From 2598957595b354fb3402752b060190ec61f862bf Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Wed, 31 Mar 2021 16:33:21 +0200 Subject: [PATCH] Absolem: Added sensor configs 6, 7 and 8. --- .../launch/vehicle_topics.launch | 96 +- .../meshes/basler_ace2_pro.dae | 96 + .../meshes/evetar_lens.dae | 155 + .../urdf/basler_cameras.xacro | 111 + .../urdf/nifti_robot.xacro | 111 +- .../urdf/utils.xacro | 16 + .../.gitignore | 1 + .../CMakeLists.txt | 16 + .../README.md | 25 + .../config/common.yaml | 8 + .../config/rviz.rviz | 1229 ++++++ .../config/sdf.yaml | 0 .../config/urdf.yaml | 0 .../launch/common.rb | 21 + .../launch/example.ign | 25 + .../launch/spawner.rb | 9 + .../model.config | 14 + .../model.sdf | 3832 ++++++++++++++++ .../package.xml | 17 + .../scripts/print_robot_urdf | 16 + .../scripts/update_robot_sdf | 16 + .../.gitignore | 1 + .../CMakeLists.txt | 16 + .../README.md | 26 + .../config/common.yaml | 2 + .../launch/example.ign | 25 + .../launch/spawner.rb | 43 + .../model.config | 9 + .../model.sdf | 3848 ++++++++++++++++ .../package.xml | 16 + .../scripts/print_robot_urdf | 16 + .../scripts/update_robot_sdf | 16 + .../.gitignore | 1 + .../CMakeLists.txt | 16 + .../README.md | 27 + .../config/common.yaml | 7 + .../launch/example.ign | 25 + .../launch/spawner.rb | 43 + .../model.config | 9 + .../model.sdf | 3926 +++++++++++++++++ .../package.xml | 16 + .../scripts/print_robot_urdf | 16 + .../scripts/update_robot_sdf | 16 + 43 files changed, 13888 insertions(+), 46 deletions(-) create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/basler_ace2_pro.dae create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_1/meshes/evetar_lens.dae create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/.gitignore create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/CMakeLists.txt create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/README.md create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/common.yaml create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/rviz.rviz create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/sdf.yaml create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/urdf.yaml create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/common.rb create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/example.ign create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/spawner.rb create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.config create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/package.xml create mode 100755 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/print_robot_urdf create mode 100755 submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/update_robot_sdf create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/.gitignore create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/CMakeLists.txt create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/README.md create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/config/common.yaml create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/example.ign create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/spawner.rb create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.config create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/package.xml create mode 100755 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/print_robot_urdf create mode 100755 submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/update_robot_sdf create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/.gitignore create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/CMakeLists.txt create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/README.md create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/config/common.yaml create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/example.ign create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/spawner.rb create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.config create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf create mode 100644 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/package.xml create mode 100755 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/print_robot_urdf create mode 100755 submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/update_robot_sdf diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch index a20ed6ad..d8ee2ee4 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/launch/vehicle_topics.launch @@ -9,6 +9,8 @@ + + @@ -111,41 +113,75 @@ - - - - - + + + + + + - - - - - + + + + + - - - - - + + + + + - - - - - + + + + + - - - - - + + + + + - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git 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617 37

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+ + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro new file mode 100644 index 00000000..fdf9ee84 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro @@ -0,0 +1,111 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + ${virtual_lens_origin} 0 ${camera_height/2} 0 0 0 + ${frame_rate} + ${visualize} + + ${radians(hfov_deg)} + + ${resolution_x} + ${resolution_y} + R8G8B8 + + + + ${clip} + 300 + + + gaussian + 0.0 + 0.007 + + + + stereographic + true + ${pi} + 1024 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro index 2f97356b..2a5ae130 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro @@ -440,6 +440,9 @@ + + + @@ -718,6 +721,14 @@ filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/${top_box_mesh_name}"/> + + + + + + + + @@ -792,7 +803,37 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -852,7 +893,12 @@ - + + + + + + @@ -1294,22 +1340,49 @@ + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - + + + + + + + + + + + + @@ -1644,8 +1717,14 @@ - + + + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro index ccab9e53..4bcec06e 100644 --- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro @@ -66,4 +66,20 @@ + + + + + + + 0 0 0 0 + + ${max(0, r - 60/255.0)} ${max(0, g - 60/255.0)} ${max(0, b - 60/255.0)} 1 + 0 0 0 0 + 0 0 0 0 + + + + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/CMakeLists.txt new file mode 100644 index 00000000..1f1bc31d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_absolem_sensor_config_6) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS + scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/README.md new file mode 100644 index 00000000..ddbf1a3e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/README.md @@ -0,0 +1,25 @@ +# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_6 + +This package contains sensor config 6 of CTU-CRAS-Norlab Absolem robot. The robot has: + +- 5x Basler ACE Pro 2 RGB camera +- Ouster OS0-128 lidar +- 4 TFMini plus point lidars +- IMU Xsens MTI-30 +- Gas sensor +- Weight: about 38 kg +- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited. + +The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order: + +- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/urdf.yaml`, `common.yaml`, `urdf.yaml` +- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/sdf.yaml`, `common.yaml`, `sdf.yaml` \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/common.yaml new file mode 100644 index 00000000..fb5be2b8 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/common.yaml @@ -0,0 +1,8 @@ +has_omnicam: False +has_omnicam_vras: True + +top_box_j_x: 0.45 + +ouster_pos_x: 0.05 +ouster_pos_z: 0.18 +ouster_rpy_p: 0.18 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/rviz.rviz b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/rviz.rviz new file mode 100644 index 00000000..eeb1e1e2 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/rviz.rviz @@ -0,0 +1,1229 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /TF1/Frames1 + - /Omnicam1 + - /Ouster lidar1/Autocompute Value Bounds1 + - /Cliff sensors1 + Splitter Ratio: 0.6437346339225769 + Tree Height: 310 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + - /Robot left side1/Focal Point1 + Name: Views + Splitter Ratio: 0.4786096215248108 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Omnicam 4 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + 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 + X1/antenna: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/battery: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/camera_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/cliff_sensor_0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/cliff_sensor_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/cliff_sensor_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/cliff_sensor_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_end_point: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_left_flipper_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_left_flipper_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_end_point: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/front_right_flipper_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/front_right_flipper_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/imu: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/left_track_wheel8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/mobilicom: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/mobilicom_antenna_l: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/mobilicom_antenna_r: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_end_point: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_left_flipper_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_left_flipper_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_box: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_right_flipper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_end_point: + Alpha: 1 + Show Axes: false + Show Trail: false + X1/rear_right_flipper_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_right_flipper_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/rear_sensor_item: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel7: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/right_track_wheel8: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/top_box: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + X1/top_box_step: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: Robot model + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + X1: + Value: true + X1/base_link: + Value: true + X1/base_link/imu: + Value: true + X1/camera_0: + Value: true + X1/camera_0/camera_0: + Value: true + X1/camera_0/camera_0_optical: + Value: true + X1/camera_1: + Value: true + X1/camera_1/camera_1: + Value: true + X1/camera_1/camera_1_optical: + Value: true + X1/camera_2: + Value: true + X1/camera_2/camera_2: + Value: true + X1/camera_2/camera_2_optical: + Value: true + X1/camera_3: + Value: true + X1/camera_3/camera_3: + Value: true + X1/camera_3/camera_3_optical: + Value: true + X1/camera_4: + Value: true + X1/camera_4/camera_4: + Value: true + X1/camera_4/camera_4_optical: + Value: true + X1/cliff_sensor_0: + Value: true + X1/cliff_sensor_0/laser: + Value: true + X1/cliff_sensor_1: + Value: true + X1/cliff_sensor_1/laser: + Value: true + X1/cliff_sensor_2: + Value: true + X1/cliff_sensor_2/laser: + Value: true + X1/cliff_sensor_3: + Value: true + X1/cliff_sensor_3/laser: + Value: true + X1/front_left_flipper: + Value: true + X1/front_left_flipper_wheel1: + Value: true + X1/front_left_flipper_wheel2: + Value: true + X1/front_left_flipper_wheel3: + Value: true + X1/front_left_flipper_wheel4: + Value: true + X1/front_left_flipper_wheel5: + Value: true + X1/front_right_flipper: + Value: true + X1/front_right_flipper_wheel1: + Value: true + X1/front_right_flipper_wheel2: + Value: true + X1/front_right_flipper_wheel3: + Value: true + X1/front_right_flipper_wheel4: + Value: true + X1/front_right_flipper_wheel5: + Value: true + X1/laser: + Value: true + X1/laser/laser: + Value: true + X1/left_track: + Value: true + X1/left_track_wheel1: + Value: true + X1/left_track_wheel2: + Value: true + X1/left_track_wheel3: + Value: true + X1/left_track_wheel4: + Value: true + X1/left_track_wheel5: + Value: true + X1/left_track_wheel6: + Value: true + X1/left_track_wheel7: + Value: true + X1/left_track_wheel8: + Value: true + X1/rear_left_flipper: + Value: true + X1/rear_left_flipper_wheel1: + Value: true + X1/rear_left_flipper_wheel2: + Value: true + X1/rear_left_flipper_wheel3: + Value: true + X1/rear_left_flipper_wheel4: + Value: true + X1/rear_left_flipper_wheel5: + Value: true + X1/rear_right_flipper: + Value: true + X1/rear_right_flipper_wheel1: + Value: true + X1/rear_right_flipper_wheel2: + Value: true + X1/rear_right_flipper_wheel3: + Value: true + X1/rear_right_flipper_wheel4: + Value: true + X1/rear_right_flipper_wheel5: + Value: true + X1/right_track: + Value: true + X1/right_track_wheel1: + Value: true + X1/right_track_wheel2: + Value: true + X1/right_track_wheel3: + Value: true + X1/right_track_wheel4: + Value: true + X1/right_track_wheel5: + Value: true + X1/right_track_wheel6: + Value: true + X1/right_track_wheel7: + Value: true + X1/right_track_wheel8: + Value: true + example: + Value: true + world: + Value: true + Marker Scale: 0.4000000059604645 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + example: + X1: + X1/base_link: + X1/base_link/imu: + {} + X1/camera_0: + X1/camera_0/camera_0: + X1/camera_0/camera_0_optical: + {} + X1/camera_1: + X1/camera_1/camera_1: + X1/camera_1/camera_1_optical: + {} + X1/camera_2: + X1/camera_2/camera_2: + X1/camera_2/camera_2_optical: + {} + X1/camera_3: + X1/camera_3/camera_3: + X1/camera_3/camera_3_optical: + {} + X1/camera_4: + X1/camera_4/camera_4: + X1/camera_4/camera_4_optical: + {} + X1/cliff_sensor_0: + X1/cliff_sensor_0/laser: + {} + X1/cliff_sensor_1: + X1/cliff_sensor_1/laser: + {} + X1/cliff_sensor_2: + X1/cliff_sensor_2/laser: + {} + X1/cliff_sensor_3: + X1/cliff_sensor_3/laser: + {} + X1/front_left_flipper: + {} + X1/front_left_flipper_wheel1: + {} + X1/front_left_flipper_wheel2: + {} + X1/front_left_flipper_wheel3: + {} + X1/front_left_flipper_wheel4: + {} + X1/front_left_flipper_wheel5: + {} + X1/front_right_flipper: + {} + X1/front_right_flipper_wheel1: + {} + X1/front_right_flipper_wheel2: + {} + X1/front_right_flipper_wheel3: + {} + X1/front_right_flipper_wheel4: + {} + X1/front_right_flipper_wheel5: + {} + X1/laser: + X1/laser/laser: + {} + X1/left_track: + {} + X1/left_track_wheel1: + {} + X1/left_track_wheel2: + {} + X1/left_track_wheel3: + {} + X1/left_track_wheel4: + {} + X1/left_track_wheel5: + {} + X1/left_track_wheel6: + {} + X1/left_track_wheel7: + {} + X1/left_track_wheel8: + {} + X1/rear_left_flipper: + {} + X1/rear_left_flipper_wheel1: + {} + X1/rear_left_flipper_wheel2: + {} + X1/rear_left_flipper_wheel3: + {} + X1/rear_left_flipper_wheel4: + {} + X1/rear_left_flipper_wheel5: + {} + X1/rear_right_flipper: + {} + X1/rear_right_flipper_wheel1: + {} + X1/rear_right_flipper_wheel2: + {} + X1/rear_right_flipper_wheel3: + {} + X1/rear_right_flipper_wheel4: + {} + X1/rear_right_flipper_wheel5: + {} + X1/right_track: + {} + X1/right_track_wheel1: + {} + X1/right_track_wheel2: + {} + X1/right_track_wheel3: + {} + X1/right_track_wheel4: + {} + X1/right_track_wheel5: + {} + X1/right_track_wheel6: + {} + X1/right_track_wheel7: + {} + X1/right_track_wheel8: + {} + Update Interval: 0 + Value: true + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Base link grid (1 m) + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: base_link + Value: true + - Alpha: 0.5 + Cell Size: 10 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Fixed frame grid (10 m) + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: imu_odom + Unreliable: false + Value: true + - Class: rviz/Group + Displays: + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_0/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 0 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_1/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 1 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_2/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 2 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_3/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 3 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + - Class: rviz/Image + Enabled: true + Image Topic: omni/camera_4/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Omnicam 4 + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Name: Omnicam + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: Ouster lidar + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + Style: Points + Topic: points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Group + Displays: + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0 + Value: false + Axis: X + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: Cliff Sensor FL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: front_left_cliff_scan + Unreliable: false + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0 + Value: false + Axis: X + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: Cliff Sensor FR + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: front_right_cliff_scan + Unreliable: false + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0 + Value: false + Axis: X + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: Cliff Sensor RR + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: rear_right_cliff_scan + Unreliable: false + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 0.25 + Min Value: 0 + Value: false + Axis: X + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: Cliff Sensor RL + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Boxes + Topic: rear_left_cliff_scan + Unreliable: false + Use Fixed Frame: false + Use rainbow: true + Value: true + Enabled: true + Name: Cliff sensors + - Class: rviz/Image + Enabled: true + Image Topic: thermal_camera/image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Thermal + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: X1 + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/ThirdPersonFollower + Distance: 2.926379680633545 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.934464693069458 + Y: 0.13695216178894043 + Z: 1.2674090612563305e-5 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.10000000149011612 + Pitch: 0.5797960162162781 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 5.266724109649658 + Saved: + - Class: rviz/Orbit + Distance: 5 + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: base_link + Value: Orbit (rviz) + Yaw: 0.785398006439209 + - Class: rviz/ThirdPersonFollower + Distance: 5 + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot 3rd person + Near Clip Distance: 3 + Pitch: 0.25 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141590118408203 + - Class: rviz/ThirdPersonFollower + Distance: 10 + 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: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 8 + Pitch: 1.5697963237762451 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141590118408203 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot left side + Near Clip Distance: 4.5 + Pitch: 0 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 1.5700000524520874 + - Class: rviz/ThirdPersonFollower + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Robot right side + Near Clip Distance: 4.5 + Pitch: 0 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: -1.5700000524520874 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 8 + Pitch: 1.5697963237762451 + Position: + X: 0 + Y: 0 + Z: 10 + Target Frame: base_link + Value: FPS (rviz) + Yaw: 0 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Robot top-down + Near Clip Distance: 0.009999999776482582 + Scale: 100 + Target Frame: base_link + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Angle: 0 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Fixed frame top-down + Near Clip Distance: 0.009999999776482582 + Scale: 4 + Target Frame: + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 + - Class: rviz/FPS + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Fixed frame 1st person + Near Clip Distance: 1 + Pitch: 1 + Position: + X: -2 + Y: 0 + Z: 5 + Target Frame: + Value: FPS (rviz) + Yaw: 0 + - Class: rviz/ThirdPersonFollower + Distance: 36.92524719238281 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.4568486213684082 + Y: 0.32300829887390137 + Z: 7.213062417577021e-6 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.10000000149011612 + Pitch: 0.5397967100143433 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 6.276592254638672 +Window Geometry: + Displays: + collapsed: false + Height: 1052 + Hide Left Dock: false + Hide Right Dock: false + Omnicam 0: + collapsed: false + Omnicam 1: + collapsed: false + Omnicam 2: + collapsed: false + Omnicam 3: + collapsed: false + Omnicam 4: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Thermal: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 28 diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/sdf.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/sdf.yaml new file mode 100644 index 00000000..e69de29b diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/urdf.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/config/urdf.yaml new file mode 100644 index 00000000..e69de29b diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/common.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/common.rb new file mode 100644 index 00000000..7dacdc7a --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/common.rb @@ -0,0 +1,21 @@ +require 'yaml' + +def _spawner3(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF='') + base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_3`.chomp + "/launch/common.rb" + + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found." + else + _spawner2(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF) + end +end + +def _rosExecutables3(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 has_omnicam:=0 has_omnicam_vras:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}" + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/example.ign new file mode 100644 index 00000000..0062c43e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/example.ign @@ -0,0 +1,25 @@ + +<% + base_launch = `rospack find ctu_cras_norlab_absolem_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= teleop_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/spawner.rb new file mode 100644 index 00000000..1708bf9f --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/launch/spawner.rb @@ -0,0 +1,9 @@ +require_relative 'common.rb' + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + _spawner3(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) +end + +def rosExecutables(_name, _worldName) + _rosExecutables3(_name, _worldName) +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.config new file mode 100644 index 00000000..bb52bb9d --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.config @@ -0,0 +1,14 @@ + + + ctu_cras_norlab_absolem_sensor_config_6 + model.sdf + + Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 6). + + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1 + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/model.sdf 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+ + + + + + right_track_wheel8 + right_track + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + front_left_flipper_j + 0.8 + + + front_right_flipper_j + 0.8 + + + rear_left_flipper_j + 0.8 + + + rear_right_flipper_j + 0.8 + + + front_left_flipper_j + front_right_flipper_j + rear_left_flipper_j + rear_right_flipper_j + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/package.xml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/package.xml new file mode 100644 index 00000000..31760313 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/package.xml @@ -0,0 +1,17 @@ + + + ctu_cras_norlab_absolem_sensor_config_6 + 1.0.0 + The ctu_cras_norlab_absolem_sensor_config_6 package + + Martin Pecka + Martin Pecka + + BSD-3 + + catkin + + roslaunch + ctu_cras_norlab_absolem_sensor_config_1 + ctu_cras_norlab_absolem_sensor_config_3 + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/print_robot_urdf new file mode 100755 index 00000000..173297fb --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/print_robot_urdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_3" + +# load local modifications of configuration and pass them to print_robot_urdf of sensor config 3 + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/update_robot_sdf new file mode 100755 index 00000000..c3a2b2f0 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_6/scripts/update_robot_sdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_3" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and pass them to update_robot_sdf of sensor config 3 +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/CMakeLists.txt new file mode 100644 index 00000000..c04f2d04 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_absolem_sensor_config_7) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS + scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/README.md new file mode 100644 index 00000000..0e52ad84 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/README.md @@ -0,0 +1,26 @@ +# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_7 + +This package contains sensor config 7 of CTU-CRAS-Norlab Absolem robot. The robot has: + +- 5x Basler ACE Pro 2 RGB camera +- Ouster OS0-128 lidar +- 4 TFMini plus point lidars +- IMU Xsens MTI-30 +- Gas sensor +- 12 comms breadcrumbs +- Weight: about 38 kg +- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited. + +The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order: + +- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/urdf.yaml`, `sensor_config_6/config/common.yaml`, `sensor_config_6/config/urdf.yaml`, `common.yaml`, `urdf.yaml` +- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/sdf.yaml`, `sensor_config_6/config/common.yaml`, `sensor_config_6/config/sdf.yaml`, `common.yaml`, `sdf.yaml` \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/config/common.yaml new file mode 100644 index 00000000..3a442686 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/config/common.yaml @@ -0,0 +1,2 @@ +num_breadcrumbs: 12 +has_mote_deployer: True \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/example.ign new file mode 100644 index 00000000..0062c43e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/example.ign @@ -0,0 +1,25 @@ + +<% + base_launch = `rospack find ctu_cras_norlab_absolem_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= teleop_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/spawner.rb new file mode 100644 index 00000000..c8fd8c86 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/launch/spawner.rb @@ -0,0 +1,43 @@ +require 'yaml' +confdir = File.join(__dir__, '..', 'config') +config = YAML.load_file(File.join(confdir, 'common.yaml')) + +$num_breadcrumbs = config["num_breadcrumbs"] + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_6`.chomp + "/launch/common.rb" + + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found." + else + _additionalSDF = <<-HEREDOC + + /model/#{_name}/breadcrumb/deploy + #{$num_breadcrumbs} + 3.0 + true + + + + -0.45 0.08 0.1 0 0 #{Math::PI/2} + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node + + + + + + HEREDOC + _spawner3(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF) + end +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 has_omnicam:=0 has_omnicam_vras:=1 breadcrumbs:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}" + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.config new file mode 100644 index 00000000..3a0cae96 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.config @@ -0,0 +1,9 @@ + + + ctu_cras_norlab_absolem_sensor_config_7 + model.sdf + + Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 7). + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf new file mode 100644 index 00000000..ad531eed --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/model.sdf @@ -0,0 +1,3848 @@ + + + + + + -0.042805 0.005197 0.15101 0 -0 0 + 21 + + 0.0640776 + 0.0208127 + -0.00998949 + 0.13705 + -0.00622664 + 0.126089 + + + + 0 0 0.129 0 -0 0 + + + 0.59 0.24093 0.117 + + + + + 0 0.135 0.09 0 -0 0 + + + 0.055 0.04 0.08 + + + + + 0 0.155 0.013 0 -0 0 + + + 0.055 0.02 0.075 + + + + + 0 -0.135 0.09 0 -0 0 + + + 0.055 0.04 0.08 + + + + + 0 -0.155 0.013 0 -0 0 + + + 0.055 0.02 0.075 + + + + + 0 0 0.059 0 -0 0 + + + 0.546 0.24093 0.022 + + + + + 0.273 0 0.07 1.5707963267948966 -0 0 + + + 0.24093 + 0.022022 + + + + + -0.273 0 0.07 1.5707963267948966 -0 0 + + + 0.24093 + 0.022022 + + + + + -0.19364 0.1 0.1551 0 1.5707963267948966 0 + + + 0.03718 + 0.008 + + + + + -0.205 0.1 0.34563 0 -0 0 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https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/antenna.dae + + + + + -0.12 0 0.12 0 1.5707963267948966 0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/battery.dae + + + + + -0.205 0.059535 0.175 0 0 -3.1415926535897931 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/mote_deployer.dae + + + + + -0.185 -0.100465 0.235 0 -0 0 + + + 0.02 0.02 0.1 + + + + + -0.164999 -0.090462 0.2349 1.5758 -0 3.1415926535897931 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/mobilicom.dae + + + + + -0.241261 -0.112864 0.283984 1.06679 -0.002995 -0.641659 + + + 0.1 + 0.005 + + + + + -0.260464 -0.098887 0.209942 1.56871 -0.00455 -1.14166 + + + 0.1 + 0.005 + + + + + 0.0915 0 0.185 0 -0 0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/top_box_2021_ladybug.dae + + + + + 0.0165 0 0.305 -0 -1.5707963267948966 0 + + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/CTU_CRAS_NORLAB_ABSOLEM_SENSOR_CONFIG_1/tip/files/meshes/reflector.dae + + + + + 0.0915 0 0.29752 0 -0 0 + + + 0.127 0.12 0.1 + + + + 0 0 0 0 + 0 0.133333 0.486275 1 + 0 0 0 0 + 0 0 0 0 + + + + 0.1315 0 0.35252 0 0.18 0 + + + 0.05 + 0.025 + + + + 0 0 0 0 + 0 0.133333 0.486275 1 + 0 0 0 0 + 0 0 0 0 + + + + 0 0.13 0.2 1.5707963267948966 1.5707963267948966 0 + + 50 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 2.8 + 2.9 + 1 + + 1 0 0 + + + 0 -0.13 0.2 -1.5707963267948966 1.5707963267948966 0 + + 50 + 0 + 0.1 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 2.8 + 2.9 + 1 + + 1 0 0 + + + -0.4 0 0.2 0 1.5707963267948966 0 + + 30 + 0 + 0.2 + 0.0025 + + 0.8 0.8 0.5 1 + 0.8 0.8 0.5 1 + + 1.5 + 1.8 + 1 + + 1 0 0 + + + 0.4 0 0.2 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0 + + 0 0 0.0141 0 -0 0 + 0.7575 + + 0.002731 + 0 + 0 + 0.032554 + 1.5e-05 + 0.031391 + + + + 0 0 0 1.5707963267948966 -0 0 + + + 0.097 + 0.089 + + + + + + 1e+07 + 1 + + + + + 0.5 + 1 + 0.00092 + 0 + 0 0 1 + + + + + + + right_track_wheel4 + right_track + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + -0.035714 -0.1985 0.01855 0 -0 0 + + 0 0 0.0141 0 -0 0 + 0.7575 + + 0.002731 + 0 + 0 + 0.032554 + 1.5e-05 + 0.031391 + + + + 0 0 0 1.5707963267948966 -0 0 + + + 0.097 + 0.089 + + + + + + 1e+07 + 1 + + + + + 0.5 + 1 + 0.00092 + 0 + 0 0 1 + + + + + + + right_track_wheel5 + right_track + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + -0.107143 -0.1985 0.01855 0 -0 0 + + 0 0 0.0141 0 -0 0 + 0.7575 + + 0.002731 + 0 + 0 + 0.032554 + 1.5e-05 + 0.031391 + + + + 0 0 0 1.5707963267948966 -0 0 + + + 0.097 + 0.089 + + + + + + 1e+07 + 1 + + + + + 0.5 + 1 + 0.00092 + 0 + 0 0 1 + + + + + + + right_track_wheel6 + right_track + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + -0.178571 -0.1985 0.01855 0 -0 0 + + 0 0 0.0141 0 -0 0 + 0.7575 + + 0.002731 + 0 + 0 + 0.032554 + 1.5e-05 + 0.031391 + + + + 0 0 0 1.5707963267948966 -0 0 + + + 0.097 + 0.089 + + + + + + 1e+07 + 1 + + + + + 0.5 + 1 + 0.00092 + 0 + 0 0 1 + + + + + + + right_track_wheel7 + right_track + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + -0.25 -0.1985 0.01855 0 -0 0 + + 0 0 0.0141 0 -0 0 + 0.7575 + + 0.002731 + 0 + 0 + 0.032554 + 1.5e-05 + 0.031391 + + + + 0 0 0 1.5707963267948966 -0 0 + + + 0.097 + 0.089 + + + + + + 1e+07 + 1 + + + + + 0.5 + 1 + 0.00092 + 0 + 0 0 1 + + + + + + + right_track_wheel8 + right_track + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + front_left_flipper_j + 0.8 + + + front_right_flipper_j + 0.8 + + + rear_left_flipper_j + 0.8 + + + rear_right_flipper_j + 0.8 + + + front_left_flipper_j + front_right_flipper_j + rear_left_flipper_j + rear_right_flipper_j + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/package.xml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/package.xml new file mode 100644 index 00000000..8453e2b2 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/package.xml @@ -0,0 +1,16 @@ + + + ctu_cras_norlab_absolem_sensor_config_7 + 1.0.0 + The ctu_cras_norlab_absolem_sensor_config_7 package + + Martin Pecka + Martin Pecka + + BSD-3 + + catkin + + roslaunch + ctu_cras_norlab_absolem_sensor_config_6 + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/print_robot_urdf new file mode 100755 index 00000000..7c081518 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/print_robot_urdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_6" + +# load local modifications of configuration and pass them to print_robot_urdf of sensor config 6 + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/update_robot_sdf new file mode 100755 index 00000000..67218afd --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_7/scripts/update_robot_sdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_6" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and pass them to update_robot_sdf of sensor config 6 +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/.gitignore b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/.gitignore new file mode 100644 index 00000000..5a7699cc --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/.gitignore @@ -0,0 +1 @@ +model.sdf.urdf \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/CMakeLists.txt b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/CMakeLists.txt new file mode 100644 index 00000000..f60c1756 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 2.8.3) +project(ctu_cras_norlab_absolem_sensor_config_8) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES model.sdf model.config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(PROGRAMS + scripts/print_robot_urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts) + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/README.md b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/README.md new file mode 100644 index 00000000..e2762a05 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/README.md @@ -0,0 +1,27 @@ +# CTU\_CRAS\_NORLAB\_ABSOLEM\_SENSOR\_CONFIG\_8 + +This package contains sensor config 8 of CTU-CRAS-Norlab Absolem robot. The robot has: + +- 5x Basler ACE Pro 2 RGB camera +- Ouster OS0-128 lidar +- 4 TFMini plus point lidars +- IMU Xsens MTI-30 +- Gas sensor +- 12 comms breadcrumbs +- 90° FOV thermocamera +- Weight: about 38 kg +- It is 50% faster than sensor configs 1 and 2 due to a fixed mechanical issue in the tracks + +## Model files management + +This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/nifti_robot.xacro` file in [`ctu_cras_norlab_absolem_sensor_config_1`](../ctu_cras_norlab_absolem_sensor_config_1) package and the files it includes. + +To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`. + +The SDF model is a regular file committed to this package, but its updates are not +to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited. + +The model is also configured by a set of shared config files located in `config/` directory of this package and sensor config 1. It contains YAML files which are loaded in the following order: + +- URDF: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/urdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/urdf.yaml`, `sensor_config_6/config/common.yaml`, `sensor_config_6/config/urdf.yaml`, `common.yaml`, `urdf.yaml` +- SDF for Ignition Gazebo: `sensor_config_1/config/common.yaml`, `sensor_config_1/config/sdf.yaml`, `sensor_config_3/config/common.yaml`, `sensor_config_3/config/sdf.yaml`, `sensor_config_6/config/common.yaml`, `sensor_config_6/config/sdf.yaml`, `common.yaml`, `sdf.yaml` \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/config/common.yaml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/config/common.yaml new file mode 100644 index 00000000..214ee394 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/config/common.yaml @@ -0,0 +1,7 @@ +num_breadcrumbs: 12 +has_mote_deployer: True + +has_boson_thermocam: True +boson_pos_x: 0.52 +boson_pos_y: 0.08 +boson_pos_z: 0.0 \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/example.ign b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/example.ign new file mode 100644 index 00000000..0062c43e --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/example.ign @@ -0,0 +1,25 @@ + +<% + base_launch = `rospack find ctu_cras_norlab_absolem_sensor_config_1`.chomp + "/launch" + base_dir = File.realpath(File.join(File.dirname(__FILE__), "..")) + + ros_param='' + if defined?(ros) and ros + ros_param='ros:=true' + end + + teleop_param='' + if defined?(teleop) and teleop + teleop_param='teleop:=true' + end + + headless_param='' + if defined?(headless) and headless + headless_param='headless:=true' + end +%> + + + ign launch -v4 <%= File.join(base_launch, "example.ign") %> base_dir:=<%= base_dir %> robotName:=<%= robotName %> <%= ros_param %> <%= teleop_param %> <%= headless_param %> + + \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/spawner.rb b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/spawner.rb new file mode 100644 index 00000000..b79b4b28 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/launch/spawner.rb @@ -0,0 +1,43 @@ +require 'yaml' +confdir = File.join(__dir__, '..', 'config') +config = YAML.load_file(File.join(confdir, 'common.yaml')) + +$num_breadcrumbs = config["num_breadcrumbs"] + +def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw) + base_spawn = `rospack find ctu_cras_norlab_absolem_sensor_config_6`.chomp + "/launch/common.rb" + + begin + load base_spawn + rescue LoadError + raise "Unknown robot configuration #{_modelURI}. #{base_spawn} could not be found." + else + _additionalSDF = <<-HEREDOC + + /model/#{_name}/breadcrumb/deploy + #{$num_breadcrumbs} + 3.0 + true + + + + -0.45 0.08 0.1 0 0 #{Math::PI/2} + + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Breadcrumb Node + + + + + + HEREDOC + _spawner3(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw, _additionalSDF) + end +end + +def rosExecutables(_name, _worldName) + <<-HEREDOC + + roslaunch --wait ctu_cras_norlab_absolem_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name} revision:=2021 has_cliff_sensors:=1 has_omnicam:=0 has_omnicam_vras:=1 breadcrumbs:=1 has_thermal_camera:=1 description_print_command:="#{File.dirname(__FILE__) + '/../scripts/print_robot_urdf'}" + + HEREDOC +end diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.config b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.config new file mode 100644 index 00000000..f73948f5 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.config @@ -0,0 +1,9 @@ + + + ctu_cras_norlab_absolem_sensor_config_8 + model.sdf + + Absolem robot of CTU-CRAS-Norlab for SubT (Sensor Config 8). + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf new file mode 100644 index 00000000..3d550759 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/model.sdf @@ -0,0 +1,3926 @@ + + + + + + -0.042805 0.005197 0.15101 0 -0 0 + 21 + + 0.0640776 + 0.0208127 + -0.00998949 + 0.13705 + -0.00622664 + 0.126089 + + + + 0 0 0.129 0 -0 0 + + + 0.59 0.24093 0.117 + + + + + 0 0.135 0.09 0 -0 0 + + + 0.055 0.04 0.08 + + + + + 0 0.155 0.013 0 -0 0 + + + 0.055 0.02 0.075 + + + + + 0 -0.135 0.09 0 -0 0 + + + 0.055 0.04 0.08 + + + + + 0 -0.155 0.013 0 -0 0 + + + 0.055 0.02 0.075 + + + + + 0 0 0.059 0 -0 0 + + + 0.546 0.24093 0.022 + + + + + 0.273 0 0.07 1.5707963267948966 -0 0 + + + 0.24093 + 0.022022 + + + + + -0.273 0 0.07 1.5707963267948966 -0 0 + + + 0.24093 + 0.022022 + + + + + -0.19364 0.1 0.1551 0 1.5707963267948966 0 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+ 0.7575 + + 0.002731 + 0 + 0 + 0.032554 + 1.5e-05 + 0.031391 + + + + 0 0 0 1.5707963267948966 -0 0 + + + 0.097 + 0.089 + + + + + + 1e+07 + 1 + + + + + 0.5 + 1 + 0.00092 + 0 + 0 0 1 + + + + + + + right_track_wheel8 + right_track + + 0 1 0 + + -1e+16 + 1e+16 + + + 0 + 0 + + 0 + + + + front_left_flipper_j + 0.8 + + + front_right_flipper_j + 0.8 + + + rear_left_flipper_j + 0.8 + + + rear_right_flipper_j + 0.8 + + + front_left_flipper_j + front_right_flipper_j + rear_left_flipper_j + rear_right_flipper_j + + + + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/package.xml b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/package.xml new file mode 100644 index 00000000..ff729163 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/package.xml @@ -0,0 +1,16 @@ + + + ctu_cras_norlab_absolem_sensor_config_8 + 1.0.0 + The ctu_cras_norlab_absolem_sensor_config_8 package + + Martin Pecka + Martin Pecka + + BSD-3 + + catkin + + roslaunch + ctu_cras_norlab_absolem_sensor_config_6 + diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/print_robot_urdf new file mode 100755 index 00000000..7c081518 --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/print_robot_urdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_6" + +# load local modifications of configuration and pass them to print_robot_urdf of sensor config 6 + +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/urdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +"${BASE_MODEL_DIR}/scripts/print_robot_urdf" $config "$@" \ No newline at end of file diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/update_robot_sdf new file mode 100755 index 00000000..67218afd --- /dev/null +++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_8/scripts/update_robot_sdf @@ -0,0 +1,16 @@ +#!/usr/bin/env bash +set -e + +DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" +MODEL_DIR="${DIR}/.." +SC1_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_1" +BASE_MODEL_DIR="${MODEL_DIR}/../ctu_cras_norlab_absolem_sensor_config_6" +[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf" + +# load local modifications of configuration and pass them to update_robot_sdf of sensor config 6 +config="" +for file in "${MODEL_DIR}/config/common.yaml" "${MODEL_DIR}/config/sdf.yaml"; do + [ -f "$file" ] && config="${config} $("${SC1_MODEL_DIR}/scripts/yaml_to_xacro_args" "$file")" +done + +OUTPUT_FILE="$OUTPUT_FILE" "${BASE_MODEL_DIR}/scripts/update_robot_sdf" $config "$@" \ No newline at end of file