Adding base Unity project
This commit is contained in:
Devin Miller (Unity)
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Коммит
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# This .gitignore file should be placed at the root of your Unity project directory
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#
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# Get latest from https://github.com/github/gitignore/blob/master/Unity.gitignore
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#
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/[Ll]ibrary/
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/[Tt]emp/
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/[Oo]bj/
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/[Bb]uild/
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/[Bb]uilds/
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/[Ll]ogs/
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/[Mm]emoryCaptures/
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# Asset meta data should only be ignored when the corresponding asset is also ignored
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!/[Aa]ssets/**/*.meta
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# Uncomment this line if you wish to ignore the asset store tools plugin
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# Autogenerated Jetbrains Rider plugin
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# Visual Studio cache directory
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.vscode/
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.gradle/
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# Autogenerated VS/MD/Consulo solution and project files
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ExportedObj/
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.consulo/
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*.csproj
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*.unityproj
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*.sln
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*.suo
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*.tmp
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*.user
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*.userprefs
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*.pidb
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*.booproj
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*.svd
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*.pdb
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*.mdb
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*.opendb
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*.VC.db
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# Unity3D generated meta files
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*.pidb.meta
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*.pdb.meta
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*.mdb.meta
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# Unity3D generated file on crash reports
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sysinfo.txt
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# Builds
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*.apk
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*.unitypackage
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# Crashlytics generated file
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crashlytics-build.properties
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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using Unity.Robotics.ROSTCPConnector;
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using RosMessageTypes.Geometry;
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namespace RosSharp.Control
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{
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public enum ControlMode { Keyboard, ROS};
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public class AGVController : MonoBehaviour
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{
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public GameObject wheel1;
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public GameObject wheel2;
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public ControlMode mode = ControlMode.ROS;
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private ArticulationBody wA1;
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private ArticulationBody wA2;
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public float maxLinearSpeed = 2; // m/s
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public float maxRotationalSpeed = 1;//
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public float wheelRadius = 0.033f; //meters
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public float trackWidth = 0.288f; // meters Distance between tyres
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public float forceLimit = 10;
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public float damping = 10;
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public float ROSTimeout = 0.5f;
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private float lastCmdReceived = 0f;
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ROSConnection ros;
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private RotationDirection direction;
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private float rosLinear = 0f;
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private float rosAngular = 0f;
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void Start()
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{
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wA1 = wheel1.GetComponent<ArticulationBody>();
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wA2 = wheel2.GetComponent<ArticulationBody>();
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SetParameters(wA1);
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SetParameters(wA2);
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ros = ROSConnection.instance;
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ros.Subscribe<TwistMsg>("cmd_vel", ReceiveROSCmd);
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}
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void ReceiveROSCmd(TwistMsg cmdVel)
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{
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rosLinear = (float)cmdVel.linear.x;
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rosAngular = (float)cmdVel.angular.z;
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Debug.Log("Linear : " + rosLinear + " Angular : " + rosAngular);
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lastCmdReceived = Time.time;
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}
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void FixedUpdate()
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{
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if (mode == ControlMode.Keyboard)
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{
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KeyBoardUpdate();
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}
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else if (mode == ControlMode.ROS)
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{
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ROSUpdate();
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}
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}
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private void SetParameters(ArticulationBody joint)
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{
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ArticulationDrive drive = joint.xDrive;
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drive.forceLimit = forceLimit;
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drive.damping = damping;
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joint.xDrive = drive;
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}
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private void SetSpeed(ArticulationBody joint, float wheelSpeed = float.NaN)
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{
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ArticulationDrive drive = joint.xDrive;
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if (float.IsNaN(wheelSpeed))
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{
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drive.targetVelocity = ((2 * maxLinearSpeed) / wheelRadius) * Mathf.Rad2Deg * (int)direction;
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}
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else
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{
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drive.targetVelocity = wheelSpeed;
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}
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joint.xDrive = drive;
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}
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private void KeyBoardUpdate()
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{
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float moveDirection = Input.GetAxis("Vertical");
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float inputSpeed;
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float inputRotationSpeed;
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if (moveDirection > 0)
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{
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inputSpeed = maxLinearSpeed;
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}
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else if (moveDirection < 0)
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{
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inputSpeed = maxLinearSpeed * -1;
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}
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else
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{
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inputSpeed = 0;
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}
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float turnDirction = Input.GetAxis("Horizontal");
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if (turnDirction > 0)
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{
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inputRotationSpeed = maxRotationalSpeed;
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}
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else if (turnDirction < 0)
|
||||
{
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||||
inputRotationSpeed = maxRotationalSpeed * -1;
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||||
}
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||||
else
|
||||
{
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inputRotationSpeed = 0;
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}
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RobotInput(inputSpeed, inputRotationSpeed);
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}
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private void ROSUpdate()
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||||
{
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||||
if (Time.time - lastCmdReceived > ROSTimeout)
|
||||
{
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||||
rosLinear = 0f;
|
||||
rosAngular = 0f;
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}
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RobotInput(rosLinear, -rosAngular);
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}
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private void RobotInput(float speed, float rotSpeed) // m/s and rad/s
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{
|
||||
if (speed > maxLinearSpeed)
|
||||
{
|
||||
speed = maxLinearSpeed;
|
||||
}
|
||||
if (rotSpeed > maxRotationalSpeed)
|
||||
{
|
||||
rotSpeed = maxRotationalSpeed;
|
||||
}
|
||||
float wheel1Rotation = (speed / wheelRadius);
|
||||
float wheel2Rotation = wheel1Rotation;
|
||||
float wheelSpeedDiff = ((rotSpeed * trackWidth) / wheelRadius);
|
||||
if (rotSpeed != 0)
|
||||
{
|
||||
wheel1Rotation = (wheel1Rotation + (wheelSpeedDiff / 1)) * Mathf.Rad2Deg;
|
||||
wheel2Rotation = (wheel2Rotation - (wheelSpeedDiff / 1)) * Mathf.Rad2Deg;
|
||||
}
|
||||
else
|
||||
{
|
||||
wheel1Rotation *= Mathf.Rad2Deg;
|
||||
wheel2Rotation *= Mathf.Rad2Deg;
|
||||
}
|
||||
SetSpeed(wA1, wheel1Rotation);
|
||||
SetSpeed(wA2, wheel2Rotation);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 8293e12d0c46eab409c8b3a4d4c9b9b4
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,14 @@
|
|||
using UnityEngine;
|
||||
|
||||
namespace Unity.Robotics.Core
|
||||
{
|
||||
public static class Clock
|
||||
{
|
||||
// TODO: Think about what this would mean in sim time context? Probably ties into a sim scheduler...
|
||||
public static float DeltaTimeSeconds => Time.deltaTime;
|
||||
|
||||
public static float TimeSeconds => Time.time;
|
||||
|
||||
public static TimeStamp TimeStamp => new TimeStamp(TimeSeconds);
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 094f395214cd8804a96f2198682ce40f
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,20 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
|
||||
public class InertiaTensorUpdate : MonoBehaviour
|
||||
{
|
||||
public Vector3 inertiaTensor;
|
||||
|
||||
// Start is called before the first frame update
|
||||
void Start()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
// Update is called once per frame
|
||||
void Update()
|
||||
{
|
||||
GetComponent<ArticulationBody>().inertiaTensor = inertiaTensor;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 889bafc1db5e4074f8bb9d288a30336e
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,274 @@
|
|||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using RosMessageTypes.Sensor;
|
||||
using RosMessageTypes.Std;
|
||||
using RosMessageTypes.BuiltinInterfaces;
|
||||
using RosSharp.Urdf;
|
||||
using TMPro.SpriteAssetUtilities;
|
||||
using Unity.Robotics.Core;
|
||||
using UnityEngine;
|
||||
using Unity.Robotics.ROSTCPConnector;
|
||||
using UnityEditor.SearchService;
|
||||
using UnityEngine.Serialization;
|
||||
|
||||
public class LaserScanSensor : MonoBehaviour
|
||||
{
|
||||
class ScanMarker
|
||||
{
|
||||
public GameObject SceneObject;
|
||||
public float TimeCurrentStateSeconds;
|
||||
|
||||
internal Renderer Renderer => m_Renderer ??= SceneObject?.GetComponent<Renderer>();
|
||||
internal MaterialPropertyBlock PropertyBlock => m_PropertyBlock ??= new MaterialPropertyBlock();
|
||||
|
||||
private Renderer m_Renderer;
|
||||
private MaterialPropertyBlock m_PropertyBlock;
|
||||
|
||||
public void SetColor(Color color)
|
||||
{
|
||||
PropertyBlock.SetColor("_BaseColor", color);
|
||||
Renderer.SetPropertyBlock(PropertyBlock);
|
||||
}
|
||||
}
|
||||
|
||||
public string topic;
|
||||
public bool ConnectToRos;
|
||||
[FormerlySerializedAs("TimeBetweenScansSeconds")]
|
||||
public float PublishPeriodSeconds = 0.1f;
|
||||
public float RangeMetersMin = 0;
|
||||
public float RangeMetersMax = 1000;
|
||||
public float ScanAngleStartDegrees = -45;
|
||||
public float ScanAngleEndDegrees = 45;
|
||||
// Change the scan start and end by this amount after every publish
|
||||
public float ScanOffsetAfterPublish = 0f;
|
||||
public int NumMeasurementsPerScan = 10;
|
||||
public float TimeBetweenMeasurementsSeconds = 0.01f;
|
||||
public GameObject markerPrefab;
|
||||
public string LayerMaskName = "TurtleBot3Manual";
|
||||
public string FrameId = "base_scan";
|
||||
[FormerlySerializedAs("MarkerGradient")] public Gradient ActiveMarkerGradient;
|
||||
public Gradient InActiveMarkerGradient;
|
||||
|
||||
Queue<ScanMarker> m_MarkersActive = new Queue<ScanMarker>();
|
||||
Queue<ScanMarker> m_MarkersInactive = new Queue<ScanMarker>();
|
||||
|
||||
float m_CurrentScanAngleStart;
|
||||
float m_CurrentScanAngleEnd;
|
||||
ROSConnection m_Ros;
|
||||
private bool m_HaveWarnedNoMarkerPrefab;
|
||||
float m_TimeNextScanSeconds = -1;
|
||||
private int m_NumMeasurementsTaken;
|
||||
List<float> ranges = new List<float>();
|
||||
LayerMask m_SelfMask;
|
||||
|
||||
bool isScanning = false;
|
||||
float m_TimeLastScanBeganSeconds = -1;
|
||||
|
||||
protected virtual void Start()
|
||||
{
|
||||
if (ConnectToRos)
|
||||
{
|
||||
m_Ros = ROSConnection.instance;
|
||||
m_Ros.RegisterPublisher(topic, "sensor_msgs/LaserScan");
|
||||
}
|
||||
|
||||
m_CurrentScanAngleStart = ScanAngleStartDegrees;
|
||||
m_CurrentScanAngleEnd = ScanAngleEndDegrees;
|
||||
m_SelfMask = LayerMask.GetMask(LayerMaskName);
|
||||
|
||||
m_TimeNextScanSeconds = Time.time + PublishPeriodSeconds;
|
||||
}
|
||||
|
||||
void BeginScan()
|
||||
{
|
||||
isScanning = true;
|
||||
m_TimeLastScanBeganSeconds = Clock.TimeSeconds;
|
||||
m_TimeNextScanSeconds = m_TimeLastScanBeganSeconds + PublishPeriodSeconds;
|
||||
m_NumMeasurementsTaken = 0;
|
||||
ResetMarkers();
|
||||
}
|
||||
|
||||
void ResetMarkers()
|
||||
{
|
||||
var inactiveColor = InActiveMarkerGradient.Evaluate(0f);
|
||||
|
||||
while (m_MarkersActive.Count > 0)
|
||||
{
|
||||
var marker = m_MarkersActive.Dequeue();
|
||||
//marker.SetActive(false);
|
||||
marker.SetColor(inactiveColor);
|
||||
marker.TimeCurrentStateSeconds = 0f;
|
||||
m_MarkersInactive.Enqueue(marker);
|
||||
}
|
||||
}
|
||||
|
||||
public void EndScan()
|
||||
{
|
||||
if (ranges.Count == 0)
|
||||
{
|
||||
Debug.LogWarning($"Took {m_NumMeasurementsTaken} measurements but found no valid ranges");
|
||||
}
|
||||
else if (ranges.Count != m_NumMeasurementsTaken || ranges.Count != NumMeasurementsPerScan)
|
||||
{
|
||||
Debug.LogWarning($"Expected {NumMeasurementsPerScan} measurements. Actually took {m_NumMeasurementsTaken}" +
|
||||
$"and recorded {ranges.Count} ranges.");
|
||||
}
|
||||
|
||||
var timestamp = Clock.TimeStamp;
|
||||
// Invert the angle ranges when going from Unity to ROS
|
||||
var angleStartRos = -m_CurrentScanAngleStart * Mathf.Deg2Rad;
|
||||
var angleEndRos = -m_CurrentScanAngleEnd * Mathf.Deg2Rad;
|
||||
if (angleStartRos > angleEndRos)
|
||||
{
|
||||
Debug.LogWarning("LaserScan was performed in a clockwise direction but ROS expects a counter-clockwise scan, flipping the ranges...");
|
||||
var temp = angleEndRos;
|
||||
angleEndRos = angleStartRos;
|
||||
angleStartRos = temp;
|
||||
ranges.Reverse();
|
||||
}
|
||||
|
||||
var msg = new LaserScanMsg
|
||||
{
|
||||
header = new HeaderMsg
|
||||
{
|
||||
frame_id = FrameId,
|
||||
stamp = new TimeMsg
|
||||
{
|
||||
sec = timestamp.Seconds,
|
||||
nanosec = timestamp.NanoSeconds,
|
||||
}
|
||||
},
|
||||
range_min = RangeMetersMin,
|
||||
range_max = RangeMetersMax,
|
||||
angle_min = angleStartRos,
|
||||
angle_max = angleEndRos,
|
||||
angle_increment = (angleEndRos - angleStartRos) / NumMeasurementsPerScan,
|
||||
time_increment = TimeBetweenMeasurementsSeconds,
|
||||
scan_time = PublishPeriodSeconds,
|
||||
intensities = new float[ranges.Count],
|
||||
ranges = ranges.ToArray(),
|
||||
};
|
||||
|
||||
if (ConnectToRos)
|
||||
m_Ros.Send(topic, msg);
|
||||
|
||||
m_NumMeasurementsTaken = 0;
|
||||
ranges.Clear();
|
||||
isScanning = false;
|
||||
var now = Clock.TimeSeconds;
|
||||
if (now > m_TimeNextScanSeconds)
|
||||
{
|
||||
Debug.LogWarning($"Failed to complete scan started at {m_TimeLastScanBeganSeconds:F} before next scan was " +
|
||||
$"scheduled to start: {m_TimeNextScanSeconds:F}, rescheduling to now ({now:F})");
|
||||
m_TimeNextScanSeconds = now;
|
||||
}
|
||||
|
||||
m_CurrentScanAngleStart += ScanOffsetAfterPublish;
|
||||
m_CurrentScanAngleEnd += ScanOffsetAfterPublish;
|
||||
if (m_CurrentScanAngleStart > 360f || m_CurrentScanAngleEnd > 360f)
|
||||
{
|
||||
m_CurrentScanAngleStart -= 360f;
|
||||
m_CurrentScanAngleEnd -= 360f;
|
||||
}
|
||||
}
|
||||
|
||||
void ActivateMarker(ScanMarker marker)
|
||||
{
|
||||
marker.SetColor(ActiveMarkerGradient.Evaluate(0f));
|
||||
marker.TimeCurrentStateSeconds = 0f;
|
||||
//marker.SetActive(true);
|
||||
m_MarkersActive.Enqueue(marker);
|
||||
}
|
||||
|
||||
void UpdateAllMarkers()
|
||||
{
|
||||
var timeDelta = Clock.DeltaTimeSeconds;
|
||||
foreach (var marker in m_MarkersActive)
|
||||
{
|
||||
marker.TimeCurrentStateSeconds += timeDelta;
|
||||
var fadeAmount = Mathf.Clamp01(marker.TimeCurrentStateSeconds / PublishPeriodSeconds);
|
||||
marker.SetColor(ActiveMarkerGradient.Evaluate(fadeAmount));
|
||||
}
|
||||
|
||||
foreach (var marker in m_MarkersInactive)
|
||||
{
|
||||
marker.TimeCurrentStateSeconds += timeDelta;
|
||||
var fadeAmount = Mathf.Clamp01(marker.TimeCurrentStateSeconds / PublishPeriodSeconds);
|
||||
marker.SetColor(InActiveMarkerGradient.Evaluate(fadeAmount));
|
||||
}
|
||||
}
|
||||
|
||||
public void Update()
|
||||
{
|
||||
if (!isScanning)
|
||||
{
|
||||
if (Clock.TimeSeconds < m_TimeNextScanSeconds)
|
||||
return; // do nothing while waiting for the next scan
|
||||
|
||||
BeginScan();
|
||||
}
|
||||
|
||||
|
||||
var measurementsSoFar = TimeBetweenMeasurementsSeconds == 0 ? NumMeasurementsPerScan :
|
||||
1 + Mathf.FloorToInt((Clock.TimeSeconds - m_TimeLastScanBeganSeconds) / TimeBetweenMeasurementsSeconds);
|
||||
if (measurementsSoFar > NumMeasurementsPerScan)
|
||||
measurementsSoFar = NumMeasurementsPerScan;
|
||||
|
||||
var yawBaseDegrees = transform.rotation.eulerAngles.y;
|
||||
while (m_NumMeasurementsTaken < measurementsSoFar)
|
||||
{
|
||||
var t = m_NumMeasurementsTaken / (float)NumMeasurementsPerScan;
|
||||
var yawSensorDegrees = Mathf.Lerp(m_CurrentScanAngleStart, m_CurrentScanAngleEnd, t);
|
||||
var yawDegrees = yawBaseDegrees + yawSensorDegrees;
|
||||
var directionVector = Quaternion.Euler(0f, yawDegrees, 0f) * Vector3.forward;
|
||||
var measurementStart = RangeMetersMin * directionVector + transform.position;
|
||||
var measurementRay = new Ray(measurementStart, directionVector);
|
||||
var foundValidMeasurement = Physics.Raycast(measurementRay, out var hit, RangeMetersMax);
|
||||
// Only record measurement if it's within the sensor's operating range
|
||||
if (foundValidMeasurement)
|
||||
{
|
||||
ranges.Add(hit.distance);
|
||||
|
||||
if (m_MarkersInactive.Count > 0)
|
||||
{
|
||||
var marker = m_MarkersInactive.Dequeue();
|
||||
ActivateMarker(marker);
|
||||
marker.SceneObject.transform.position = hit.point;
|
||||
}
|
||||
else if (markerPrefab != null)
|
||||
{
|
||||
var scanMarker = new ScanMarker
|
||||
{
|
||||
SceneObject = Instantiate(markerPrefab, hit.point, Quaternion.identity),
|
||||
};
|
||||
ActivateMarker(scanMarker);
|
||||
}
|
||||
else if (!m_HaveWarnedNoMarkerPrefab)
|
||||
{
|
||||
Debug.LogWarning("No marker prefabs available to instantiate - won't be able to visualize scan");
|
||||
m_HaveWarnedNoMarkerPrefab = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
ranges.Add(float.MaxValue);
|
||||
}
|
||||
|
||||
// Even if Raycast didn't find a valid hit, we still count it as a measurement
|
||||
++m_NumMeasurementsTaken;
|
||||
}
|
||||
|
||||
UpdateAllMarkers();
|
||||
|
||||
if (m_NumMeasurementsTaken >= NumMeasurementsPerScan)
|
||||
{
|
||||
if (m_NumMeasurementsTaken > NumMeasurementsPerScan)
|
||||
{
|
||||
Debug.LogError($"LaserScan has {m_NumMeasurementsTaken} measurements but we expected {NumMeasurementsPerScan}");
|
||||
}
|
||||
EndScan();
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 2e05bbafb4c4b8f4eb3a6ff52a37bec7
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
using System;
|
||||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using Unity.Robotics.ROSTCPConnector;
|
||||
using RosMessageTypes.Std;
|
||||
using RosMessageTypes.BuiltinInterfaces;
|
||||
using Unity.Robotics.Core;
|
||||
|
||||
public class ROSClockPublisher : MonoBehaviour
|
||||
{
|
||||
public float PublishRateHz = 100f;
|
||||
|
||||
float m_LastPublishTimeSeconds;
|
||||
|
||||
ROSConnection m_ROS;
|
||||
|
||||
float PublishPeriodSeconds => 1.0f / PublishRateHz;
|
||||
|
||||
bool ShouldPublishMessage => Clock.TimeSeconds > m_LastPublishTimeSeconds + PublishPeriodSeconds;
|
||||
|
||||
// Start is called before the first frame update
|
||||
void Start()
|
||||
{
|
||||
m_ROS = ROSConnection.instance;
|
||||
m_ROS.RegisterPublisher("clock", "rosgraph_msgs/Clock");
|
||||
}
|
||||
|
||||
void PublishMessage()
|
||||
{
|
||||
var clockMsg = new TimeMsg
|
||||
{
|
||||
sec = (int)Clock.TimeSeconds,
|
||||
nanosec = (uint)((Clock.TimeSeconds - Math.Floor(Clock.TimeSeconds)) * 1000000000)
|
||||
};
|
||||
m_ROS.Send("clock", clockMsg);
|
||||
m_LastPublishTimeSeconds = Clock.TimeSeconds;
|
||||
}
|
||||
|
||||
void Update()
|
||||
{
|
||||
if (ShouldPublishMessage)
|
||||
{
|
||||
PublishMessage();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 967f7747bd690dd41bfed4e6090ab213
|
||||
MonoImporter:
|
||||
externalObjects: {}
|
||||
serializedVersion: 2
|
||||
defaultReferences: []
|
||||
executionOrder: 0
|
||||
icon: {instanceID: 0}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,72 @@
|
|||
using System.Collections.Generic;
|
||||
using RosMessageTypes.Geometry;
|
||||
using RosMessageTypes.Std;
|
||||
//using RosMessageTypes.Tf2;
|
||||
using RosSharp.Urdf;
|
||||
using Unity.Robotics.Core;
|
||||
using Unity.Robotics.ROSTCPConnector;
|
||||
using Unity.Robotics.ROSTCPConnector.ROSGeometry;
|
||||
using UnityEngine;
|
||||
|
||||
public class ROSTransformPublisher : MonoBehaviour
|
||||
{
|
||||
public float PublishRateHz = 1f;
|
||||
public string GlobalFrameID = "odom";
|
||||
|
||||
float m_LastPublishTimeSeconds;
|
||||
|
||||
TransformTree m_TransformRoot;
|
||||
ROSConnection m_ROS;
|
||||
|
||||
float PublishPeriodSeconds => 1.0f / PublishRateHz;
|
||||
|
||||
bool ShouldPublishMessage => Clock.TimeSeconds > m_LastPublishTimeSeconds + PublishPeriodSeconds;
|
||||
|
||||
// Start is called before the first frame update
|
||||
void Start()
|
||||
{
|
||||
m_ROS = ROSConnection.instance;
|
||||
m_TransformRoot = new TransformTree(gameObject);
|
||||
m_ROS.RegisterPublisher("tf", "tf2_msgs/TFMessage");
|
||||
|
||||
}
|
||||
|
||||
void PopulateTFList(List<TransformStampedMsg> tfList, TransformTree tfNode)
|
||||
{
|
||||
var parentFrame = tfNode.name;
|
||||
// TODO: Some of this could be done once and cached rather than doing from scratch every time
|
||||
foreach (var childTf in tfNode.Children)
|
||||
{
|
||||
tfList.Add(TransformTree.ToTransformStamped(childTf));
|
||||
|
||||
if (!childTf.IsALeafNode)
|
||||
{
|
||||
PopulateTFList(tfList, childTf);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void PublishMessage()
|
||||
{
|
||||
var tfMessageList = new List<TransformStampedMsg>();
|
||||
//var tfRootToGlobal = new TransformStampedMsg(
|
||||
// new HeaderMsg(Clock.TimeStamp, GlobalFrameID),
|
||||
// m_TransformRoot.name,
|
||||
// m_TransformRoot.Transform.To<FLU>());
|
||||
//tfMessageList.Add(tfRootToGlobal);
|
||||
//PopulateTFList(tfMessageList, m_TransformRoot);
|
||||
|
||||
//var tfMessage = new TFMessageMsg(tfMessageList.ToArray());
|
||||
//m_ROS.Send("tf", tfMessage);
|
||||
//m_LastPublishTimeSeconds = Clock.TimeSeconds;
|
||||
}
|
||||
|
||||
void Update()
|
||||
{
|
||||
if (ShouldPublishMessage)
|
||||
{
|
||||
PublishMessage();
|
||||
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|
||||
|
||||
}
|
||||
}
|
||||
|
|
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userData:
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|
@ -0,0 +1,41 @@
|
|||
using System.Collections;
|
||||
using System.Collections.Generic;
|
||||
using UnityEngine;
|
||||
using RosSharp.Control;
|
||||
|
||||
public class RobotLoader : MonoBehaviour
|
||||
{
|
||||
void Start()
|
||||
{
|
||||
//Tile Constraint
|
||||
GameObject tiltConstraint = new GameObject("TiltConstraint");
|
||||
tiltConstraint.transform.position = transform.position;
|
||||
ConfigurableJoint constraint = tiltConstraint.AddComponent<ConfigurableJoint>();
|
||||
constraint.GetComponent<Rigidbody>().isKinematic = true;
|
||||
constraint.angularXMotion = ConfigurableJointMotion.Locked;
|
||||
constraint.angularZMotion = ConfigurableJointMotion.Locked;
|
||||
GameObject baseLink = transform.Find("base_footprint/base_link").gameObject;
|
||||
constraint.connectedArticulationBody = baseLink.GetComponent<ArticulationBody>();
|
||||
|
||||
//Remove Collisions
|
||||
Collider[] casterCollider = baseLink.transform.Find("caster_back_right_link").GetComponentsInChildren<Collider>();
|
||||
foreach (Collider col in casterCollider)
|
||||
{
|
||||
Destroy(col);
|
||||
}
|
||||
|
||||
Collider[] casterCollider2 = baseLink.transform.Find("caster_back_left_link").GetComponentsInChildren<Collider>();
|
||||
foreach (Collider col in casterCollider2)
|
||||
{
|
||||
Destroy(col);
|
||||
}
|
||||
|
||||
//TensorUpdate
|
||||
Vector3 inertiaup = new Vector3(1, 1, 1);
|
||||
GameObject wheel1 = baseLink.transform.Find("wheel_left_link").gameObject;
|
||||
GameObject wheel2 = baseLink.transform.Find("wheel_right_link").gameObject;
|
||||
InertiaTensorUpdate wheel1up = wheel1.gameObject.AddComponent<InertiaTensorUpdate>();
|
||||
InertiaTensorUpdate wheel2up = wheel2.gameObject.AddComponent<InertiaTensorUpdate>();
|
||||
wheel1up.inertiaTensor = wheel2up.inertiaTensor = inertiaup;
|
||||
}
|
||||
}
|
||||
|
|
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||||
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|
@ -0,0 +1,47 @@
|
|||
using System;
|
||||
using System.Runtime.InteropServices;
|
||||
using Unity.Mathematics;
|
||||
using Unity.Profiling.LowLevel.Unsafe;
|
||||
using UnityEngine;
|
||||
using RosMessageTypes.Std;
|
||||
using RosMessageTypes.BuiltinInterfaces;
|
||||
|
||||
namespace Unity.Robotics.Core
|
||||
{
|
||||
public readonly struct TimeStamp
|
||||
{
|
||||
public const double k_NanosecondsInSecond = 1e9f;
|
||||
|
||||
// TODO: specify base time this stamp is measured against (Sim 0, time since application start, etc.)
|
||||
public readonly int Seconds;
|
||||
public readonly uint NanoSeconds;
|
||||
|
||||
// (From Unity Time.time)
|
||||
public TimeStamp(double timeInSeconds)
|
||||
{
|
||||
var sec = Math.Floor(timeInSeconds);
|
||||
var nsec = (timeInSeconds - sec) * k_NanosecondsInSecond;
|
||||
// TODO: Check for negatives to ensure safe cast
|
||||
Seconds = (int)sec;
|
||||
NanoSeconds = (uint)nsec;
|
||||
}
|
||||
|
||||
// (From a ROS2 Time message)
|
||||
TimeStamp(int sec, uint nsec)
|
||||
{
|
||||
Seconds = sec;
|
||||
NanoSeconds = nsec;
|
||||
}
|
||||
|
||||
// NOTE: We could define these operators in a transport-specific extension package
|
||||
public static implicit operator TimeMsg(TimeStamp stamp)
|
||||
{
|
||||
return new TimeMsg(stamp.Seconds, stamp.NanoSeconds);
|
||||
}
|
||||
|
||||
public static implicit operator TimeStamp(TimeMsg stamp)
|
||||
{
|
||||
return new TimeStamp(stamp.sec, stamp.nanosec);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
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|
@ -0,0 +1,25 @@
|
|||
using RosMessageTypes.Geometry;
|
||||
using RosMessageTypes.Std;
|
||||
using Unity.Robotics.Core;
|
||||
using Unity.Robotics.ROSTCPConnector.ROSGeometry;
|
||||
using UnityEngine;
|
||||
|
||||
public static class TransformExtensions
|
||||
{
|
||||
|
||||
public static TransformMsg ToROSTransform(this Transform tfUnity)
|
||||
{
|
||||
return new TransformMsg(
|
||||
// Using vector/quaternion To<>() because Transform.To<>() doesn't use localPosition/localRotation
|
||||
tfUnity.localPosition.To<FLU>(),
|
||||
tfUnity.localRotation.To<FLU>());
|
||||
}
|
||||
|
||||
public static TransformStampedMsg ToROSTransformStamped(this Transform tfUnity)
|
||||
{
|
||||
return new TransformStampedMsg(
|
||||
new HeaderMsg(Clock.TimeStamp, tfUnity.parent.gameObject.name),
|
||||
tfUnity.gameObject.name,
|
||||
tfUnity.ToROSTransform());
|
||||
}
|
||||
}
|
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|
|
@ -0,0 +1,11 @@
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@ -0,0 +1,43 @@
|
|||
using System.Collections.Generic;
|
||||
using RosMessageTypes.Geometry;
|
||||
using RosSharp.Urdf;
|
||||
using UnityEngine;
|
||||
|
||||
internal class TransformTree
|
||||
{
|
||||
public readonly GameObject SceneObject;
|
||||
public readonly List<TransformTree> Children;
|
||||
public Transform Transform => SceneObject.transform;
|
||||
public string parentName => SceneObject.transform.parent.name;
|
||||
public string name => SceneObject.name;
|
||||
public bool IsALeafNode => Children.Count == 0;
|
||||
|
||||
public TransformTree(GameObject sceneObject)
|
||||
{
|
||||
SceneObject = sceneObject;
|
||||
Children = new List<TransformTree>();
|
||||
PopulateChildNodes(this);
|
||||
}
|
||||
|
||||
public static TransformStampedMsg ToTransformStamped(TransformTree node)
|
||||
{
|
||||
return node.Transform.ToROSTransformStamped();
|
||||
}
|
||||
|
||||
static void PopulateChildNodes(TransformTree tfNode)
|
||||
{
|
||||
var parentTransform = tfNode.Transform;
|
||||
for (var childIndex = 0; childIndex < parentTransform.childCount; ++childIndex)
|
||||
{
|
||||
var childTransform = parentTransform.GetChild(childIndex);
|
||||
var childGO = childTransform.gameObject;
|
||||
|
||||
// If game object has a URDFLink attached, it's a link in the transform tree
|
||||
if (childGO.TryGetComponent(out UrdfLink _))
|
||||
{
|
||||
var childNode = new TransformTree(childGO);
|
||||
tfNode.Children.Add(childNode);
|
||||
}
|
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}
|
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}
|
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}
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|
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@ -0,0 +1,35 @@
|
|||
# This is a basic workflow to help you get started with Actions
|
||||
|
||||
name: Lint
|
||||
|
||||
# Controls when the action will run. Triggers the workflow on push or pull request
|
||||
# events but only for the master branch
|
||||
on:
|
||||
pull_request:
|
||||
branches: [ ros2, ros2-devel ]
|
||||
|
||||
# A workflow run is made up of one or more jobs that can run sequentially or in parallel
|
||||
jobs:
|
||||
ament_lint:
|
||||
runs-on: ubuntu-18.04
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
linter: [copyright, cppcheck, cpplint, uncrustify, pep8, pep257, xmllint]
|
||||
distribution: [dashing, eloquent, foxy]
|
||||
steps:
|
||||
- uses: actions/checkout@v2
|
||||
- uses: ros-tooling/setup-ros@0.0.20
|
||||
- uses: ros-tooling/action-ros-lint@0.0.6
|
||||
with:
|
||||
distribution: ${{ matrix.distribution }}
|
||||
linter: ${{ matrix.linter }}
|
||||
package-name: |
|
||||
turtlebot3
|
||||
turtlebot3_bringup
|
||||
turtlebot3_cartographer
|
||||
turtlebot3_description
|
||||
turtlebot3_example
|
||||
turtlebot3_navigation2
|
||||
turtlebot3_node
|
||||
turtlebot3_teleop
|
||||
|
|
@ -0,0 +1,60 @@
|
|||
# Compiled Object files
|
||||
*.slo
|
||||
*.lo
|
||||
*.o
|
||||
*.obj
|
||||
|
||||
# Precompiled Headers
|
||||
*.gch
|
||||
*.pch
|
||||
|
||||
# Compiled Dynamic libraries
|
||||
*.so
|
||||
*.dylib
|
||||
*.dll
|
||||
|
||||
# Fortran module files
|
||||
*.mod
|
||||
|
||||
# Compiled Static libraries
|
||||
*.lai
|
||||
*.la
|
||||
*.a
|
||||
*.lib
|
||||
|
||||
# Executables
|
||||
*.exe
|
||||
*.out
|
||||
*.app
|
||||
|
||||
# user setting
|
||||
*.*~
|
||||
*.bak
|
||||
.svn
|
||||
.tags
|
||||
.tags_sorted_by_file
|
||||
*.cfgc
|
||||
*.txt.user*
|
||||
*-build/
|
||||
cpp/
|
||||
bin/
|
||||
build/
|
||||
msg_gen/
|
||||
srv_gen/
|
||||
docs/
|
||||
lib/
|
||||
cmake_install.cmake
|
||||
Makefile
|
||||
CMakeFiles/
|
||||
assets/
|
||||
gen/
|
||||
build.xml
|
||||
lint.xml
|
||||
local.properties
|
||||
proguard-project.txt
|
||||
build-*/
|
||||
*.autosave
|
||||
*.pyc
|
||||
*.dat
|
||||
*.txt.user
|
||||
*.gch
|
||||
|
|
@ -0,0 +1,33 @@
|
|||
# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
|
||||
# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
|
||||
|
||||
sudo: required
|
||||
dist: trusty
|
||||
services:
|
||||
- docker
|
||||
language: generic
|
||||
python:
|
||||
- "2.7"
|
||||
compiler:
|
||||
- gcc
|
||||
notifications:
|
||||
email:
|
||||
on_success: change
|
||||
on_failure: always
|
||||
recipients:
|
||||
- willson@robotis.com
|
||||
env:
|
||||
matrix:
|
||||
- ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=xenial
|
||||
- ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
|
||||
- ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
|
||||
branches:
|
||||
only:
|
||||
- master
|
||||
- develop
|
||||
- kinetic-devel
|
||||
- melodic-devel
|
||||
install:
|
||||
- git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
|
||||
script:
|
||||
- source .ci_config/travis.sh
|
||||
|
|
@ -0,0 +1,55 @@
|
|||
ISSUE TEMPLATE ver. 0.4.0
|
||||
|
||||
1. Which TurtleBot3 platform do you use?
|
||||
|
||||
- [ ] Burger
|
||||
- [ ] Waffle
|
||||
- [ ] Waffle Pi
|
||||
|
||||
2. Which ROS is working with TurtleBot3?
|
||||
|
||||
- [ ] ROS 1 Kinetic Kame
|
||||
- [ ] ROS 1 Melodic Morenia
|
||||
- [ ] ROS 1 Noetic Ninjemys
|
||||
- [ ] ROS 2 Dashing Diademata
|
||||
- [ ] ROS 2 Eloquent Elusor
|
||||
- [ ] ROS 2 Foxy Fitzroy
|
||||
- [ ] etc (Please specify your ROS Version here)
|
||||
|
||||
3. Which SBC(Single Board Computer) is working on TurtleBot3?
|
||||
|
||||
- [ ] Intel Joule 570x
|
||||
- [ ] Raspberry Pi 3B+
|
||||
- [ ] Raspberry Pi 4
|
||||
- [ ] etc (Please specify your SBC here)
|
||||
|
||||
4. Which OS you installed in SBC?
|
||||
|
||||
- [ ] Raspbian distributed by ROBOTIS
|
||||
- [ ] Ubuntu MATE (16.04/18.04/20.04)
|
||||
- [ ] Ubuntu preinstalled server (18.04/20.04)
|
||||
- [ ] etc (Please specify your OS here)
|
||||
|
||||
5. Which OS you installed in Remote PC?
|
||||
|
||||
- [ ] Ubuntu 16.04 LTS (Xenial Xerus)
|
||||
- [ ] Ubuntu 18.04 LTS (Bionic Beaver)
|
||||
- [ ] Ubuntu 20.04 LTS (Focal Fossa)
|
||||
- [ ] etc (Please specify your OS here)
|
||||
|
||||
6. Specify the software and firmware version(Can be found from Bringup messages)
|
||||
|
||||
- Software version: [x.x.x]
|
||||
- Firmware version: [x.x.x]
|
||||
|
||||
7. Specify the commands or instructions to replicate the issue.
|
||||
|
||||
- HERE
|
||||
|
||||
8. Copy and Paste the error messages on terminal.
|
||||
|
||||
- HERE
|
||||
|
||||
9. Please describe the issue in detail.
|
||||
|
||||
- HERE
|
||||
|
|
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|
|
@ -0,0 +1,201 @@
|
|||
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|
||||
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|
||||
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|
||||
|
||||
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|
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|
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|
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|
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|
||||
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||||
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|
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# TurtleBot3
|
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<img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/turtlebot3/logo_turtlebot3.png" width="300">
|
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## ROS 1 Packages for TurtleBot3
|
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|develop|master|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|Noetic + Ubuntu Focal|
|
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|:---:|:---:|:---:|:---:|:---:|
|
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|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|
|
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|
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## ROS 2 Packages for TurtleBot3
|
||||
|ros2-devel|ros2|Dashing + Ubuntu Bionic|Eloquent + Ubuntu Bionic|Foxy + Ubuntu Focal|
|
||||
|:---:|:---:|:---:|:---:|:---:|
|
||||
|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|[](https://travis-ci.org/ROBOTIS-GIT/turtlebot3)|
|
||||
|
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## ROBOTIS e-Manual for TurtleBot3
|
||||
- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
|
||||
|
||||
## Wiki for turtlebot3 Packages
|
||||
- http://wiki.ros.org/turtlebot3 (metapackage)
|
||||
- http://wiki.ros.org/turtlebot3_bringup
|
||||
- http://wiki.ros.org/turtlebot3_description
|
||||
- http://wiki.ros.org/turtlebot3_example
|
||||
- http://wiki.ros.org/turtlebot3_navigation
|
||||
- http://wiki.ros.org/turtlebot3_slam
|
||||
- http://wiki.ros.org/turtlebot3_teleop
|
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|
||||
## Open Source related to TurtleBot3
|
||||
- [turtlebot3](https://github.com/ROBOTIS-GIT/turtlebot3)
|
||||
- [turtlebot3_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_msgs)
|
||||
- [turtlebot3_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_simulations)
|
||||
- [turtlebot3_applications_msgs](https://github.com/ROBOTIS-GIT/turtlebot3_applications_msgs)
|
||||
- [turtlebot3_applications](https://github.com/ROBOTIS-GIT/turtlebot3_applications)
|
||||
- [turtlebot3_autorace](https://github.com/ROBOTIS-GIT/turtlebot3_autorace)
|
||||
- [turtlebot3_deliver](https://github.com/ROBOTIS-GIT/turtlebot3_deliver)
|
||||
- [hls_lfcd_lds_driver](https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver)
|
||||
- [turtlebot3_manipulation](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation.git)
|
||||
- [turtlebot3_manipulation_simulations](https://github.com/ROBOTIS-GIT/turtlebot3_manipulation_simulations.git)
|
||||
- [open_manipulator_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_msgs)
|
||||
- [open_manipulator](https://github.com/ROBOTIS-GIT/open_manipulator)
|
||||
- [open_manipulator_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_simulations)
|
||||
- [open_manipulator_perceptions](https://github.com/ROBOTIS-GIT/open_manipulator_perceptions)
|
||||
- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
|
||||
- [dynamixel_workbench](https://github.com/ROBOTIS-GIT/dynamixel-workbench)
|
||||
- [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
|
||||
- [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
|
||||
|
||||
## Documents and Videos related to TurtleBot3
|
||||
- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/)
|
||||
- [ROBOTIS e-Manual for OpenManipulator](http://emanual.robotis.com/docs/en/platform/openmanipulator/)
|
||||
- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
|
||||
- [ROBOTIS e-Manual for Dynamixel Workbench](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/)
|
||||
- [Website for TurtleBot Series](http://www.turtlebot.com/)
|
||||
- [e-Book for TurtleBot3](https://community.robotsource.org/t/download-the-ros-robot-programming-book-for-free/51/)
|
||||
- [Videos for TurtleBot3 ](https://www.youtube.com/playlist?list=PLRG6WP3c31_XI3wlvHlx2Mp8BYqgqDURU)
|
||||
|
|
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|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from turtlebot3_waffle.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="turtlebot3_waffle">
|
||||
<!-- Init colour -->
|
||||
<material name="black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="dark">
|
||||
<color rgba="0.3 0.3 0.3 1.0"/>
|
||||
</material>
|
||||
<material name="light_black">
|
||||
<color rgba="0.4 0.4 0.4 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.5 0.5 0.5 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<gazebo reference="base_link">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<gazebo reference="wheel_left_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>500000.0</kp>
|
||||
<kd>10.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>0.1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
<gazebo reference="wheel_right_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>500000.0</kp>
|
||||
<kd>10.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>0.1</maxVel>
|
||||
<fdir1>1 0 0</fdir1>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
<gazebo reference="caster_back_right_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000.0</kp>
|
||||
<kd>100.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>1.0</maxVel>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
<gazebo reference="caster_back_left_link">
|
||||
<mu1>0.1</mu1>
|
||||
<mu2>0.1</mu2>
|
||||
<kp>1000000.0</kp>
|
||||
<kd>100.0</kd>
|
||||
<minDepth>0.001</minDepth>
|
||||
<maxVel>1.0</maxVel>
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
</gazebo>
|
||||
<gazebo reference="imu_link">
|
||||
<sensor name="imu" type="imu">
|
||||
<always_on>true</always_on>
|
||||
<visualize>false</visualize>
|
||||
</sensor>
|
||||
<material>Gazebo/Grey</material>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_diff_drive.so" name="turtlebot3_waffle_controller">
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
<odometrySource>world</odometrySource>
|
||||
<publishOdomTF>true</publishOdomTF>
|
||||
<robotBaseFrame>base_footprint</robotBaseFrame>
|
||||
<publishWheelTF>false</publishWheelTF>
|
||||
<publishTf>true</publishTf>
|
||||
<publishWheelJointState>true</publishWheelJointState>
|
||||
<legacyMode>false</legacyMode>
|
||||
<updateRate>30</updateRate>
|
||||
<leftJoint>wheel_left_joint</leftJoint>
|
||||
<rightJoint>wheel_right_joint</rightJoint>
|
||||
<wheelSeparation>0.287</wheelSeparation>
|
||||
<wheelDiameter>0.066</wheelDiameter>
|
||||
<wheelAcceleration>1</wheelAcceleration>
|
||||
<wheelTorque>10</wheelTorque>
|
||||
<rosDebugLevel>na</rosDebugLevel>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_imu.so" name="imu_plugin">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<bodyName>imu_link</bodyName>
|
||||
<frameName>imu_link</frameName>
|
||||
<topicName>imu</topicName>
|
||||
<serviceName>imu_service</serviceName>
|
||||
<gaussianNoise>0.0</gaussianNoise>
|
||||
<updateRate>200</updateRate>
|
||||
<imu>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<rate>
|
||||
<mean>0.0</mean>
|
||||
<stddev>2e-4</stddev>
|
||||
<bias_mean>0.0000075</bias_mean>
|
||||
<bias_stddev>0.0000008</bias_stddev>
|
||||
</rate>
|
||||
<accel>
|
||||
<mean>0.0</mean>
|
||||
<stddev>1.7e-2</stddev>
|
||||
<bias_mean>0.1</bias_mean>
|
||||
<bias_stddev>0.001</bias_stddev>
|
||||
</accel>
|
||||
</noise>
|
||||
</imu>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo reference="base_scan">
|
||||
<material>Gazebo/FlatBlack</material>
|
||||
<sensor name="lds_lfcd_sensor" type="ray">
|
||||
<pose>0 0 0 0 0 0</pose>
|
||||
<visualize>false</visualize>
|
||||
<update_rate>5</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>360</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>0.0</min_angle>
|
||||
<max_angle>6.28319</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.120</min>
|
||||
<max>3.5</max>
|
||||
<resolution>0.015</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_lds_lfcd_controller">
|
||||
<topicName>scan</topicName>
|
||||
<frameName>base_scan</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="camera_rgb_frame">
|
||||
<sensor name="realsense_R200" type="depth">
|
||||
<always_on>true</always_on>
|
||||
<visualize>false</visualize>
|
||||
<camera>
|
||||
<horizontal_fov>1.3439</horizontal_fov>
|
||||
<image>
|
||||
<width>1920</width>
|
||||
<height>1080</height>
|
||||
<format>R8G8B8</format>
|
||||
</image>
|
||||
<depth_camera/>
|
||||
<clip>
|
||||
<near>0.03</near>
|
||||
<far>100</far>
|
||||
</clip>
|
||||
</camera>
|
||||
<plugin filename="libgazebo_ros_openni_kinect.so" name="camera_controller">
|
||||
<baseline>0.2</baseline>
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>camera</cameraName>
|
||||
<frameName>camera_rgb_optical_frame</frameName>
|
||||
<imageTopicName>rgb/image_raw</imageTopicName>
|
||||
<depthImageTopicName>depth/image_raw</depthImageTopicName>
|
||||
<pointCloudTopicName>depth/points</pointCloudTopicName>
|
||||
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
|
||||
<pointCloudCutoff>0.4</pointCloudCutoff>
|
||||
<hackBaseline>0.07</hackBaseline>
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
<CxPrime>0.0</CxPrime>
|
||||
<Cx>0.0</Cx>
|
||||
<Cy>0.0</Cy>
|
||||
<focalLength>0</focalLength>
|
||||
<hackBaseline>0</hackBaseline>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<link name="base_footprint"/>
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.010"/>
|
||||
</joint>
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.064 0 0.0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="light_black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="-0.064 0 0.047"/>
|
||||
<geometry>
|
||||
<box size="0.266 0.266 0.094"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.3729096e+00"/>
|
||||
<inertia ixx="8.7002718e-03" ixy="-4.7576583e-05" ixz="1.1160499e-04" iyy="8.6195418e-03" iyz="-3.5422299e-06" izz="1.4612727e-02"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="wheel_left_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_left_link"/>
|
||||
<origin rpy="-1.57 0 0" xyz="0.0 0.144 0.023"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<link name="wheel_left_link">
|
||||
<visual>
|
||||
<origin rpy="1.57 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_description/meshes/wheels/left_tire.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0"/>
|
||||
<mass value="2.8498940e-02"/>
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="wheel_right_joint" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="wheel_right_link"/>
|
||||
<origin rpy="-1.57 0 0" xyz="0.0 -0.144 0.023"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<link name="wheel_right_link">
|
||||
<visual>
|
||||
<origin rpy="1.57 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_description/meshes/wheels/right_tire.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.018" radius="0.033"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0"/>
|
||||
<mass value="2.8498940e-02"/>
|
||||
<inertia ixx="1.1175580e-05" ixy="-4.2369783e-11" ixz="-5.9381719e-09" iyy="1.1192413e-05" iyz="-1.4400107e-11" izz="2.0712558e-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="caster_back_right_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_right_link"/>
|
||||
<origin rpy="-1.57 0 0" xyz="-0.177 -0.064 -0.004"/>
|
||||
</joint>
|
||||
<link name="caster_back_right_link">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.001 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0"/>
|
||||
<mass value="0.005"/>
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="caster_back_left_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_back_left_link"/>
|
||||
<origin rpy="-1.57 0 0" xyz="-0.177 0.064 -0.004"/>
|
||||
</joint>
|
||||
<link name="caster_back_left_link">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0.001 0"/>
|
||||
<geometry>
|
||||
<box size="0.030 0.009 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0"/>
|
||||
<mass value="0.005"/>
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="imu_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0 0.068"/>
|
||||
</joint>
|
||||
<link name="imu_link"/>
|
||||
<joint name="scan_joint" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="base_scan"/>
|
||||
<origin rpy="0 0 0" xyz="-0.064 0 0.122"/>
|
||||
</joint>
|
||||
<link name="base_scan">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="dark"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.015 0 -0.0065"/>
|
||||
<geometry>
|
||||
<cylinder length="0.0315" radius="0.055"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.114"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.064 -0.065 0.094"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="camera_link"/>
|
||||
</joint>
|
||||
<link name="camera_link">
|
||||
<visual>
|
||||
<origin rpy="1.57 0 1.57" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.003 0.065 0.007"/>
|
||||
<geometry>
|
||||
<box size="0.012 0.132 0.020"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<!-- This inertial field needs doesn't contain reliable data!! -->
|
||||
<!-- <inertial>
|
||||
<mass value="0.564" />
|
||||
<origin xyz="0 0 0" />
|
||||
<inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
|
||||
iyy="0.000498940" iyz="0.0"
|
||||
izz="0.003879257" />
|
||||
</inertial>-->
|
||||
</link>
|
||||
<joint name="camera_rgb_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.005 0.018 0.013"/>
|
||||
<parent link="camera_link"/>
|
||||
<child link="camera_rgb_frame"/>
|
||||
</joint>
|
||||
<link name="camera_rgb_frame"/>
|
||||
<joint name="camera_rgb_optical_joint" type="fixed">
|
||||
<origin rpy="-1.57 0 -1.57" xyz="0 0 0"/>
|
||||
<parent link="camera_rgb_frame"/>
|
||||
<child link="camera_rgb_optical_frame"/>
|
||||
</joint>
|
||||
<link name="camera_rgb_optical_frame"/>
|
||||
<joint name="camera_depth_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.005 0.028 0.013"/>
|
||||
<parent link="camera_link"/>
|
||||
<child link="camera_depth_frame"/>
|
||||
</joint>
|
||||
<link name="camera_depth_frame"/>
|
||||
<joint name="camera_depth_optical_joint" type="fixed">
|
||||
<origin rpy="-1.57 0 -1.57" xyz="0 0 0"/>
|
||||
<parent link="camera_depth_frame"/>
|
||||
<child link="camera_depth_optical_frame"/>
|
||||
</joint>
|
||||
<link name="camera_depth_optical_frame"/>
|
||||
</robot>
|
||||
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
fileFormatVersion: 2
|
||||
guid: 2b67c5925fb974172966a64258d2148c
|
||||
DefaultImporter:
|
||||
externalObjects: {}
|
||||
userData:
|
||||
assetBundleName:
|
||||
assetBundleVariant:
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
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||||
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||||
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||||
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|
||||
|
|
@ -0,0 +1,142 @@
|
|||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
Changelog for package turtlebot3
|
||||
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
|
||||
|
||||
1.2.4 (2020-09-29)
|
||||
------------------
|
||||
* Package info updated
|
||||
* Contributors: Will Son
|
||||
|
||||
1.2.3 (2020-03-03)
|
||||
------------------
|
||||
* Updated inertial data in turtlebot3_waffle_for_open_manipulator.urdf.xacro, turtlebot3_waffle_pi_for_open_manipulator.urdf.xacro
|
||||
* Added turtlebot3_manipulation_slam.launch for TurtleBot3 SLAM with OpenMANIPULATOR
|
||||
* Contributors: Ryan Shim, Will Son
|
||||
|
||||
1.2.2 (2019-08-20)
|
||||
------------------
|
||||
* Fixed `dwa local planner params` for dwa_local_planner 1.16.2 `#415 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/415>`_
|
||||
* This patch only applies to ROS 1 Melodic.
|
||||
* Contributors: atinfinity, Kayman
|
||||
|
||||
1.2.1 (2019-08-20)
|
||||
------------------
|
||||
* Fixed typo `#436 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/436>`_
|
||||
* Fixed ROS_ASSERT bug `#416 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/416>`_
|
||||
* Deleted '/' to sync tf2 `#402 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/402>`_
|
||||
* Added turtlebot3_remote.launch to turtlebot3_model.launch `#389 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/389>`_
|
||||
* Contributors: Jonathan Hechtbauer, Pallav Bhalla, ant, Ryan Shim, Kayman, Darby Lim, Gilbert, Pyo
|
||||
|
||||
1.2.0 (2019-01-22)
|
||||
------------------
|
||||
* changed math.ceil() operation `#373 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/373>`_
|
||||
* fixed TypeError integers
|
||||
* fixed read of scanned samples when there isn't 360
|
||||
* updated map.yaml `#348 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/348>`_
|
||||
* added an additional argument move_forward_only to prohibit backward locomotion in navigation `#339 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/339>`_
|
||||
* fixed typo `#280 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/280>`_
|
||||
* added windows port `#358 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/358>`_
|
||||
* Contributors: Gilbert, Darby Lim, linzhibo, oiz5201618, yoshimalucky, Steven Macenski, Eduardo Avelar, Sean Yen, Pyo
|
||||
|
||||
1.1.0 (2018-07-23)
|
||||
------------------
|
||||
* added bringup to load multiple robot simply #251
|
||||
* added arguments for multiple robot
|
||||
* added odometrySource
|
||||
* modified camera topic name
|
||||
* modified base_scan update_rate and add param on diff_drive #258
|
||||
* modified the laser scanner update_rate in the gazebo xacro files #258
|
||||
* modified origin of collision in Waffle URDF
|
||||
* updated turtlebot3_diagnostic node
|
||||
* updated firmware version from 1.2.0 to 1.2.2
|
||||
* updated get firmware version
|
||||
* updated version check function
|
||||
* updated warn msg for version check
|
||||
* deleted unused get_scan function #227
|
||||
* Contributors: Darby Lim, Gilbert, Eduardo Avelar, shtseng, Pyo
|
||||
|
||||
1.0.0 (2018-05-29)
|
||||
------------------
|
||||
* added cartographer
|
||||
* added hector mapping
|
||||
* added karto SLAM
|
||||
* added frontier_exploration
|
||||
* added launch files to run various SLAMs
|
||||
* added robot model for OpenManipulator and turtlebot3_autorace
|
||||
* added exec python nodes like marker_server in catkin_install_python
|
||||
* added frameName for imu on gazebo (however, there is no effect.)
|
||||
* added variable to check version only once (turtlebot3_bringup)
|
||||
* modified global names `#211 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/211>`_ from FurqanHabibi/fix_global_topic_name
|
||||
* modified gmapping parameters
|
||||
* modified navigation parameters
|
||||
* modified version check and firmware version (turtlebot3_bringup)
|
||||
* modified robot names
|
||||
* modified range of lidar, lidar position, scan param
|
||||
* modified camera position and fixed slip bug
|
||||
* modified waffle_pi stl files
|
||||
* modified initial value, profile function, limit velocity msg (teleop)
|
||||
* merged pull request `#154 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/154>`_ `#153 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/153>`_ `#148 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/148>`_ `#147 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/147>`_ `#146 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/146>`_ `#145 <https://github.com/ROBOTIS-GIT/turtlebot3/issues/145>`_
|
||||
* Contributors: Darby Lim, Leon Jung, Gilbert, KurtE, ncnynl, FurqanHabibi, skasperski, ihadzic, Pyo
|
||||
|
||||
0.2.1 (2018-03-14)
|
||||
------------------
|
||||
* added install directory
|
||||
* refactoring for release
|
||||
* Contributors: Pyo
|
||||
|
||||
0.2.0 (2018-03-12)
|
||||
------------------
|
||||
* added turtlebot3_rpicamera.launch for raspberry pi camera
|
||||
* added waffle pi model (urdf and gazebo)
|
||||
* added verion check function
|
||||
* added diagnostics node
|
||||
* added scripts for reload rules
|
||||
* added example package
|
||||
* modified firmware version
|
||||
* modified param config
|
||||
* modified topic of gazebo plugin
|
||||
* modified r200 tf tree
|
||||
* modified gazebo imu link
|
||||
* removed the large bag file and added download command from other site
|
||||
* refactoring for release
|
||||
* Contributors: Darby Lim, Gilbert, Leon Jung, Pyo
|
||||
|
||||
0.1.6 (2017-08-14)
|
||||
------------------
|
||||
* fixed typo
|
||||
* fixed xacro.py deprecation
|
||||
* modified file location
|
||||
* updated nav param
|
||||
* updated SLAM param
|
||||
* updated model.launch
|
||||
* updated IMU link
|
||||
* updated gazebo config
|
||||
* Contributors: Darby Lim, Hunter L. Allen
|
||||
|
||||
0.1.5 (2017-05-25)
|
||||
------------------
|
||||
* updated turtlebot3 waffle URDF
|
||||
* changed the node name from hlds_laser_publisher to turtlebot3_lds
|
||||
* modified bag and map files
|
||||
* added SLAM bag file
|
||||
* Contributors: Darby Lim, Pyo
|
||||
|
||||
0.1.4 (2017-05-23)
|
||||
------------------
|
||||
* modified launch file name
|
||||
* added teleop package
|
||||
* Contributors: Darby Lim
|
||||
|
||||
0.1.3 (2017-04-24)
|
||||
------------------
|
||||
* Detached turtlebot3_msgs package from turtlebot3 package for uploading to rosdistro
|
||||
* modified the package information for release
|
||||
* modified SLAM param
|
||||
* modified the description, authors, depend option and delete the core package
|
||||
* modified the turtlebot bringup files
|
||||
* modified pkg setting for turtlebot3_core
|
||||
* modified the navigation package and turtlebot3 node for demo
|
||||
* modified the wheel speed gain
|
||||
* added Intel RealSense R200
|
||||
* added LDS sensor
|
||||
* Contributors: Darby Lim, Leon Jung, Pyo
|
||||
|
|
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@ -0,0 +1,4 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(turtlebot3)
|
||||
find_package(catkin REQUIRED)
|
||||
catkin_metapackage()
|
||||
|
|
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|
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@ -0,0 +1,28 @@
|
|||
<?xml version="1.0"?>
|
||||
<package format="2">
|
||||
<name>turtlebot3</name>
|
||||
<version>1.2.4</version>
|
||||
<description>
|
||||
ROS packages for the Turtlebot3 (meta package)
|
||||
</description>
|
||||
<license>Apache 2.0</license>
|
||||
<license>BSD</license>
|
||||
<author email="pyo@robotis.com">Pyo</author>
|
||||
<author email="thlim@robotis.com">Darby Lim</author>
|
||||
<author email="kkjong@robotis.com">Gilbert</author>
|
||||
<author email="chc@robotis.com">HanCheol Cho</author>
|
||||
<author>Leon Jung</author>
|
||||
<maintainer email="willson@robotis.com">Will Son</maintainer>
|
||||
<url type="website">http://wiki.ros.org/turtlebot3</url>
|
||||
<url type="emanual">http://turtlebot3.robotis.com</url>
|
||||
<url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3</url>
|
||||
<url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3/issues</url>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<exec_depend>turtlebot3_bringup</exec_depend>
|
||||
<exec_depend>turtlebot3_description</exec_depend>
|
||||
<exec_depend>turtlebot3_example</exec_depend>
|
||||
<exec_depend>turtlebot3_navigation</exec_depend>
|
||||
<exec_depend>turtlebot3_slam</exec_depend>
|
||||
<exec_depend>turtlebot3_teleop</exec_depend>
|
||||
<export><metapackage/></export>
|
||||
</package>
|
||||
|
|
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