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You may reproduce and distribute copies of the + Work or Derivative Works thereof in any medium, with or without + modifications, and in Source or Object form, provided that You + meet the following conditions: + + (a) You must give any other recipients of the Work or + Derivative Works a copy of this License; and + + (b) You must cause any modified files to carry prominent notices + stating that You changed the files; and + + (c) You must retain, in the Source form of any Derivative Works + that You distribute, all copyright, patent, trademark, and + attribution notices from the Source form of the Work, + excluding those notices that do not pertain to any part of + the Derivative Works; and + + (d) If the Work includes a "NOTICE" text file as part of its + distribution, then any Derivative Works that You distribute must + include a readable copy of the attribution notices contained + within such NOTICE file, excluding those notices that do not + pertain to any part of the Derivative Works, in at least one + of the following places: within a NOTICE text file distributed + as part of the Derivative Works; within the Source form or + documentation, if provided along with the Derivative Works; or, + within a display generated by the Derivative Works, if and + wherever such third-party notices normally appear. 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The +original STL files were split by part so each one can get its own color, +the geometry is unchanged. + +The Burger dimensions, inertias and sensor specs used in +turtlebot3_burger_common.urdf.xacro and turtlebot3_burger_gz.urdf.xacro were +taken from turtlebot3 and turtlebot3_simulations by the same author. diff --git a/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py b/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py new file mode 100644 index 000000000..7fcba4c1c --- /dev/null +++ b/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py @@ -0,0 +1,137 @@ +import os +import xacro + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.substitutions import LaunchConfiguration +from launch.actions import DeclareLaunchArgument, OpaqueFunction +from launch_ros.actions import Node + + +def launch_setup(context): + x = LaunchConfiguration("x") + y = LaunchConfiguration("y") + z = LaunchConfiguration("z") + R = LaunchConfiguration("R") + P = LaunchConfiguration("P") + Y = LaunchConfiguration("Y") + gz_sensor = LaunchConfiguration("sensor") + gz_noise = LaunchConfiguration("noise") + gz_namespace = LaunchConfiguration("namespace") + gz_entity = LaunchConfiguration("entity") + + package_dir = get_package_share_directory("custom_robots") + + nodes_to_start = [] + + sensor = gz_sensor.perform(context) + namespace = gz_namespace.perform(context) + entity = gz_entity.perform(context) + + # ========================= + # ROBOT DESCRIPTION (URDF) + # ========================= + xacro_file = os.path.join( + package_dir, + "models", + "turtlebot3", + "turtlebot3_burger.urdf.xacro", + ) + + robot_description_content = xacro.process_file( + xacro_file, + mappings={ + "camera": "true" if sensor == "camera" else "false", + "noise_level": gz_noise.perform(context), + "namespace": namespace, + }, + ).toxml() + + robot_description = {"robot_description": robot_description_content} + + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + namespace=gz_namespace, + output="screen", + parameters=[robot_description, {"use_sim_time": True}], + ) + + gz_spawn_entity = Node( + package="ros_gz_sim", + executable="create", + namespace=gz_namespace, + arguments=[ + "-topic", + f"/{namespace}/robot_description", + "-name", + entity, + "-allow_renaming", + "true", + "-x", + x, + "-y", + y, + "-z", + z, + "-R", + R, + "-P", + P, + "-Y", + Y, + ], + output="screen", + ) + + # The LDS and the IMU are always on, like on the real robot + gz_ros2_bridge = Node( + package="ros_gz_bridge", + executable="parameter_bridge", + namespace=gz_namespace, + arguments=[ + f"/{namespace}/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry", + f"/{namespace}/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist", + f"/{namespace}/laser/scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan", + f"/{namespace}/imu@sensor_msgs/msg/Imu[gz.msgs.IMU", + ], + output="screen", + ) + + nodes_to_start.append(robot_state_publisher_node) + nodes_to_start.append(gz_spawn_entity) + nodes_to_start.append(gz_ros2_bridge) + + if sensor == "camera": + gz_ros2_image_bridge = Node( + package="ros_gz_image", + executable="image_bridge", + namespace=gz_namespace, + arguments=[f"/{namespace}/camera/image_raw"], + output="screen", + ) + + nodes_to_start.append(gz_ros2_image_bridge) + + return nodes_to_start + + +def generate_launch_description(): + declared_arguments = [ + DeclareLaunchArgument("use_sim_time", default_value="true"), + DeclareLaunchArgument("x", default_value="0"), + DeclareLaunchArgument("y", default_value="0"), + DeclareLaunchArgument("z", default_value="0"), + DeclareLaunchArgument("R", default_value="0"), + DeclareLaunchArgument("P", default_value="0"), + DeclareLaunchArgument("Y", default_value="0"), + DeclareLaunchArgument("sensor", default_value="laser"), + DeclareLaunchArgument("noise", default_value="none"), + DeclareLaunchArgument("namespace", default_value="turtlebot3"), + DeclareLaunchArgument("entity", default_value="turtlebot3"), + ] + + return LaunchDescription( + declared_arguments + [OpaqueFunction(function=launch_setup)] + ) diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_metal.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_metal.stl new file mode 100644 index 000000000..964afb2e5 Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_metal.stl differ diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_motors.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_motors.stl new file mode 100644 index 000000000..81aa66424 Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_motors.stl differ diff --git 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diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_rpi.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_rpi.stl new file mode 100644 index 000000000..20b725099 Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/burger_base_rpi.stl differ diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/lds_body.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/lds_body.stl new file mode 100644 index 000000000..b8279ab9c Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/lds_body.stl differ diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/lds_metal.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/lds_metal.stl new file mode 100644 index 000000000..4e89ab73c Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/lds_metal.stl differ diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/left_tire_rim.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/left_tire_rim.stl new file mode 100644 index 000000000..0b6672d8f Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/left_tire_rim.stl differ diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/left_tire_rubber.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/left_tire_rubber.stl new file mode 100644 index 000000000..ab01466d7 Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/left_tire_rubber.stl differ diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/right_tire_rim.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/right_tire_rim.stl new file mode 100644 index 000000000..048e3f49d Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/right_tire_rim.stl differ diff --git a/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/right_tire_rubber.stl b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/right_tire_rubber.stl new file mode 100644 index 000000000..9a6721ded Binary files /dev/null and b/CustomRobots/turtlebot3/models/turtlebot3/meshes/burger/right_tire_rubber.stl differ diff --git a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro new file mode 100644 index 000000000..81b1d56cf --- /dev/null +++ b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger_common.urdf.xacro b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger_common.urdf.xacro new file mode 100644 index 000000000..8a1906830 --- /dev/null +++ b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger_common.urdf.xacro @@ -0,0 +1,157 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0.0 + 0.0 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger_gz.urdf.xacro b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger_gz.urdf.xacro new file mode 100644 index 000000000..760ef6d9b --- /dev/null +++ b/CustomRobots/turtlebot3/models/turtlebot3/turtlebot3_burger_gz.urdf.xacro @@ -0,0 +1,179 @@ + + + + + + + 1 + 1 + 5 + /${namespace}/laser/scan + base_scan + + + + 360 + 1 + 0 + 6.28 + + + + 0.12 + 3.5 + 0.015 + + + gaussian + 0.0 + 0.01 + + + + + + + + + + + + + + 1 + 200 + /${namespace}/imu + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + 0.0 + 2e-4 + + + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + 0.0 + 1.7e-2 + + + + + + + + + + + + + + + + + + + + + + + + + + true + true + 30 + /${namespace}/camera/image_raw + camera_link + + /${namespace}/camera/camera_info + 1.02974 + + 640 + 480 + R8G8B8 + + + 0.02 + 30 + + + gaussian + 0.0 + 0.007 + + + + + + + + + + wheel_left_joint + wheel_right_joint + 0.160 + 0.033 + 1.0 + /${namespace}/cmd_vel + odom + 30 + base_footprint + + + + + + odom + base_footprint + 50 + /${namespace}/odom + 3 + + + + + + + + /${namespace}/odom_noisy + odom + base + wheel_left_joint + wheel_right_joint + 0.033 + 0.160 + ${alpha} + ${alpha} + ${alpha} + ${alpha} + + + + diff --git a/Docs/robot-world-status.md b/Docs/robot-world-status.md index 7358ada0a..519a46d05 100644 --- a/Docs/robot-world-status.md +++ b/Docs/robot-world-status.md @@ -19,6 +19,7 @@ | Logistic Ackermann | CustomRobots/logistic_ackermann_robot/launch/logistic_ackermann_robot.launch.py | logistic_ackermann_robot | | none | ackermann steering | | URDF | | | TurtleBot 2 | CustomRobots/Turtlebot2/launch/turtlebot2.launch.py | turtlebot2 | sensor=(camera/stereo) | camera or stereo, laser, IMU | differential drive | | URDF | | | TurtleBot 3 | CustomRobots/Turtlebot2/launch/turtlebot2.launch.py | turtlebot3 | noise=(none/low/med/high) | camera or laser, IMU | differential drive | | URDF | | +| TurtleBot 3 Burger | CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py | turtlebot3 | noise=(none/low/med/high) sensor=(laser/camera) | laser, IMU, camera (optional) | differential drive | | URDF | | | Dingo | CustomRobots/dingo/launch/dingo.launch.py | do150 | noise=(none/low/med/high) | laser, IMU | mecanum drive (omnidirectional) | | URDF | | | MiR100 | CustomRobots/mir100/launch/mir100.launch.py | mir100 | noise=(none/low/med/high) basket=(true/false) | 2x laser, IMU | differential drive | | URDF | Branch `mir100-robot`, not merged | diff --git a/database/worlds.sql b/database/worlds.sql index 02b1eec96..a4b2f59b5 100644 --- a/database/worlds.sql +++ b/database/worlds.sql @@ -211,7 +211,10 @@ COPY public.worlds (id, name, scene_id) FROM stdin; 86 XLeRobot Home 81 87 MMO-500 Warehouse 82 88 Mir100 Physical 83 -89 Warehouse 1 Mir100 58 +89 Vacuums House Markers Burger 25 +90 Small Laser Mapping Warehouse Burger 33 +91 Vacuums House Burger 24 +92 Warehouse 1 Mir100 58 \. -- @@ -287,7 +290,10 @@ COPY public.worlds_robots (id, world_id, robot_id, poses) FROM stdin; 64 86 40 {{-1.6,0.3,0.1,0.0,0.0,3.14}} 65 87 41 {{0.0,0.0,0.02,0.0,0.0,0.0}} 66 88 42 {{0.0,0.0,0.0,0.0,0.0,0.0}} -67 89 36 {{0.0,0.0,0.1,0.0,0.0,0.0}} +67 89 49 {{1,-1.5,0.43,0,0,0}} +68 90 50 {{0.0,0.0,0.0,0.0,0.0,0.0}} +69 91 51 {{-1,1.5,0,0.0,0.0,0.0}} +70 92 36 {{0.0,0.0,0.1,0.0,0.0,0.0}} \. -- @@ -389,6 +395,14 @@ COPY public.robots (id, name, launch_file_path, entity, extra_config, model_path 40 XLeRobot /home/ws/src/CustomRobots/xlerobot/launch/xlerobot.launch.py xlerobot namespace:=logistic_robot xlerobot/models/xlerobot/xlerobot.urdf.xacro 41 MMO-500 /home/ws/src/CustomRobots/mmo500/launch/mmo500.launch.py mmo500 namespace:=mmo500 mmo500/models/mmo500/mmo500.urdf.xacro 42 Mir100 Physical /home/ws/src/CustomRobots/mir100/launch/mir100_physical.launch.py mir100 namespace:=mir100 mir100/models/mir100/mir100.urdf.xacro +44 Turtlebot 3 Burger /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py turtlebot3 sensor:=laser namespace:=turtlebot3 turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro +45 Turtlebot 3 Burger Camera /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py turtlebot3 sensor:=camera namespace:=turtlebot3 turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro +46 Turtlebot 3 Burger Low Noise /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py turtlebot3 sensor:=laser noise:=low namespace:=turtlebot3 turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro +47 Turtlebot 3 Burger Medium Noise /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py turtlebot3 sensor:=laser noise:=med namespace:=turtlebot3 turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro +48 Turtlebot 3 Burger High Noise /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py turtlebot3 sensor:=laser noise:=high namespace:=turtlebot3 turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro +49 Turtlebot 3 Burger Camera Low Noise /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py turtlebot3 sensor:=camera noise:=low namespace:=turtlebot3 turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro +50 Turtlebot 3 Burger Laser Mapping /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py turtlebot3 sensor:=laser noise:=low namespace:=do150 turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro +51 Turtlebot 3 Burger Montecarlo /home/ws/src/CustomRobots/turtlebot3/launch/turtlebot3_burger.launch.py turtlebot3 sensor:=laser noise:=low namespace:=vacuum_cleaner turtlebot3/models/turtlebot3/turtlebot3_burger.urdf.xacro \. --