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Proper tracks model: more robots (#1048)
Adds proper tracks also to the following robots: CCN_MARMOTTE MARBLE_HD2 CSIRO_DATA61_DTR CSIRO_DATA61_OZBOT_ATR CORO_HD2 The battery draining is done via power_draining_topic battery plugin parameters. Also fixes the Marble HD2 model textures.
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‎submitted_models/coro_hd2_sensor_config_1/CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ find_package(catkin REQUIRED)
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catkin_package()
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8-
install(DIRECTORY launch meshes materials urdf
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install(DIRECTORY launch meshes materials urdf worlds
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(FILES model.sdf model.config

‎submitted_models/coro_hd2_sensor_config_1/launch/example.ign

+13-6
Original file line numberDiff line numberDiff line change
@@ -6,16 +6,17 @@
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-->
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<%
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require_relative 'spawner'
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#require_relative 'spawner'
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_base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
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load File.join(_base_dir, "launch", "spawner.rb")
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# Modify these as needed
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$enableGroundTruth = true
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$headless = false
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$headless = local_variables.include?(:headless) ? :headless : false
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%>
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<%
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unless local_variables.include?(:robotName)
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raise "missing parameters. robotName is a required parameter"
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end
@@ -35,9 +36,11 @@
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<!-- Start ROS first. This is a bit hacky for now. -->
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<!-- Make sure to source /opt/ros/melodic/setup.bash -->
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<% if local_variables.include?(:ros) and ros %>
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<executable name='ros'>
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<command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
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</executable>
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<% end %>
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<plugin name="ignition::launch::GazeboServer"
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filename="libignition-launch-gazebo.so">
@@ -163,9 +166,13 @@
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</executable_wrapper>
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<%end%>
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<plugin name="ignition::launch::GazeboFactory" filename="libignition-launch-gazebo-factory.so">
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<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
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<plugin name="ignition::launch::GazeboFactory"
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filename="ignition-launch-gazebo-factory">
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<%= spawner(robotName, modelURI, $worldName, 0, 0, 0, 0, 0, 0) %>
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</plugin>
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<%= rosExecutables(robotName, $worldName) %>
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<% if local_variables.include?(:ros) and ros %>
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<%= rosExecutables(robotName, $worldName) %>
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<% end %>
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</ignition>
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‎submitted_models/coro_hd2_sensor_config_1/launch/spawner.rb

+15-69
Original file line numberDiff line numberDiff line change
@@ -10,24 +10,20 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
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<include>
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<name>#{_name}</name>
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<uri>#{_modelURI}</uri>
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<!-- Diff drive -->
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<plugin filename="libignition-gazebo-diff-drive-system.so"
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name="ignition::gazebo::systems::DiffDrive">
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<left_joint>front_left_wheel_joint</left_joint>
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<left_joint>front_middle_left_wheel_joint</left_joint>
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<left_joint>rear_middle_left_wheel_joint</left_joint>
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<left_joint>rear_left_wheel_joint</left_joint>
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<right_joint>front_right_wheel_joint</right_joint>
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<right_joint>front_middle_right_wheel_joint</right_joint>
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<right_joint>rear_middle_right_wheel_joint</right_joint>
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<right_joint>rear_right_wheel_joint</right_joint>
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<wheel_separation>#{0.525}</wheel_separation>
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<wheel_radius>0.129</wheel_radius>
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<!-- Tracked vehicle controller -->
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<plugin name="ignition::gazebo::systems::TrackedVehicle" filename="ignition-gazebo-tracked-vehicle-system">
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<left_track><link>left_track</link></left_track>
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<right_track><link>right_track</link></right_track>
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<tracks_separation>#{0.525}</tracks_separation>
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<tracks_height>0.258</tracks_height>
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<steering_efficiency>0.5</steering_efficiency>
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<topic>/model/#{_name}/cmd_vel_relay</topic>
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<min_velocity>-1</min_velocity>
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<max_velocity>1</max_velocity>
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<min_acceleration>-3</min_acceleration>
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<max_acceleration>3</max_acceleration>
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<linear_velocity>
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<min_velocity>-1</min_velocity>
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<max_velocity>1</max_velocity>
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<min_acceleration>-3</min_acceleration>
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<max_acceleration>3</max_acceleration>
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</linear_velocity>
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</plugin>
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<!-- Publish robot state information -->
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<plugin filename="libignition-gazebo-pose-publisher-system.so"
@@ -54,6 +50,8 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
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<smooth_current_tau>1.9499</smooth_current_tau>
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<power_load>9.9</power_load>
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<start_on_motion>true</start_on_motion>
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<power_draining_topic>/model/#{_name}/link/left_track/track_cmd_vel</power_draining_topic>
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<power_draining_topic>/model/#{_name}/link/right_track/track_cmd_vel</power_draining_topic>
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</plugin>
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<!-- Gas Sensor plugin -->
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<plugin filename="libGasEmitterDetectorPlugin.so"
@@ -62,58 +60,6 @@ def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
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<update_rate>10</update_rate>
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<type>gas</type>
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</plugin>
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<!-- Wheel slip -->
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<plugin filename="libignition-gazebo-wheel-slip-system.so"
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name="ignition::gazebo::systems::WheelSlip">
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<wheel link_name="front_left_wheel_link">
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<slip_compliance_lateral>0.086</slip_compliance_lateral>
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<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
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<wheel_normal_force>41.47103925</wheel_normal_force>
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<wheel_radius>0.129</wheel_radius>
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</wheel>
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<wheel link_name="front_middle_left_wheel_link">
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<slip_compliance_lateral>0.086</slip_compliance_lateral>
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<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
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<wheel_normal_force>41.47103925</wheel_normal_force>
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<wheel_radius>0.129</wheel_radius>
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</wheel>
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<wheel link_name="rear_middle_left_wheel_link">
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<slip_compliance_lateral>0.086</slip_compliance_lateral>
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<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
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<wheel_normal_force>41.47103925</wheel_normal_force>
84-
<wheel_radius>0.129</wheel_radius>
85-
</wheel>
86-
<wheel link_name="rear_left_wheel_link">
87-
<slip_compliance_lateral>0.086</slip_compliance_lateral>
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<slip_compliance_longitudinal>0.25</slip_compliance_longitudinal>
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<wheel_normal_force>41.47103925</wheel_normal_force>
90-
<wheel_radius>0.129</wheel_radius>
91-
</wheel>
92-
<wheel link_name="front_right_wheel_link">
93-
<slip_compliance_lateral>0.086</slip_compliance_lateral>
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<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
95-
<wheel_normal_force>41.47103925</wheel_normal_force>
96-
<wheel_radius>0.129</wheel_radius>
97-
</wheel>
98-
<wheel link_name="front_middle_right_wheel_link">
99-
<slip_compliance_lateral>0.086</slip_compliance_lateral>
100-
<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
101-
<wheel_normal_force>41.47103925</wheel_normal_force>
102-
<wheel_radius>0.129</wheel_radius>
103-
</wheel>
104-
<wheel link_name="rear_middle_right_wheel_link">
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<slip_compliance_lateral>0.086</slip_compliance_lateral>
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<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
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<wheel_normal_force>41.47103925</wheel_normal_force>
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<wheel_radius>0.129</wheel_radius>
109-
</wheel>
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<wheel link_name="rear_right_wheel_link">
111-
<slip_compliance_lateral>0.086</slip_compliance_lateral>
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<slip_compliance_longitudinal>0</slip_compliance_longitudinal>
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<wheel_normal_force>41.47103925</wheel_normal_force>
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<wheel_radius>0.129</wheel_radius>
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</wheel>
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</plugin>
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</include>
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</sdf>
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</spawn>

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