + + model://lunar + 0 0 0 0 0 0 + true + + + + + + model://Lunar_lander + 0 0 0 0 0 0 + false + + + + + diff --git a/cadre_demo/run.sh b/cadre_demo/run.sh new file mode 100755 index 0000000..2a53ad4 --- /dev/null +++ b/cadre_demo/run.sh @@ -0,0 +1,34 @@ +#!/usr/bin/env bash + +# Runs a docker container with the image created by build.bash +# Requires: +# docker +# an X server (for GUI applications) + +IMG_NAME=openrobotics/cadre_demo + +# Replace `/` with `_` to comply with docker container naming +# And append `_runtime` +CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")" + +# Start the container with an interactive bash shell +docker run --rm -it --name $CONTAINER_NAME --network host \ + -e DISPLAY=$DISPLAY \ + -e TERM=xterm \ + -e QT_X11_NO_MITSHM=1 \ + $IMG_NAME /bin/bash -c " + echo 'Starting container...'; + echo 'ROS 2 environment setup:'; + source /opt/ros/humble/setup.bash; + echo 'ROS 2 environment variables:'; + printenv | grep ROS; + echo 'Checking ROS 2 version:'; + ros2 --version; + echo 'Listing ROS 2 packages:'; + ros2 pkg list; + echo 'Current directory:'; + pwd; + echo 'Contents of /root/cadre_demo/src:'; + ls -la /root/cadre_demo/src; + echo 'Launching interactive shell...'; + exec /bin/bash" diff --git a/cadre_demo/run_gpu.sh b/cadre_demo/run_gpu.sh new file mode 100644 index 0000000..fd83375 --- /dev/null +++ b/cadre_demo/run_gpu.sh @@ -0,0 +1,28 @@ +#!/usr/bin/env bash + +# Runs a docker container with the image created by build.bash +# Requires: +# docker +# an X server + +IMG_NAME=openrobotics/cadre_demo + +xhost +local:docker + +# Replace `/` with `_` to comply with docker container naming +# And append `_runtime` +CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")" + +# Start the container +docker run --rm -it --name $CONTAINER_NAME \ + --network host \ + --privileged \ + --gpus all \ + -e NVIDIA_VISIBLE_DEVICES=all \ + -e NVIDIA_DRIVER_CAPABILITIES=graphics \ + -e DISPLAY=$DISPLAY \ + -e TERM \ + -e QT_X11_NO_MITSHM=1 \ + -e XAUTHORITY=$XAUTHORITY \ + --mount type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix \ + $IMG_NAME \ No newline at end of file