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urdf update

This commit is contained in:
Ly PECHVATTANA 2023-09-11 02:40:31 -07:00
parent 32e2d46fd6
commit 91fe3eac74
6 changed files with 217 additions and 8 deletions
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2
src/agv_description/urdf/agv.urdf.xacro
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@ -3,7 +3,7 @@
<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Robot Core -->
<xacro:include filename="$(find agv_description)/urdf/agv_core2.xacro"/>
<xacro:include filename="$(find agv_description)/urdf/agv_core.xacro"/>
<!-- Robot LIDAR -->
<xacro:include filename="$(find agv_description)/urdf/lidar.xacro"/>

12
src/agv_description/urdf/agv_core.xacro
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@ -51,14 +51,14 @@
<visual>
<origin xyz="0.15 0 0.075"/>
<geometry>
<box size="0.3 0.3 0.15"/>
<box size="0.266 0.266 0.094"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin xyz="0.15 0 0.075"/>
<geometry>
<box size="0.3 0.3 0.15"/>
<box size="0.266 0.266 0.094"/>
</geometry>
</collision>
<xacro:inertial_box mass="0.5" x="0.3" y="0.3" z="0.15">
@ -82,13 +82,13 @@
<link name="left_wheel">
<visual>
<geometry>
<cylinder radius="0.05" length="0.04"/>
<cylinder radius="0.033" length="0.018"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.05" length="0.04"/>
<cylinder radius="0.033" length="0.018"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
@ -115,13 +115,13 @@
<link name="right_wheel">
<visual>
<geometry>
<cylinder radius="0.05" length="0.04"/>
<cylinder radius="0.033" length="0.018"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.05" length="0.04"/>
<cylinder radius="0.033" length="0.018"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">

137
src/agv_slam/config/mapping_demo.rviz Normal file
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@ -0,0 +1,137 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Map1
- /Path1
- /Pose1
Splitter Ratio: 0.5
Tree Height: 540
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Value: true
- Alpha: 1
Buffer Length: 1
Class: rviz/Path
Color: 25; 255; 0
Enabled: true
Name: Path
Topic: /trajectory
Value: true
- Alpha: 1
Axes Length: 1
Axes Radius: 0.1
Class: rviz/Pose
Color: 255; 25; 0
Enabled: true
Head Length: 0.3
Head Radius: 0.1
Name: Pose
Shaft Length: 1
Shaft Radius: 0.05
Shape: Axes
Topic: /slam_out_pose
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
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
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/XYOrbit
Distance: 44.388
Focal Point:
X: 9.50434
Y: -0.685607
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 1.56976
Target Frame: <Fixed Frame>
Value: XYOrbit (rviz)
Yaw: -0.7846
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 846
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000013c000002abfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000002ab000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000002ab000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002ab00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1200
X: 53
Y: 60

0
src/agv_slam/launch/geotiff_map_file_path.launch Normal file
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57
src/agv_slam/launch/mapping_default.launch Normal file
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@ -0,0 +1,57 @@
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_footprint"/>
<arg name="odom_frame" default="odom"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0 0 0 0 map nav 100"/>-->
</launch>

15
src/agv_slam/launch/test.launch Normal file
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@ -0,0 +1,15 @@
<?xml version="1.0"?>
<launch>
<param name="/use_sim_time" value="true"/>
<node pkg="rviz" type="rviz" name="rviz"
args="-d $(find agv_slame)/config/mapping_demo.rviz"/>
<include file="$(find hector_mapping)/launch/mapping_default.launch"/>
<include file="$(find hector_geotiff_launch)/launch/geotiff_mapper.launch">
<arg name="trajectory_source_frame_name" value="scanmatcher_frame"/>
<arg name="map_file_path" value="$(arg geotiff_map_file_path)"/>
</include>
</launch>