diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml new file mode 100644 index 0000000000000000000000000000000000000000..df73f8b060918af38a0d03dbc8dac86fdd4f6933 --- /dev/null +++ b/.github/workflows/ros-ci.yml @@ -0,0 +1,58 @@ +name: humble-devel + +# Controls when the action will run. Triggers the workflow on push or pull request +on: + push: + branches: [ humble-devel ] + pull_request: + branches: [ humble-devel ] + +# A workflow run is made up of one or more jobs that can run sequentially or in parallel +jobs: + humble-devel: + runs-on: ubuntu-latest + strategy: + fail-fast: false + matrix: + ros_distribution: + #- foxy + # - galactic + - humble + # - rolling + include: + # Foxy Fitzroy (June 2020 - May 2023) + # - docker_image: ubuntu:focal + # ros_distribution: foxy + # ros_version: 2 + # # Galactic Geochelone (May 2021) + # - docker_image: ubuntu:focal + # ros_distribution: galactic + # ros_version: 2 + # Humble Hawksbill (May 2027) + - docker_image: ubuntu:jammy + ros_distribution: humble + ros_version: 2 + # # Rolling + # - docker_image: ubuntu:jammy + # ros_distribution: rolling + # ros_version: 2 + container: + image: ${{ matrix.docker_image }} + steps: + - name: Setup directories + run: mkdir -p ros_ws/src + - name: checkout + uses: actions/checkout@v3 + with: + path: ros_ws/src + - name: Setup ROS environment + uses: ros-tooling/setup-ros@0.3.3 + with: + required-ros-distributions: ${{ matrix.ros_distribution }} + - name: Build and Test + uses: ros-tooling/action-ros-ci@0.2.5 + with: + package-name: turtlebot3_simulations + target-ros2-distro: ${{ matrix.ros_distribution }} + vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3_simulations/ros2-devel/turtlebot3_simulations_ci.repos" + \ No newline at end of file diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md new file mode 100644 index 0000000000000000000000000000000000000000..21657125b50345daa99e19912bf0ea8410e5feb5 --- /dev/null +++ b/CONTRIBUTING.md @@ -0,0 +1,18 @@ +Any contribution that you make to this repository will +be under the Apache 2 License, as dictated by that +[license](http://www.apache.org/licenses/LICENSE-2.0.html): + +~~~ +5. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. + \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..2404dca342ee566463070024e17583d273ac6dd6 --- /dev/null +++ b/README.md @@ -0,0 +1,54 @@ +# TurtleBot3 + + +[![kinetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/kinetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/kinetic-devel) +[![melodic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/melodic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/melodic-devel) +[![noetic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/noetic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/noetic-devel) + +[![dashing-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/dashing-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/dashing-devel) +[![foxy-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/foxy-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/foxy-devel) +[![galactic-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/galactic-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/galactic-devel) +[![humble-devel Status](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/workflows/humble-devel/badge.svg)](https://github.com/ROBOTIS-GIT/turtlebot3_simulations/tree/humble-devel) + +## ROBOTIS e-Manual for TurtleBot3 +- [ROBOTIS e-Manual for TurtleBot3](http://turtlebot3.robotis.com/) + +## Wiki for turtlebot3_simulations Packages +- http://wiki.ros.org/turtlebot3_simulations (metapackage) +- http://wiki.ros.org/turtlebot3_fake +- http://wiki.ros.org/turtlebot3_gazebo + +## 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) +- [ld08_driver](https://github.com/ROBOTIS-GIT/ld08_driver) +- [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) +- [open_manipulator_with_tb3_msgs](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_msgs) +- [open_manipulator_with_tb3](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3) +- [open_manipulator_with_tb3_simulations](https://github.com/ROBOTIS-GIT/open_manipulator_with_tb3_simulations) +- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK) +- [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/) +- [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) + +git add . +git commit -m "修改备注" +git push zjs 分支 + + diff --git a/turtlebot3_fake_node/CHANGELOG.rst b/turtlebot3_fake_node/CHANGELOG.rst new file mode 100644 index 0000000000000000000000000000000000000000..8073952990660aec64a705224d23b716d85715a2 --- /dev/null +++ b/turtlebot3_fake_node/CHANGELOG.rst @@ -0,0 +1,131 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package turtlebot3_fake +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.2.6 (2202-05-26) +------------------ +* ROS2 Humble Hawksbill supported + +2.2.5 (2021-08-25) +------------------ +* Release for ROS2 Rolling +* Contributors: Will Son + +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Will Son + +2.2.3 (2021-04-12) +------------------ +* Update required keyword arguments +* Contributors: ruffsl + +2.2.2 (2021-02-24) +------------------ +* none + +2.2.1 (2021-01-13) +------------------ +* Eloquent Elusor EOL +* Ament lint applied +* Contributors: ashe Kim, Will Son + +2.2.0 (2020-06-29) +------------------ +* none + +2.1.0 (2019-09-10) +------------------ +* ROS 2 migration of turtlebot3_fake_node package +* Modified rviz config (background colour changed to white, tf display disabled) +* Contributors: Ryan Shim, Darby Lim, Pyo + +2.0.1 (2019-09-05) +------------------ +* none + +2.0.0 (2019-08-20) +------------------ +* none + +1.3.0 (2020-06-29) +------------------ +* none + +1.2.0 (2019-01-22) +------------------ +* move out the init() from ROS_ASSERT `#68 `_ +* Contributors: Sean Yen, Darby Lim, Pyo + +1.1.0 (2018-07-20) +------------------ +* added TurtleBot3 Waffle Pi +* Contributors: Darby Lim, Pyo + +1.0.2 (2018-06-01) +------------------ +* none + +1.0.1 (2018-05-30) +------------------ +* none + +1.0.0 (2018-05-29) +------------------ +* none + +0.2.4 (2018-03-14) +------------------ +* none + +0.2.3 (2018-03-14) +------------------ +* none + +0.2.2 (2018-03-14) +------------------ +* none + +0.2.1 (2018-03-14) +------------------ +* none + +0.2.0 (2018-03-13) +------------------ +* added TurtleBot3 Waffle Pi +* Contributors: Darby Lim + +0.1.7 (2017-08-16) +------------------ +* none + +0.1.6 (2017-08-14) +------------------ +* updated rviz and add static tf publisher for depth camera +* Contributors: Darby Lim + +0.1.5 (2017-06-09) +------------------ +* none + +0.1.4 (2017-05-23) +------------------ +* added as new meta-packages and version update (0.1.4) +* Contributors: Darby Lim, Pyo + +0.1.3 (2017-04-24) +------------------ +* 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, Pyo diff --git a/turtlebot3_fake_node/CMakeLists.txt b/turtlebot3_fake_node/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..09e4563df63631d49acbfefabf45301d858c803e --- /dev/null +++ b/turtlebot3_fake_node/CMakeLists.txt @@ -0,0 +1,75 @@ +################################################################################ +# Set minimum required version of cmake, project name and compile options +################################################################################ +cmake_minimum_required(VERSION 3.5) +project(turtlebot3_fake_node) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +################################################################################ +# Find and load build settings from external packages +################################################################################ +find_package(ament_cmake REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(tf2 REQUIRED) +find_package(tf2_msgs REQUIRED) +find_package(turtlebot3_msgs REQUIRED) + +################################################################################ +# Build +################################################################################ +include_directories( + include +) + +set(dependencies + "geometry_msgs" + "nav_msgs" + "rclcpp" + "sensor_msgs" + "tf2" + "tf2_msgs" + "turtlebot3_msgs" +) + +set(EXEC_NAME "turtlebot3_fake_node") + +add_executable(${EXEC_NAME} src/turtlebot3_fake_node.cpp) +ament_target_dependencies(${EXEC_NAME} ${dependencies}) + +################################################################################ +# Install +################################################################################ +install(TARGETS ${EXEC_NAME} + DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY launch param + DESTINATION share/${PROJECT_NAME} +) + +install(DIRECTORY include/ + DESTINATION include/ +) + +################################################################################ +# Macro for ament package +################################################################################ +ament_export_include_directories(include) +ament_export_dependencies(geometry_msgs) +ament_export_dependencies(nav_msgs) +ament_export_dependencies(rclcpp) +ament_export_dependencies(sensor_msgs) +ament_export_dependencies(tf2) +ament_export_dependencies(tf2_msgs) +ament_export_dependencies(turtlebot3_msgs) +ament_package() diff --git a/turtlebot3_fake_node/include/turtlebot3_fake_node/turtlebot3_fake_node.hpp b/turtlebot3_fake_node/include/turtlebot3_fake_node/turtlebot3_fake_node.hpp new file mode 100644 index 0000000000000000000000000000000000000000..1f1fe6de3ba80bf733d3365a8c608e0a8eb243bb --- /dev/null +++ b/turtlebot3_fake_node/include/turtlebot3_fake_node/turtlebot3_fake_node.hpp @@ -0,0 +1,81 @@ +// Copyright 2019 ROBOTIS CO., LTD. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Yoonseok Pyo, Ryan Shim + +#ifndef TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_ +#define TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_ + +#include +#include +#include + +#include "geometry_msgs/msg/transform_stamped.hpp" +#include "geometry_msgs/msg/twist.hpp" +#include "nav_msgs/msg/odometry.hpp" +#include "sensor_msgs/msg/joint_state.hpp" +#include "tf2_msgs/msg/tf_message.hpp" +#include "turtlebot3_msgs/msg/sensor_state.hpp" + +#define LEFT 0 +#define RIGHT 1 + +class Turtlebot3Fake : public rclcpp::Node +{ +public: + Turtlebot3Fake(); + ~Turtlebot3Fake(); + +private: + // ROS time + rclcpp::Time last_cmd_vel_time_; + rclcpp::Time prev_update_time_; + + // ROS timer + rclcpp::TimerBase::SharedPtr update_timer_; + + // ROS topic publishers + rclcpp::Publisher::SharedPtr odom_pub_; + rclcpp::Publisher::SharedPtr joint_states_pub_; + rclcpp::Publisher::SharedPtr tf_pub_; + + // ROS topic subscribers + rclcpp::Subscription::SharedPtr cmd_vel_sub_; + + + nav_msgs::msg::Odometry odom_; + sensor_msgs::msg::JointState joint_states_; + + double wheel_speed_cmd_[2]; + double goal_linear_velocity_; + double goal_angular_velocity_; + double cmd_vel_timeout_; + double last_position_[2]; + double last_velocity_[2]; + float odom_pose_[3]; + float odom_vel_[3]; + + double wheel_seperation_; + double wheel_radius_; + + // Function prototypes + void init_parameters(); + void init_variables(); + void command_velocity_callback(const geometry_msgs::msg::Twist::SharedPtr cmd_vel_msg); + void update_callback(); + bool update_odometry(const rclcpp::Duration & diff_time); + void update_joint_state(); + void update_tf(geometry_msgs::msg::TransformStamped & odom_tf); +}; +#endif // TURTLEBOT3_FAKE_NODE__TURTLEBOT3_FAKE_NODE_HPP_ diff --git a/turtlebot3_fake_node/launch/rviz2.launch.py b/turtlebot3_fake_node/launch/rviz2.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..8d821ea053726cc7aa276169a4af33810bd60cd0 --- /dev/null +++ b/turtlebot3_fake_node/launch/rviz2.launch.py @@ -0,0 +1,38 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Author: Ryan Shim + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch_ros.actions import Node + + +def generate_launch_description(): + rviz_config_dir = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'rviz', + 'tb3_gazebo.rviz' + ) + + return LaunchDescription([ + Node( + package='rviz2', + executable='rviz2', + name='rviz2', + arguments=['-d', rviz_config_dir], + output='screen'), + ]) diff --git a/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py b/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..62eff187ed3000a679a97f179b8686fe65d536aa --- /dev/null +++ b/turtlebot3_fake_node/launch/turtlebot3_fake_node.launch.py @@ -0,0 +1,76 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +# Author: Ryan Shim + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import IncludeLaunchDescription +from launch.actions import LogInfo +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + +TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + + +def generate_launch_description(): + param_dir = LaunchConfiguration( + 'param_dir', + default=os.path.join( + get_package_share_directory('turtlebot3_fake_node'), + 'param', + TURTLEBOT3_MODEL + '.yaml')) + + rviz_dir = LaunchConfiguration( + 'rviz_dir', + default=os.path.join( + get_package_share_directory('turtlebot3_fake_node'), 'launch')) + + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' + + urdf = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'urdf', + urdf_file_name) + + return LaunchDescription([ + LogInfo(msg=['Execute Turtlebot3 Fake Node!!']), + + DeclareLaunchArgument( + 'param_dir', + default_value=param_dir, + description='Specifying parameter direction'), + + IncludeLaunchDescription( + PythonLaunchDescriptionSource([rviz_dir, '/rviz2.launch.py'])), + + Node( + package='turtlebot3_fake_node', + executable='turtlebot3_fake_node', + parameters=[param_dir], + output='screen'), + + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{'use_sim_time': use_sim_time}], + arguments=[urdf]), + ]) diff --git a/turtlebot3_fake_node/package.xml b/turtlebot3_fake_node/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..fcd7ff0c8caa1bfefe2bdb29f70640c24b78af3f --- /dev/null +++ b/turtlebot3_fake_node/package.xml @@ -0,0 +1,30 @@ + + + + turtlebot3_fake_node + 2.2.6 + + Package for TurtleBot3 fake node. With this package, simple tests can be done without a robot. + You can do simple tests using this package on rviz without real robots. + + Will Son + Apache 2.0 + http://turtlebot3.robotis.com + https://github.com/ROBOTIS-GIT/turtlebot3_simulations + https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues + Pyo + Darby Lim + Ryan Shim + ament_cmake + geometry_msgs + nav_msgs + rclcpp + sensor_msgs + tf2 + tf2_msgs + turtlebot3_msgs + robot_state_publisher + + ament_cmake + + diff --git a/turtlebot3_fake_node/param/burger.yaml b/turtlebot3_fake_node/param/burger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ea4c7d59d55c0433eb5eb6ff2be6b7adac9498dd --- /dev/null +++ b/turtlebot3_fake_node/param/burger.yaml @@ -0,0 +1,9 @@ +turtlebot3_fake_node: + ros__parameters: + wheels: + separation: 0.160 + radius: 0.033 + + joint_states_frame: "base_footprint" + odom_frame: "odom" + base_frame: "base_footprint" diff --git a/turtlebot3_fake_node/param/waffle.yaml b/turtlebot3_fake_node/param/waffle.yaml new file mode 100644 index 0000000000000000000000000000000000000000..77a1fadd042a9d6b19d9b065577a457a36f0176d --- /dev/null +++ b/turtlebot3_fake_node/param/waffle.yaml @@ -0,0 +1,9 @@ +turtlebot3_fake_node: + ros__parameters: + wheels: + separation: 0.287 + radius: 0.033 + + joint_states_frame: "base_footprint" + odom_frame: "odom" + base_frame: "base_footprint" diff --git a/turtlebot3_fake_node/param/waffle_pi.yaml b/turtlebot3_fake_node/param/waffle_pi.yaml new file mode 100644 index 0000000000000000000000000000000000000000..77a1fadd042a9d6b19d9b065577a457a36f0176d --- /dev/null +++ b/turtlebot3_fake_node/param/waffle_pi.yaml @@ -0,0 +1,9 @@ +turtlebot3_fake_node: + ros__parameters: + wheels: + separation: 0.287 + radius: 0.033 + + joint_states_frame: "base_footprint" + odom_frame: "odom" + base_frame: "base_footprint" diff --git a/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp b/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp new file mode 100644 index 0000000000000000000000000000000000000000..2c2e199092413fcd118e1b541deba4b53d7f971d --- /dev/null +++ b/turtlebot3_fake_node/src/turtlebot3_fake_node.cpp @@ -0,0 +1,275 @@ +// Copyright 2019 ROBOTIS CO., LTD. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Yoonseok Pyo, Ryan Shim + +#include "turtlebot3_fake_node/turtlebot3_fake_node.hpp" + +#include +#include + +using namespace std::chrono_literals; + +Turtlebot3Fake::Turtlebot3Fake() +: Node("turtlebot3_fake_node") +{ + /************************************************************ + ** Initialise ROS parameters + ************************************************************/ + init_parameters(); + + /************************************************************ + ** Initialise variables + ************************************************************/ + init_variables(); + + /************************************************************ + ** Initialise ROS publishers and subscribers + ************************************************************/ + auto qos = rclcpp::QoS(rclcpp::KeepLast(10)); + + // Initialise publishers + odom_pub_ = this->create_publisher("odom", qos); + joint_states_pub_ = this->create_publisher("joint_states", qos); + tf_pub_ = this->create_publisher("tf", qos); + + // Initialise subscribers + cmd_vel_sub_ = this->create_subscription( + "cmd_vel", \ + qos, \ + std::bind( + &Turtlebot3Fake::command_velocity_callback, \ + this, \ + std::placeholders::_1)); + + /************************************************************ + ** initialise ROS timers + ************************************************************/ + update_timer_ = this->create_wall_timer(10ms, std::bind(&Turtlebot3Fake::update_callback, this)); + + RCLCPP_INFO(this->get_logger(), "Turtlebot3 fake node has been initialised"); +} + +Turtlebot3Fake::~Turtlebot3Fake() +{ + RCLCPP_INFO(this->get_logger(), "Turtlebot3 fake node has been terminated"); +} + +/******************************************************************************** +** Init functions +********************************************************************************/ +void Turtlebot3Fake::init_parameters() +{ + // Declare parameters that may be set on this node + this->declare_parameter("joint_states_frame"); + this->declare_parameter("odom_frame"); + this->declare_parameter("base_frame"); + this->declare_parameter("wheels.separation"); + this->declare_parameter("wheels.radius"); + + // Get parameters from yaml + this->get_parameter_or( + "joint_states_frame", \ + joint_states_.header.frame_id, \ + "base_footprint"); + this->get_parameter_or("odom_frame", odom_.header.frame_id, "odom"); + this->get_parameter_or("base_frame", odom_.child_frame_id, "base_footprint"); + this->get_parameter_or("wheels.separation", wheel_seperation_, 0.0); + this->get_parameter_or("wheels.radius", wheel_radius_, 0.0); +} + +void Turtlebot3Fake::init_variables() +{ + // Initialise variables + wheel_speed_cmd_[LEFT] = 0.0; + wheel_speed_cmd_[RIGHT] = 0.0; + goal_linear_velocity_ = 0.0; + goal_angular_velocity_ = 0.0; + cmd_vel_timeout_ = 1.0; + last_position_[LEFT] = 0.0; + last_position_[RIGHT] = 0.0; + last_velocity_[LEFT] = 0.0; + last_velocity_[RIGHT] = 0.0; + + // TODO(Will Son): Find more accurate covariance + // double pcov[36] = { 0.1, 0, 0, 0, 0, 0, + // 0, 0.1, 0, 0, 0, 0, + // 0, 0, 1e6, 0, 0, 0, + // 0, 0, 0, 1e6, 0, 0, + // 0, 0, 0, 0, 1e6, 0, + // 0, 0, 0, 0, 0, 0.2}; + // memcpy(&(odom_.pose.covariance), pcov, sizeof(double)*36); + // memcpy(&(odom_.twist.covariance), pcov, sizeof(double)*36); + + odom_pose_[0] = 0.0; + odom_pose_[1] = 0.0; + odom_pose_[2] = 0.0; + odom_vel_[0] = 0.0; + odom_vel_[1] = 0.0; + odom_vel_[2] = 0.0; + + joint_states_.name.push_back("wheel_left_joint"); + joint_states_.name.push_back("wheel_right_joint"); + joint_states_.position.resize(2, 0.0); + joint_states_.velocity.resize(2, 0.0); + joint_states_.effort.resize(2, 0.0); + + prev_update_time_ = this->now(); + last_cmd_vel_time_ = this->now(); +} + +/******************************************************************************** +** Callback functions for ROS subscribers +********************************************************************************/ +void Turtlebot3Fake::command_velocity_callback( + const geometry_msgs::msg::Twist::SharedPtr cmd_vel_msg) +{ + last_cmd_vel_time_ = this->now(); + + goal_linear_velocity_ = cmd_vel_msg->linear.x; + goal_angular_velocity_ = cmd_vel_msg->angular.z; + + wheel_speed_cmd_[LEFT] = goal_linear_velocity_ - (goal_angular_velocity_ * wheel_seperation_ / 2); + wheel_speed_cmd_[RIGHT] = goal_linear_velocity_ + \ + (goal_angular_velocity_ * wheel_seperation_ / 2); +} + +/******************************************************************************** +** Update functions +********************************************************************************/ +void Turtlebot3Fake::update_callback() +{ + rclcpp::Time time_now = this->now(); + rclcpp::Duration duration(time_now - prev_update_time_); + prev_update_time_ = time_now; + + // zero-ing after timeout (stop the robot if no cmd_vel) + if ((time_now - last_cmd_vel_time_).nanoseconds() / 1e9 > cmd_vel_timeout_) { + wheel_speed_cmd_[LEFT] = 0.0; + wheel_speed_cmd_[RIGHT] = 0.0; + } + + // odom + update_odometry(duration); + odom_.header.stamp = time_now; + odom_pub_->publish(odom_); + + // joint_states + update_joint_state(); + joint_states_.header.stamp = time_now; + joint_states_pub_->publish(joint_states_); + + // tf + geometry_msgs::msg::TransformStamped odom_tf; + update_tf(odom_tf); + tf2_msgs::msg::TFMessage odom_tf_msg; + odom_tf_msg.transforms.push_back(odom_tf); + tf_pub_->publish(odom_tf_msg); +} + +bool Turtlebot3Fake::update_odometry(const rclcpp::Duration & duration) +{ + double wheel_l, wheel_r; // rotation value of wheel [rad] + double delta_s, delta_theta; + double v[2], w[2]; + double step_time = duration.nanoseconds() / 1e9; // [sec] + + wheel_l = wheel_r = 0.0; + delta_s = delta_theta = 0.0; + + // v = translational velocity [m/s] + // w = rotational velocity [rad/s] + v[LEFT] = wheel_speed_cmd_[LEFT]; + w[LEFT] = v[LEFT] / wheel_radius_; // w = v / r + v[RIGHT] = wheel_speed_cmd_[RIGHT]; + w[RIGHT] = v[RIGHT] / wheel_radius_; + + last_velocity_[LEFT] = w[LEFT]; + last_velocity_[RIGHT] = w[RIGHT]; + + wheel_l = w[LEFT] * step_time; + wheel_r = w[RIGHT] * step_time; + + if (isnan(wheel_l)) { + wheel_l = 0.0; + } + + if (isnan(wheel_r)) { + wheel_r = 0.0; + } + + last_position_[LEFT] += wheel_l; + last_position_[RIGHT] += wheel_r; + + delta_s = wheel_radius_ * (wheel_r + wheel_l) / 2.0; + delta_theta = wheel_radius_ * (wheel_r - wheel_l) / wheel_seperation_; + + // compute odometric pose + odom_pose_[0] += delta_s * cos(odom_pose_[2] + (delta_theta / 2.0)); + odom_pose_[1] += delta_s * sin(odom_pose_[2] + (delta_theta / 2.0)); + odom_pose_[2] += delta_theta; + + // compute odometric instantaneouse velocity + odom_vel_[0] = delta_s / step_time; // v + odom_vel_[1] = 0.0; + odom_vel_[2] = delta_theta / step_time; // w + + odom_.pose.pose.position.x = odom_pose_[0]; + odom_.pose.pose.position.y = odom_pose_[1]; + odom_.pose.pose.position.z = 0; + + tf2::Quaternion q; + q.setRPY(0, 0, odom_pose_[2]); + + odom_.pose.pose.orientation.x = q.x(); + odom_.pose.pose.orientation.y = q.y(); + odom_.pose.pose.orientation.z = q.z(); + odom_.pose.pose.orientation.w = q.w(); + + // We should update the twist of the odometry + odom_.twist.twist.linear.x = odom_vel_[0]; + odom_.twist.twist.angular.z = odom_vel_[2]; + + return true; +} + +void Turtlebot3Fake::update_joint_state() +{ + joint_states_.position[LEFT] = last_position_[LEFT]; + joint_states_.position[RIGHT] = last_position_[RIGHT]; + joint_states_.velocity[LEFT] = last_velocity_[LEFT]; + joint_states_.velocity[RIGHT] = last_velocity_[RIGHT]; +} + +void Turtlebot3Fake::update_tf(geometry_msgs::msg::TransformStamped & odom_tf) +{ + odom_tf.header = odom_.header; + odom_tf.child_frame_id = odom_.child_frame_id; + odom_tf.transform.translation.x = odom_.pose.pose.position.x; + odom_tf.transform.translation.y = odom_.pose.pose.position.y; + odom_tf.transform.translation.z = odom_.pose.pose.position.z; + odom_tf.transform.rotation = odom_.pose.pose.orientation; +} + +/***************************************************************************** +** Main +*****************************************************************************/ +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} diff --git a/turtlebot3_gazebo/CHANGELOG.rst b/turtlebot3_gazebo/CHANGELOG.rst new file mode 100644 index 0000000000000000000000000000000000000000..6dc928a1607977e55e78669ff844b6785a165956 --- /dev/null +++ b/turtlebot3_gazebo/CHANGELOG.rst @@ -0,0 +1,166 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package turtlebot3_gazebo +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.2.6 (2202-05-26) +------------------ +* ROS2 Humble Hawksbill supported + +2.2.5 (2021-08-25) +------------------ +* Release for ROS2 Rolling +* Contributors: Will Son + +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Separate world and robot models(#162) +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Joep Tool, Will Son + +2.2.3 (2021-04-12) +------------------ +* Update required keyword arguments +* Clear up exec_depend +* Fix Waffle Pi wheel inertia +* Contributors: ruffsl, Will Son + +2.2.2 (2021-02-24) +------------------ +* Remove shared objects built in older version +* Contributors: Will Son + +2.2.1 (2021-01-13) +------------------ +* Eloquent Elusor EOL +* Add missing imu joint in sdf +* Append Gazebo model path +* Portable fix, launch description revise +* Ament lint applied +* Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son + +2.2.0 (2020-06-29) +------------------ +* TurtleBot3 Drive node implementation +* Additional Gazebo maps added +* argument tags in the sdf file replaced with remapping tags +* Low polygon 3D modeling applied for simulation +* Contributors: Ryan Shim, Mikael Arguedas, Will Son + +2.1.0 (2019-09-10) +------------------ +* Added turtlebot3_house and related world, model files +* Contributors: Ryan Shim + +2.0.1 (2019-09-05) +------------------ +* Modified dependency packages +* Modified launch directory +* Added a launch file for robot state publisher +* Contributors: Darby Lim, Pyo + +2.0.0 (2019-08-20) +------------------ +* Supported ROS 2 Dashing Diademata +* Updated the CHANGELOG and version to release binary packages +* Contributors: Darby Lim, Pyo + +1.3.0 (2020-06-29) +------------------ +* Turtlebot3 Autorace 2020 implemented +* Remove the plugin_path from gazebo_ros export +* Remove *nix path separator +* Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen + +1.2.0 (2019-01-22) +------------------ +* moved into `#65 `_ +* modified ML stage +* delete unused param +* update algorithm and modified variable more clearly +* Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo + +1.1.0 (2018-07-20) +------------------ +* modified uri path +* modified autorace +* delete remap +* Contributors: Darby Lim, Gilbert, Pyo + +1.0.2 (2018-06-01) +------------------ +* added mission.launch modified model.sdf +* deleted turtlebot3's gazebo plugins +* modified autorace gazebo +* merged pull request `#53 `_ `#52 `_ `#51 `_ `#50 `_ `#49 `_ +* Contributors: Gilbert, Darby Lim, Pyo + +1.0.1 (2018-05-30) +------------------ +* resolving dependency issues: + http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/ +* Contributors: Pyo + +1.0.0 (2018-05-29) +------------------ +* added world for turtlebot3_autorace +* added world for turtlebot3_machine_learning +* merged pull request `#46 `_ from AuTURBO/develop + add turtlebot3_autorace world' +* merged pull request `#48 `_ `#47 `_ `#44 `_ `#42 `_ `#41 `_ +* Contributors: Darby Lim, Gilbert, hyunoklee, Pyo + +0.2.4 (2018-03-14) +------------------ +* none + +0.2.3 (2018-03-14) +------------------ +* solved DuplicateVersionsException error +* Contributors: Pyo + +0.2.2 (2018-03-14) +------------------ +* none + +0.2.1 (2018-03-14) +------------------ +* added worlds for gazebo and turtlebot3 +* Contributors: Darby Lim + +0.2.0 (2018-03-13) +------------------ +* added slam with multiple tb3 +* added multi example +* added turtlebot3_house +* modified cmake file +* modified spwn model name +* modified multi slam param +* modified camera position +* modified folder name +* Contributors: Darby Lim + +0.1.7 (2017-08-16) +------------------ +* renamed missed the install rule (worlds -> models) +* Contributors: Darby Lim, Tully Foote + +0.1.6 (2017-08-14) +------------------ +* modified folder name and model path +* updated rviz and add static tf publisher for depth camera +* Contributors: Darby Lim + +0.1.5 (2017-06-09) +------------------ +* modified make files for dependencies +* updated turtlebot3 sim +* updated world config +* Contributors: Darby Lim + +0.1.4 (2017-05-23) +------------------ +* added as new meta-packages and version update (0.1.4) +* Contributors: Darby Lim, Pyo diff --git a/turtlebot3_gazebo/CMakeLists.txt b/turtlebot3_gazebo/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..30965a55a623fac378a92163d70ced343eabea2a --- /dev/null +++ b/turtlebot3_gazebo/CMakeLists.txt @@ -0,0 +1,91 @@ +################################################################################ +# Set minimum required version of cmake, project name and compile options +################################################################################ +cmake_minimum_required(VERSION 3.5) +project(turtlebot3_gazebo) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +if(MSVC) + add_compile_definitions(_USE_MATH_DEFINES) +endif() + +################################################################################ +# Find ament packages and libraries for ament and system dependencies +################################################################################ +find_package(ament_cmake REQUIRED) +# find_package(gazebo REQUIRED) +# find_package(gazebo_ros_pkgs REQUIRED) +find_package(geometry_msgs REQUIRED) +find_package(nav_msgs REQUIRED) +find_package(rclcpp REQUIRED) +find_package(sensor_msgs REQUIRED) +find_package(tf2 REQUIRED) + +################################################################################ +# Build +################################################################################ +link_directories( + # ${GAZEBO_LIBRARY_DIRS} +) + +include_directories( + include + # ${GAZEBO_INCLUDE_DIRS} +) + +set(dependencies + "geometry_msgs" + "nav_msgs" + "rclcpp" + "sensor_msgs" + "tf2" +) + +set(EXEC_NAME "turtlebot3_drive") + +add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp) +ament_target_dependencies(${EXEC_NAME} ${dependencies}) + +# add_library(obstacle1 SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc) +# target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES}) +# +# add_library(obstacle2 SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc) +# target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES}) +# +# add_library(obstacles SHARED models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc) +# target_link_libraries(obstacles ${GAZEBO_LIBRARIES}) + +################################################################################ +# Install +################################################################################ +install(TARGETS ${EXEC_NAME} + DESTINATION lib/${PROJECT_NAME} +) + +install(DIRECTORY launch models params rviz urdf worlds + DESTINATION share/${PROJECT_NAME}/ +) + +install(DIRECTORY include/ + DESTINATION include/ +) + +################################################################################ +# Macro for ament package +################################################################################ +ament_export_include_directories(include) +ament_export_dependencies(ros_gz_bridge) +ament_export_dependencies(ros_gz_sim) +ament_export_dependencies(geometry_msgs) +ament_export_dependencies(nav_msgs) +ament_export_dependencies(rclcpp) +ament_export_dependencies(sensor_msgs) +ament_export_dependencies(tf2) +ament_package() diff --git a/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp b/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp new file mode 100644 index 0000000000000000000000000000000000000000..61ab33e7d6688b89211ed47d6fa8506ed507ccaf --- /dev/null +++ b/turtlebot3_gazebo/include/turtlebot3_gazebo/turtlebot3_drive.hpp @@ -0,0 +1,70 @@ +// Copyright 2019 ROBOTIS CO., LTD. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Taehun Lim (Darby), Ryan Shim + +#ifndef TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_ +#define TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_ + +#include +#include +#include +#include +#include +#include + +#define DEG2RAD (M_PI / 180.0) +#define RAD2DEG (180.0 / M_PI) + +#define CENTER 0 +#define LEFT 1 +#define RIGHT 2 + +#define LINEAR_VELOCITY 0.3 +#define ANGULAR_VELOCITY 1.5 + +#define GET_TB3_DIRECTION 0 +#define TB3_DRIVE_FORWARD 1 +#define TB3_RIGHT_TURN 2 +#define TB3_LEFT_TURN 3 + +class Turtlebot3Drive : public rclcpp::Node +{ +public: + Turtlebot3Drive(); + ~Turtlebot3Drive(); + +private: + // ROS topic publishers + rclcpp::Publisher::SharedPtr cmd_vel_pub_; + + // ROS topic subscribers + rclcpp::Subscription::SharedPtr scan_sub_; + rclcpp::Subscription::SharedPtr odom_sub_; + + // Variables + double robot_pose_; + double prev_robot_pose_; + double scan_data_[3]; + + // ROS timer + rclcpp::TimerBase::SharedPtr update_timer_; + + // Function prototypes + void update_callback(); + void update_cmd_vel(double linear, double angular); + void scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg); + void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg); +}; +#endif // TURTLEBOT3_GAZEBO__TURTLEBOT3_DRIVE_HPP_ diff --git a/turtlebot3_gazebo/launch/empty_world.launch.py b/turtlebot3_gazebo/launch/empty_world.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..f3fdf021ff99af3deb0807fb9b830e40171bf41d --- /dev/null +++ b/turtlebot3_gazebo/launch/empty_world.launch.py @@ -0,0 +1,86 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import AppendEnvironmentVariable +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + ros_gz_sim = get_package_share_directory('ros_gz_sim') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'empty_world.world' + ) + set_env_vars_resources = AppendEnvironmentVariable( + 'GZ_SIM_RESOURCE_PATH', + os.path.join(get_package_share_directory('turtlebot3_gazebo'), + 'models')) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': ['-r -s -v4 ', world], 'on_exit_shutdown': 'true'}.items() + ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': '-g -v4 '}.items() + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(set_env_vars_resources) + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/robot_state_publisher.launch.py b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..87eeda5f7d49396366d04a8572e1543082040e7d --- /dev/null +++ b/turtlebot3_gazebo/launch/robot_state_publisher.launch.py @@ -0,0 +1,60 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Darby Lim + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + + use_sim_time = LaunchConfiguration('use_sim_time', default='false') + urdf_file_name = 'turtlebot3_' + TURTLEBOT3_MODEL + '.urdf' + + print('urdf_file_name : {}'.format(urdf_file_name)) + + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'urdf', + urdf_file_name) + + with open(urdf_path, 'r') as infp: + robot_desc = infp.read() + + return LaunchDescription([ + DeclareLaunchArgument( + 'use_sim_time', + default_value='false', + description='Use simulation (Gazebo) clock if true'), + + Node( + package='robot_state_publisher', + executable='robot_state_publisher', + name='robot_state_publisher', + output='screen', + parameters=[{ + 'use_sim_time': use_sim_time, + 'robot_description': robot_desc + }], + ), + ]) diff --git a/turtlebot3_gazebo/launch/spawn_apm.launch.py b/turtlebot3_gazebo/launch/spawn_apm.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..9a88fdfbc538f992a832fcbcb56be8ce9e2915c4 --- /dev/null +++ b/turtlebot3_gazebo/launch/spawn_apm.launch.py @@ -0,0 +1,97 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + # Get the urdf file + TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'models', + model_folder, + 'model.sdf' + ) + + # Launch configuration variables specific to simulation + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + + # Declare the launch arguments + declare_x_position_cmd = DeclareLaunchArgument( + 'x_pose', default_value='0.0', + description='Specify namespace of the robot') + + declare_y_position_cmd = DeclareLaunchArgument( + 'y_pose', default_value='0.0', + description='Specify namespace of the robot') + + start_gazebo_ros_spawner_cmd = Node( + package='ros_gz_sim', + executable='create', + arguments=[ + '-name', TURTLEBOT3_MODEL, + '-file', urdf_path, + '-x', x_pose, + '-y', y_pose, + '-z', '0.01' + ], + output='screen', + ) + + bridge_params = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'params', + 'turtlebot3_apm_bridge.yaml' + ) + + start_gazebo_ros_bridge_cmd = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '--ros-args', + '-p', + f'config_file:={bridge_params}', + ], + output='screen', + ) + + start_gazebo_ros_image_bridge_cmd = Node( + package='ros_gz_image', + executable='image_bridge', + arguments=['/camera/image_raw'], + output='screen', + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_x_position_cmd) + ld.add_action(declare_y_position_cmd) + + # Add any conditioned actions + ld.add_action(start_gazebo_ros_spawner_cmd) + ld.add_action(start_gazebo_ros_bridge_cmd) + ld.add_action(start_gazebo_ros_image_bridge_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..1dc8dbd446744df1c4dc79a7beec1d54cfded50d --- /dev/null +++ b/turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py @@ -0,0 +1,96 @@ +# Copyright 2019 Open Source Robotics Foundation, Inc. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node + + +def generate_launch_description(): + # Get the urdf file + TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL'] + model_folder = 'turtlebot3_' + TURTLEBOT3_MODEL + urdf_path = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'models', + model_folder, + 'model.sdf' + ) + + # Launch configuration variables specific to simulation + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + # Declare the launch arguments + declare_x_position_cmd = DeclareLaunchArgument( + 'x_pose', default_value='0.0', + description='Specify namespace of the robot') + + declare_y_position_cmd = DeclareLaunchArgument( + 'y_pose', default_value='0.0', + description='Specify namespace of the robot') + + start_gazebo_ros_spawner_cmd = Node( + package='ros_gz_sim', + executable='create', + arguments=[ + '-name', TURTLEBOT3_MODEL, + '-file', urdf_path, + '-x', x_pose, + '-y', y_pose, + '-z', '0.01' + ], + output='screen', + ) + + bridge_params = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'params', + 'turtlebot3_waffle_bridge.yaml' + ) + + start_gazebo_ros_bridge_cmd = Node( + package='ros_gz_bridge', + executable='parameter_bridge', + arguments=[ + '--ros-args', + '-p', + f'config_file:={bridge_params}', + ], + output='screen', + ) + + start_gazebo_ros_image_bridge_cmd = Node( + package='ros_gz_image', + executable='image_bridge', + arguments=['/camera/image_raw'], + output='screen', + ) + + ld = LaunchDescription() + + # Declare the launch options + ld.add_action(declare_x_position_cmd) + ld.add_action(declare_y_position_cmd) + + # Add any conditioned actions + ld.add_action(start_gazebo_ros_spawner_cmd) + ld.add_action(start_gazebo_ros_bridge_cmd) + ld.add_action(start_gazebo_ros_image_bridge_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..c6dbab492eea103d4ed0fe4070e6d4e679145004 --- /dev/null +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage1.launch.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage1.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..2d5900fec877a0dbf7cdf41ff957a6b7d6aa5811 --- /dev/null +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage2.launch.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage2.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..43c3baf1a5459b667f5afdf2ac4b81b5a2911fe1 --- /dev/null +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage3.launch.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage3.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..31dca3e694e431847e96c0b511e4e76cab4a2d87 --- /dev/null +++ b/turtlebot3_gazebo/launch/turtlebot3_dqn_stage4.launch.py @@ -0,0 +1,80 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + pkg_gazebo_ros = get_package_share_directory('gazebo_ros') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='0.0') + y_pose = LaunchConfiguration('y_pose', default='0.0') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_dqn_stage4.world' + ) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py') + ), + launch_arguments={'world': world}.items() + ) + + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py') + ) + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_house.launch.py b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..f2fe41b219fcda6070d205098dab8e57d5506e8e --- /dev/null +++ b/turtlebot3_gazebo/launch/turtlebot3_house.launch.py @@ -0,0 +1,86 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import AppendEnvironmentVariable +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + ros_gz_sim = get_package_share_directory('ros_gz_sim') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_house.world' + ) + set_env_vars_resources = AppendEnvironmentVariable( + 'GZ_SIM_RESOURCE_PATH', + os.path.join(get_package_share_directory('turtlebot3_gazebo'), + 'models')) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items() + ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': '-g -v4 '}.items() + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(set_env_vars_resources) + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3_world.launch.py b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..52ce115a6ea65b3b9eef3186ac97ab4e22262d14 --- /dev/null +++ b/turtlebot3_gazebo/launch/turtlebot3_world.launch.py @@ -0,0 +1,86 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import AppendEnvironmentVariable +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + ros_gz_sim = get_package_share_directory('ros_gz_sim') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + 'turtlebot3_world.world' + ) + set_env_vars_resources = AppendEnvironmentVariable( + 'GZ_SIM_RESOURCE_PATH', + os.path.join(get_package_share_directory('turtlebot3_gazebo'), + 'models')) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items() + ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': '-g -v4 '}.items() + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_turtlebot3.launch.py') + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(set_env_vars_resources) + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/launch/turtlebot3apm_world.launch.py b/turtlebot3_gazebo/launch/turtlebot3apm_world.launch.py new file mode 100644 index 0000000000000000000000000000000000000000..8c6d898fbe717100524e8f67b63f6427bae660d1 --- /dev/null +++ b/turtlebot3_gazebo/launch/turtlebot3apm_world.launch.py @@ -0,0 +1,87 @@ +#!/usr/bin/env python3 +# +# Copyright 2019 ROBOTIS CO., LTD. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# +# Authors: Joep Tool + +import os + +from ament_index_python.packages import get_package_share_directory +from launch import LaunchDescription +from launch.actions import AppendEnvironmentVariable +from launch.actions import IncludeLaunchDescription +from launch.launch_description_sources import PythonLaunchDescriptionSource +from launch.substitutions import LaunchConfiguration + + +def generate_launch_description(): + launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch') + ros_gz_sim = get_package_share_directory('ros_gz_sim') + + use_sim_time = LaunchConfiguration('use_sim_time', default='true') + x_pose = LaunchConfiguration('x_pose', default='-2.0') + y_pose = LaunchConfiguration('y_pose', default='-0.5') + + world = os.path.join( + get_package_share_directory('turtlebot3_gazebo'), + 'worlds', + #'turtlebot3_world.world' + 'turtlebot3apm_world.world' # 7/9更改 + ) + set_env_vars_resources = AppendEnvironmentVariable( + 'GZ_SIM_RESOURCE_PATH', + os.path.join(get_package_share_directory('turtlebot3_gazebo'), + 'models')) + + gzserver_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': ['-r -s -v4 ', world]}.items() + ) + gzclient_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py') + ), + launch_arguments={'gz_args': '-g -v4 '}.items() + ) + + robot_state_publisher_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'robot_state_publisher.launch.py') + ), + launch_arguments={'use_sim_time': use_sim_time}.items() + ) + + spawn_turtlebot_cmd = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(launch_file_dir, 'spawn_apm.launch.py') #更改 + ), + launch_arguments={ + 'x_pose': x_pose, + 'y_pose': y_pose + }.items() + ) + + ld = LaunchDescription() + + # Add the commands to the launch description + ld.add_action(set_env_vars_resources) + ld.add_action(gzserver_cmd) + ld.add_action(gzclient_cmd) + ld.add_action(robot_state_publisher_cmd) + ld.add_action(spawn_turtlebot_cmd) + + return ld diff --git a/turtlebot3_gazebo/models/turtlebot3_apm/model-1_4.sdf b/turtlebot3_gazebo/models/turtlebot3_apm/model-1_4.sdf new file mode 100644 index 0000000000000000000000000000000000000000..f20453aeef99f45f64b25f6dacdf4fc077f5d328 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_apm/model-1_4.sdf @@ -0,0 +1,520 @@ + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + + + + + + + -0.064 0 0.048 0 0 0 + + 4.2111447e-02 + 0 + 0 + 4.2111447e-02 + 0 + 7.5254874e-02 + + 1.3729096e+00 + + + + -0.064 0 0.048 0 0 0 + + + 0.265 0.265 0.089 + + + + + + -0.064 0 0 0 0 0 + + + model://turtlebot3_common/meshes/waffle_base.dae + 0.001 0.001 0.001 + + + + + + + + true + 200 + + + + + 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 + + + + + + + + ~/out:=imu + + + + + + + + -0.052 0 0.111 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.114 + + + + -0.052 0 0.111 0 0 0 + + + 0.0508 + 0.055 + + + + + + -0.064 0 0.121 0 0 0 + + + model://turtlebot3_common/meshes/lds.dae + 0.001 0.001 0.001 + + + + + + true + true + -0.064 0 0.121 0 0 0 + 5 + + + + 360 + 1.000000 + 0.000000 + 6.280000 + + + + 0.120000 + 3.5 + 0.015000 + + + gaussian + 0.0 + 0.01 + + + + + + ~/out:=scan + + sensor_msgs/LaserScan + base_scan + + + + + + + + 0.0 0.144 0.023 -1.57 0 0 + + 1.1175580e-05 + -4.2369783e-11 + -5.9381719e-09 + 1.1192413e-05 + -1.4400107e-11 + 2.0712558e-05 + + 0.1 + + + + 0.0 0.144 0.023 -1.57 0 0 + + + 0.033 + 0.018 + + + + + + + 100000.0 + 100000.0 + 0 0 0 + 0.0 + 0.0 + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + 0.0 0.144 0.023 0 0 0 + + + model://turtlebot3_common/meshes/tire.dae + 0.001 0.001 0.001 + + + + + + + + + 0.0 -0.144 0.023 -1.57 0 0 + + 1.1175580e-05 + -4.2369783e-11 + -5.9381719e-09 + 1.1192413e-05 + -1.4400107e-11 + 2.0712558e-05 + + 0.1 + + + + 0.0 -0.144 0.023 -1.57 0 0 + + + 0.033 + 0.018 + + + + + + + 100000.0 + 100000.0 + 0 0 0 + 0.0 + 0.0 + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + 0.0 -0.144 0.023 0 0 0 + + + model://turtlebot3_common/meshes/tire.dae + 0.001 0.001 0.001 + + + + + + + -0.177 -0.064 -0.004 -1.57 0 0 + + 0.001 + + 0.00001 + 0.000 + 0.000 + 0.00001 + 0.000 + 0.00001 + + + + + + 0.005000 + + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + + -0.177 0.064 -0.004 -1.57 0 0 + + 0.001 + + 0.00001 + 0.000 + 0.000 + 0.00001 + 0.000 + 0.00001 + + + + + + 0.005000 + + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + + + + + 0.069 -0.047 0.107 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.035 + + + 0.069 -0.047 0.107 0 0 0 + + true + true + 30 + + 1.02974 + + 1920 + 1080 + R8G8B8 + + + 0.02 + 300 + + + gaussian + + 0.0 + 0.007 + + + + + + + + + + + + + + + + + base_footprint + base_link + 0.0 0.0 0.010 0 0 0 + + + + base_link + wheel_left_link + 0.0 0.144 0.023 -1.57 0 0 + + 0 0 1 + + + + + base_link + wheel_right_link + 0.0 -0.144 0.023 -1.57 0 0 + + 0 0 1 + + + + + base_link + caster_back_right_link + + + + base_link + caster_back_left_link + + + + base_link + imu_link + -0.032 0 0.068 0 0 0 + + 0 0 1 + + + + + base_link + base_scan + -0.064 0 0.121 0 0 0 + + 0 0 1 + + + + + base_link + camera_link + 0.064 -0.065 0.094 0 0 0 + + 0 0 1 + + + + + camera_link + camera_rgb_frame + 0.005 0.018 0.013 0 0 0 + + 0 0 1 + + + + + + + + + + 30 + + + wheel_left_joint + wheel_right_joint + + + 0.287 + 0.066 + + + 20 + 1.0 + + cmd_vel + + + true + true + false + + odom + odom + base_footprint + + + + + + + ~/out:=joint_states + + 30 + wheel_left_joint + wheel_right_joint + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_apm/model.config b/turtlebot3_gazebo/models/turtlebot3_apm/model.config new file mode 100644 index 0000000000000000000000000000000000000000..b7a7c77d2163832c5422afd00ab0ae8de57abf19 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_apm/model.config @@ -0,0 +1,17 @@ + + + + TurtleBot3(Waffle) + 2.0 + model-1_4.sdf + model.sdf + + + Taehun Lim(Darby) + thlim@robotis.com + + + + TurtleBot3 Waffle + + diff --git a/turtlebot3_gazebo/models/turtlebot3_apm/model.sdf b/turtlebot3_gazebo/models/turtlebot3_apm/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..e2a1b3f1e2e52525f87ecc1dd9d9c89210d08dc8 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_apm/model.sdf @@ -0,0 +1,674 @@ + + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + + + + + + + -0.064 0 0.048 0 0 0 + + 4.2111447e-02 + 0 + 0 + 4.2111447e-02 + 0 + 7.5254874e-02 + + 1.3729096e+00 + + + + -0.064 0 0.048 0 0 0 + + + 0.265 0.265 0.089 + + + + + + -0.064 0 0 0 0 0 + + + model://turtlebot3_common/meshes/waffle_base.dae + 0.001 0.001 0.001 + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + + + + + + + + + -0.052 0 0.111 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.114 + + + + -0.052 0 0.111 0 0 0 + + + 0.0508 + 0.055 + + + + + + -0.064 0 0.121 0 0 0 + + + model://turtlebot3_common/meshes/lds.dae + 0.001 0.001 0.001 + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + + + + true + true + -0.064 0 0.121 0 0 0 + 5 + scan + base_scan + + + + 360 + 1.000000 + 0.000000 + 6.280000 + + + + 0.120000 + 3.5 + 0.015000 + + + gaussian + 0.0 + 0.01 + + + + + + + + + 0.0 0.144 0.023 -1.57 0 0 + + 1.1175580e-05 + -4.2369783e-11 + -5.9381719e-09 + 1.1192413e-05 + -1.4400107e-11 + 2.0712558e-05 + + 0.1 + + + + 0.0 0.144 0.023 -1.57 0 0 + + + 0.033 + 0.018 + + + + + + + 100000.0 + 100000.0 + 0 0 0 + 0.0 + 0.0 + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + 0.0 0.144 0.023 0 0 0 + + + model://turtlebot3_common/meshes/tire.dae + 0.001 0.001 0.001 + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + + + + + + + 0.0 -0.144 0.023 -1.57 0 0 + + 1.1175580e-05 + -4.2369783e-11 + -5.9381719e-09 + 1.1192413e-05 + -1.4400107e-11 + 2.0712558e-05 + + 0.1 + + + + 0.0 -0.144 0.023 -1.57 0 0 + + + 0.033 + 0.018 + + + + + + + 100000.0 + 100000.0 + 0 0 0 + 0.0 + 0.0 + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + 0.0 -0.144 0.023 0 0 0 + + + model://turtlebot3_common/meshes/tire.dae + 0.001 0.001 0.001 + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + + + + + -0.177 -0.064 -0.004 -1.57 0 0 + + 0.001 + + 0.00001 + 0.000 + 0.000 + 0.00001 + 0.000 + 0.00001 + + + + + + 0.005000 + + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + + -0.177 0.064 -0.004 -1.57 0 0 + + 0.001 + + 0.00001 + 0.000 + 0.000 + 0.00001 + 0.000 + 0.00001 + + + + + + 0.005000 + + + + + + 0 + 0.2 + 1e+5 + 1 + 0.01 + 0.001 + + + + + + + + + + + 0.069 -0.047 0.107 0 0 0 + + 0.001 + 0.000 + 0.000 + 0.001 + 0.000 + 0.001 + + 0.035 + + + 0.069 -0.047 0.107 0 0 0 + + true + true + 30 + camera/image_raw + camera_rgb_frame + + camera/camera_info + 1.02974 + + 1920 + 1080 + R8G8B8 + + + 0.02 + 300 + + + gaussian + + 0.0 + 0.007 + + + + + + + base_footprint + base_link + 0.0 0.0 0.010 0 0 0 + + + + base_link + wheel_left_link + 0.0 0.144 0.023 -1.57 0 0 + + 0 0 1 + + 20 + + + + + + base_link + wheel_right_link + 0.0 -0.144 0.023 -1.57 0 0 + + 0 0 1 + + 20 + + + + + + base_link + caster_back_right_link + + + + base_link + caster_back_left_link + + + + + + + base_link + base_scan + -0.064 0 0.121 0 0 0 + + 0 0 1 + + + + + base_link + camera_link + 0.064 -0.065 0.094 0 0 0 + + 0 0 1 + + + + + camera_link + camera_rgb_frame + 0.005 0.018 0.013 0 0 0 + + 0 0 1 + + + + + + + 0 0 0 0 0 0 + 0.15 + + 0.00002 + 0 + 0 + 0.00002 + 0 + 0.00002 + + + + 0 0 0 180 0 0 + 1 + 1000.0 + + + + imu_link + base_link + + 0 0 1 + + 0 + 0 + 0 + 0 + + + 1.0 + + 1 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + odom + base_footprint + /tf + 30 + 3 + + + + wheel_left_joint + + + wheel_right_joint + + + + + 127.0.0.1 + 9002 + 5 + 1 + + + 0 0 0 180 0 0 + 0 0 0 180 0 90 + + + imu_sensor + + + + + + wheel_left_joint + 1 + 46.3 + -0.5 + 1000 + 2000 + VELOCITY + 0.2 + 0.06 + 0.0001 + 1 + -1 + -1.0 + 0.0 + + + + + wheel_right_joint + 1 + 46.3 + -0.5 + 1000 + 2000 + VELOCITY + 0.2 + 0.06 + 0.0001 + 1 + -1 + -1.0 + 0.0 + + + + + + + + + + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf b/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf new file mode 100644 index 0000000000000000000000000000000000000000..ed0033178962f90c899f9a8acee1d91267817675 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_burger/model-1_4.sdf @@ -0,0 +1,408 @@ + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + + + + + + + -0.032 0 0.070 0 0 0 + + 7.2397393e-01 + 4.686399e-10 + -1.09525703e-08 + 7.2397393e-01 + 2.8582649e-09 + 6.53050163e-01 + + 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+ + + + + + + + 132.5 0 0 0 0 132.5 0 0 0 0 46 46.12724 0 0 0 1 + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/turtlebot3_gazebo/models/turtlebot3_common/model.config b/turtlebot3_gazebo/models/turtlebot3_common/model.config new file mode 100644 index 0000000000000000000000000000000000000000..5765f262f1025aab365f19035b2a9c47567af32e --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_common/model.config @@ -0,0 +1,15 @@ + + + + TurtleBot3 Common Mesh + 2.0 + + + Will Son + willson@robotis.com + + + + TurtleBot3 Common Mesh + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config new file mode 100644 index 0000000000000000000000000000000000000000..d2280658ec0500a083ebd7b77c667c7ff99bba09 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.config @@ -0,0 +1,11 @@ + + + goal_box + 1.0 + model.sdf + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..606f310e0c97b9d7441bad4a0c09d63d59770138 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/goal_box/model.sdf @@ -0,0 +1,26 @@ + + + + 0 0 0 0 -0 -1.5708 + + + 0 0 0.0005 0 -0 0 + + + 0.3 + 0.001 + + + + + 1 0 0 1 + + + 0 0 0 0 -0 0 + + 1 + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config new file mode 100644 index 0000000000000000000000000000000000000000..48f76c2c1c72897c6d6695d86e9f768559264348 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.config @@ -0,0 +1,15 @@ + + + inner_walls + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DQN World Inner Walls + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..f13158a0d46f64886bcb867a4aebea72d5783131 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/inner_walls/model.sdf @@ -0,0 +1,189 @@ + + + + 0 0 0 0 0 0 + + + + + 1 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 1 0.15 0.5 + + + + + 1 1 1 1 + + + -2.0 -1.5 0 0 -0 0 + + + + + + 1 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 1 0.15 0.5 + + + + + 1 1 1 1 + + + -0.5 -2.0 0 0 0 -1.5708 + + + + + + 1 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 1 0.15 0.5 + + + + + 1 1 1 1 + + + 1.0 -1.0 0 0 -0 1.5708 + + + + + + 1 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 1 0.15 0.5 + + + + + 1 1 1 1 + + + 1.2 1.9 0 0 0 -1.5708 + + + + + + 1 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 1 0.15 0.5 + + + + + 1 1 1 1 + + + 1.9 0.4 0 0 -0 0 + + + + + + 1 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 1 0.15 0.5 + + + + + 1 1 1 1 + + + -0.5 1.5 0 0 -0 0 + + + + + + 1 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 1 0.15 0.5 + + + + + 1 1 1 1 + + + -1.2 0.092 0 0 0 -1.5708 + + 1 + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config new file mode 100644 index 0000000000000000000000000000000000000000..6472dbbbf051abbe9d6364e850042e87e82d9a52 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.config @@ -0,0 +1,15 @@ + + + turtlebot3_dqn + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DQN World + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..ad77f03176c2bb15a42b8f9aa25fd2ee2f384f97 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/model.sdf @@ -0,0 +1,111 @@ + + + + 0 0 0 0 0 0 + + + + + 5 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 5 0.15 0.5 + + + + + 1 1 1 1 + + + -2.425 0 0 0 -0 1.5708 + + + + + + 5 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 5 0.15 0.5 + + + + + 1 1 1 1 + + + 0 2.425 0 0 -0 0 + + + + + + 5 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 5 0.15 0.5 + + + + + 1 1 1 1 + + + 2.425 0 0 0 0 -1.5708 + + + + + + 5 0.15 0.5 + + + 0 0 0.25 0 -0 0 + + + 0 0 0.25 0 -0 0 + + + 5 0.15 0.5 + + + + + 1 1 1 1 + + + 0 -2.425 0 0 -0 3.14159 + + 1 + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config new file mode 100644 index 0000000000000000000000000000000000000000..9f53c753ac6c4f7b38c0dc8cd9493e07f3538ecf --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.config @@ -0,0 +1,15 @@ + + + obstacle1 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DQN World + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..741cbf4586c945ce8f25a573f8b995c0ab218ef6 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle1/model.sdf @@ -0,0 +1,24 @@ + + + + + + + + 0.12 + 0.25 + + + + + + + + 0.12 + 0.25 + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config new file mode 100644 index 0000000000000000000000000000000000000000..674c579b624ee45af846037c3d6dc72c2193a45d --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.config @@ -0,0 +1,15 @@ + + + obstacle2 + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DQN World + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..fcee1b55ffb6ec316adee2ada5812bfaa3bcd6db --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle2/model.sdf @@ -0,0 +1,24 @@ + + + + + + + + 0.12 + 0.25 + + + + + + + + 0.12 + 0.25 + + + + + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/CMakeLists.txt b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..dacf9dc370ffe4b020aa2c24c31ae5a3a58a2189 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/CMakeLists.txt @@ -0,0 +1,27 @@ +################################################################################ +# CMake +################################################################################ +cmake_minimum_required(VERSION 2.8 FATAL_ERROR) + +################################################################################ +# Packages +################################################################################ +find_package(gazebo REQUIRED) + +################################################################################ +# Build +################################################################################ +link_directories(${GAZEBO_LIBRARY_DIRS}) + +include_directories(${GAZEBO_INCLUDE_DIRS}) + +list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}") + +add_library(obstacle1 SHARED obstacle1.cc) +target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES}) + +add_library(obstacle2 SHARED obstacle2.cc) +target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES}) + +add_library(obstacles SHARED obstacles.cc) +target_link_libraries(obstacles ${GAZEBO_LIBRARIES}) diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc new file mode 100644 index 0000000000000000000000000000000000000000..7c86c5bb80bfd1840c6c9986478a91dc5d1db4c6 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle1.cc @@ -0,0 +1,93 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + + +namespace gazebo +{ +class Obstacle1: public ModelPlugin +{ +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_1", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move1", 160.0, true)); + + gazebo::common::PoseKeyFrame * key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(50); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(70); + key->Translation(ignition::math::Vector3d(-3.7, -3.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(90); + key->Translation(ignition::math::Vector3d(-3.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(-0.5, -1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(160); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + +// Pointer to the model + +private: + physics::ModelPtr model; + +// Pointer to the update event connection + +private: + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacle1) +} // namespace gazebo diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc new file mode 100644 index 0000000000000000000000000000000000000000..60fd4c2ffc0260651645d8e61aa0e923d3fa4ac9 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacle2.cc @@ -0,0 +1,109 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + + +namespace gazebo +{ +class Obstacle2: public ModelPlugin +{ +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move_2", + // make it last 260 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move2", 140.0, true)); + + gazebo::common::PoseKeyFrame * key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(10); + key->Translation(ignition::math::Vector3d(0.7, 0.2, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(2.5, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(55); + key->Translation(ignition::math::Vector3d(0.3, 3.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(85); + key->Translation(ignition::math::Vector3d(3.5, 1.8, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(100); + key->Translation(ignition::math::Vector3d(3.5, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(110); + key->Translation(ignition::math::Vector3d(2.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(115); + key->Translation(ignition::math::Vector3d(1.5, 1.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(120); + key->Translation(ignition::math::Vector3d(1.0, 0.5, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(125); + key->Translation(ignition::math::Vector3d(0.5, 0.1, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(130); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(140); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + // set the animation + _parent->SetAnimation(anim); + } + +// Pointer to the model + +private: + physics::ModelPtr model; + +// Pointer to the update event connection + +private: + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacle2) +} // namespace gazebo diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc new file mode 100644 index 0000000000000000000000000000000000000000..4f092e775d7bad7ca5be30134609f57ff94d8df4 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacle_plugin/obstacles.cc @@ -0,0 +1,75 @@ +// Copyright 2012 Open Source Robotics Foundation +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Author: Ryan Shim + +#include +#include + +#include +#include +#include + +#define PI 3.141592 + + +namespace gazebo +{ +class Obstacles: public ModelPlugin +{ +public: + void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) + { + // Store the pointer to the model + this->model = _parent; + + // create the animation + gazebo::common::PoseAnimationPtr anim( + // name the animation "move", + // make it last 40 seconds, + // and set it on a repeat loop + new gazebo::common::PoseAnimation("move", 40.0, true)); + + gazebo::common::PoseKeyFrame * key; + + // set starting location of the box + key = anim->CreateKeyFrame(0); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 0)); + + key = anim->CreateKeyFrame(20); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, PI)); + + key = anim->CreateKeyFrame(40); + key->Translation(ignition::math::Vector3d(0.0, 0.0, 0.0)); + key->Rotation(ignition::math::Quaterniond(0, 0, 2 * PI)); + + // set the animation + _parent->SetAnimation(anim); + } + +// Pointer to the model + +private: + physics::ModelPtr model; + +// Pointer to the update event connection + +private: + event::ConnectionPtr updateConnection; +}; +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(Obstacles) +} // namespace gazebo diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config new file mode 100644 index 0000000000000000000000000000000000000000..a155efed4b87491042e4cdeb84c9f5caf8656539 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.config @@ -0,0 +1,15 @@ + + + obstacles + 1.0 + model.sdf + + + Ryan Shim + jhshim@robotis.com + + + + TurtleBot3 DQN World + + diff --git a/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..29bce4e4b515329d08362d1cca950f2866da1bf0 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_dqn_world/obstacles/model.sdf @@ -0,0 +1,153 @@ + + + + 0 0 0 0 0 0 + + + -1.0 -1.0 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + -1.0 -1.0 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + -1.0 1.0 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + -1.0 1.0 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + 1.0 -1.0 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + 1.0 -1.0 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + 1.0 1.0 0.25 0 0 0 + + + 0.15 + 0.5 + 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a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config new file mode 100644 index 0000000000000000000000000000000000000000..2730a6d066e9e67d9f8ff8a199f70837f56f1dda --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.config @@ -0,0 +1,17 @@ + + + + TurtleBot3(Waffle Pi) + 2.0 + model-1_4.sdf + model.sdf + + + Taehun Lim(Darby) + thlim@robotis.com + + + + TurtleBot3 Waffle Pi + + diff --git a/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..f7658dd3934e54c96de92d8aeadd8aeb347f4d6e --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_waffle_pi/model.sdf @@ -0,0 +1,520 @@ + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + + + + + + + -0.064 0 0.048 0 0 0 + + 4.2111447e-02 + 0 + 0 + 4.2111447e-02 + 0 + 7.5254874e-02 + + 1.3729096e+00 + + + + -0.064 0 0.048 0 0 0 + + + 0.265 0.265 0.089 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mode 100644 index 0000000000000000000000000000000000000000..bc6a666f38abbd35804d150d0af51bfe429f7ea3 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_world/model.config @@ -0,0 +1,17 @@ + + + + TurtleBot3 World + 1.0 + model-1_4.sdf + model.sdf + + + Taehun Lim(Darby) + thlim@robotis.com + + + + World of TurtleBot3 with ROS symbol + + diff --git a/turtlebot3_gazebo/models/turtlebot3_world/model.sdf b/turtlebot3_gazebo/models/turtlebot3_world/model.sdf new file mode 100644 index 0000000000000000000000000000000000000000..d733d00f788dfb0fb66ce72fde91202508357ad5 --- /dev/null +++ b/turtlebot3_gazebo/models/turtlebot3_world/model.sdf @@ -0,0 +1,549 @@ + + + + 1 + + + -1.1 -1.1 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + -1.1 -1.1 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + -1.1 0 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + + -1.1 0 0.25 0 0 0 + + + 0.15 + 0.5 + + + + + + + + + -1.1 1.1 0.25 0 0 0 + + + 0.15 + 0.5 + + + 10 + + + + + + + + + + + + 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+ + + + + + + 0 0 -0.3 0 0 -1.5708 + + + model://turtlebot3_world/meshes/wall.dae + 0.25 0.25 0.25 + + + + + + + + + diff --git a/turtlebot3_gazebo/package.xml b/turtlebot3_gazebo/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..35c2ba7f10eefd8347a467eb0561ef23f0fa3aa2 --- /dev/null +++ b/turtlebot3_gazebo/package.xml @@ -0,0 +1,30 @@ + + + + turtlebot3_gazebo + 2.2.6 + + Gazebo simulation package for the TurtleBot3 + + Will Son + Apache 2.0 + http://turtlebot3.robotis.com + https://github.com/ROBOTIS-GIT/turtlebot3_simulations + https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues + Darby Lim + Pyo + Ryan Shim + ament_cmake + geometry_msgs + nav_msgs + rclcpp + ros_gz_bridge + ros_gz_image + ros_gz_sim + sensor_msgs + tf2 + + ament_cmake + + + diff --git a/turtlebot3_gazebo/params/turtlebot3_apm_bridge.yaml b/turtlebot3_gazebo/params/turtlebot3_apm_bridge.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7b288a7c128a1dc9327b1666a33a13e37c10caa2 --- /dev/null +++ b/turtlebot3_gazebo/params/turtlebot3_apm_bridge.yaml @@ -0,0 +1,57 @@ +- ros_topic_name: "clock" + gz_topic_name: "clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +# gz topic published by JointState plugin +- ros_topic_name: "joint_states" +# gz_topic_name: "joint_states" + gz_topic_name: "/world/tb3_world/model/apm/joint_state" #这里换了 + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin +- ros_topic_name: "odom" + # gz_topic_name: "odom" #这里应该换成Ardupilot的Plugin的odom，给gazebo,然后gazebo再给ros???把这个换成ardupilot的odom就可以了？ + gz_topic_name: "/model/apm/odometry" + ros_type_name: "nav_msgs/msg/Odometry" + gz_type_name: "gz.msgs.Odometry" + direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin +- ros_topic_name: "tf" + gz_topic_name: "tf" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "gz.msgs.Pose_V" + direction: GZ_TO_ROS + +# gz topic subscribed to by DiffDrive plugin +- ros_topic_name: "cmd_vel" + gz_topic_name: "cmd_vel" #这里同上面odom一样用修改 + ros_type_name: "geometry_msgs/msg/Twist" #ros2 topic info /cmd_vel -v的TOPIC type + gz_type_name: "gz.msgs.Twist" + direction: ROS_TO_GZ + + +# gz topic published by IMU plugin +- ros_topic_name: "imu" + gz_topic_name: "imu" + ros_type_name: "sensor_msgs/msg/Imu" + gz_type_name: "gz.msgs.IMU" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin (LIDAR) +- ros_topic_name: "scan" + gz_topic_name: "scan" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "gz.msgs.LaserScan" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin (Camera) +- ros_topic_name: "camera/camera_info" + gz_topic_name: "camera/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS diff --git a/turtlebot3_gazebo/params/turtlebot3_waffle_bridge.yaml b/turtlebot3_gazebo/params/turtlebot3_waffle_bridge.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8a7205a2fb2ac125529d7768ab7dcc55278f2ea9 --- /dev/null +++ b/turtlebot3_gazebo/params/turtlebot3_waffle_bridge.yaml @@ -0,0 +1,56 @@ +- ros_topic_name: "clock" + gz_topic_name: "clock" + ros_type_name: "rosgraph_msgs/msg/Clock" + gz_type_name: "gz.msgs.Clock" + direction: GZ_TO_ROS + +# gz topic published by JointState plugin +- ros_topic_name: "joint_states" + gz_topic_name: "joint_states" + ros_type_name: "sensor_msgs/msg/JointState" + gz_type_name: "gz.msgs.Model" + direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin这里改一下试试，不对 +- ros_topic_name: "odom" + #gz_topic_name: "/model/apm/odometry" + gz_topic_name: "odom" + ros_type_name: "nav_msgs/msg/Odometry" + gz_type_name: "gz.msgs.Odometry" + direction: GZ_TO_ROS + +# gz topic published by DiffDrive plugin +- ros_topic_name: "tf" + gz_topic_name: "tf" + ros_type_name: "tf2_msgs/msg/TFMessage" + gz_type_name: "gz.msgs.Pose_V" + direction: GZ_TO_ROS + +# gz topic subscribed to by DiffDrive plugin +- ros_topic_name: "cmd_vel" + gz_topic_name: "cmd_vel" + ros_type_name: "geometry_msgs/msg/Twist" + gz_type_name: "gz.msgs.Twist" + direction: ROS_TO_GZ + + +# gz topic published by IMU plugin +- ros_topic_name: "imu" + gz_topic_name: "imu" + ros_type_name: "sensor_msgs/msg/Imu" + gz_type_name: "gz.msgs.IMU" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin (LIDAR) +- ros_topic_name: "scan" + gz_topic_name: "scan" + ros_type_name: "sensor_msgs/msg/LaserScan" + gz_type_name: "gz.msgs.LaserScan" + direction: GZ_TO_ROS + +# gz topic published by Sensors plugin (Camera) +- ros_topic_name: "camera/camera_info" + gz_topic_name: "camera/camera_info" + ros_type_name: "sensor_msgs/msg/CameraInfo" + gz_type_name: "gz.msgs.CameraInfo" + direction: GZ_TO_ROS diff --git a/turtlebot3_gazebo/rviz/tb3_gazebo.rviz b/turtlebot3_gazebo/rviz/tb3_gazebo.rviz new file mode 100644 index 0000000000000000000000000000000000000000..87fbdaee59479fc03dee517168efdd07abb637e7 --- /dev/null +++ b/turtlebot3_gazebo/rviz/tb3_gazebo.rviz @@ -0,0 +1,335 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /TF1/Frames1 + Splitter Ratio: 0.5 + Tree Height: 694 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_footprint: + Value: true + base_link: + Value: true + base_scan: + Value: true + camera_link: + Value: true + camera_rgb_frame: + Value: true + camera_rgb_optical_frame: + Value: true + caster_back_left_link: + Value: true + caster_back_right_link: + Value: true + imu_link: + Value: true + odom: + Value: true + wheel_left_link: + Value: true + wheel_right_link: + Value: true + Marker Scale: 0.699999988079071 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + odom: + base_footprint: + base_link: + base_scan: + {} + camera_link: + camera_rgb_frame: + camera_rgb_optical_frame: + {} + caster_back_left_link: + {} + caster_back_right_link: + {} + imu_link: + {} + wheel_left_link: + {} + wheel_right_link: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Angle Tolerance: 0.10000000149011612 + Class: rviz_default_plugins/Odometry + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: false + Enabled: true + Keep: 100 + Name: Odometry + Position Tolerance: 0.10000000149011612 + Shape: + Alpha: 1 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Color: 255; 25; 0 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 + Shaft Length: 1 + Shaft Radius: 0.05000000074505806 + Value: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /odom + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_footprint: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_scan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_back_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 0.7853981852531433 + Saved: + - Class: rviz_default_plugins/Orbit + Distance: 5 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Orbit + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 0.7853981852531433 +Window Geometry: + Displays: + collapsed: false + Height: 923 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1328 + X: 168 + Y: 71 diff --git a/turtlebot3_gazebo/src/turtlebot3_drive.cpp b/turtlebot3_gazebo/src/turtlebot3_drive.cpp new file mode 100644 index 0000000000000000000000000000000000000000..2404ca1d645d0469cc1b7cf872610cd22eea7866 --- /dev/null +++ b/turtlebot3_gazebo/src/turtlebot3_drive.cpp @@ -0,0 +1,174 @@ +// Copyright 2019 ROBOTIS CO., LTD. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +// +// Authors: Taehun Lim (Darby), Ryan Shim + +#include "turtlebot3_gazebo/turtlebot3_drive.hpp" + +#include + +using namespace std::chrono_literals; + +Turtlebot3Drive::Turtlebot3Drive() +: Node("turtlebot3_drive_node") +{ + /************************************************************ + ** Initialise variables + ************************************************************/ + scan_data_[0] = 0.0; + scan_data_[1] = 0.0; + scan_data_[2] = 0.0; + + robot_pose_ = 0.0; + prev_robot_pose_ = 0.0; + + /************************************************************ + ** Initialise ROS publishers and subscribers + ************************************************************/ + auto qos = rclcpp::QoS(rclcpp::KeepLast(10)); + + // Initialise publishers + cmd_vel_pub_ = this->create_publisher("cmd_vel", qos); + + // Initialise subscribers + scan_sub_ = this->create_subscription( + "scan", \ + rclcpp::SensorDataQoS(), \ + std::bind( + &Turtlebot3Drive::scan_callback, \ + this, \ + std::placeholders::_1)); + odom_sub_ = this->create_subscription( + "odom", qos, std::bind(&Turtlebot3Drive::odom_callback, this, std::placeholders::_1)); + + /************************************************************ + ** Initialise ROS timers + ************************************************************/ + update_timer_ = this->create_wall_timer(10ms, std::bind(&Turtlebot3Drive::update_callback, this)); + + RCLCPP_INFO(this->get_logger(), "Turtlebot3 simulation node has been initialised"); +} + +Turtlebot3Drive::~Turtlebot3Drive() +{ + RCLCPP_INFO(this->get_logger(), "Turtlebot3 simulation node has been terminated"); +} + +/******************************************************************************** +** Callback functions for ROS subscribers +********************************************************************************/ +void Turtlebot3Drive::odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg) +{ + tf2::Quaternion q( + msg->pose.pose.orientation.x, + msg->pose.pose.orientation.y, + msg->pose.pose.orientation.z, + msg->pose.pose.orientation.w); + tf2::Matrix3x3 m(q); + double roll, pitch, yaw; + m.getRPY(roll, pitch, yaw); + + robot_pose_ = yaw; +} + +void Turtlebot3Drive::scan_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg) +{ + uint16_t scan_angle[3] = {0, 30, 330}; + + for (int num = 0; num < 3; num++) { + if (std::isinf(msg->ranges.at(scan_angle[num]))) { + scan_data_[num] = msg->range_max; + } else { + scan_data_[num] = msg->ranges.at(scan_angle[num]); + } + } +} + +void Turtlebot3Drive::update_cmd_vel(double linear, double angular) +{ + geometry_msgs::msg::Twist cmd_vel; + cmd_vel.linear.x = linear; + cmd_vel.angular.z = angular; + + cmd_vel_pub_->publish(cmd_vel); +} + +/******************************************************************************** +** Update functions +********************************************************************************/ +void Turtlebot3Drive::update_callback() +{ + static uint8_t turtlebot3_state_num = 0; + double escape_range = 30.0 * DEG2RAD; + double check_forward_dist = 0.7; + double check_side_dist = 0.6; + + switch (turtlebot3_state_num) { + case GET_TB3_DIRECTION: + if (scan_data_[CENTER] > check_forward_dist) { + if (scan_data_[LEFT] < check_side_dist) { + prev_robot_pose_ = robot_pose_; + turtlebot3_state_num = TB3_RIGHT_TURN; + } else if (scan_data_[RIGHT] < check_side_dist) { + prev_robot_pose_ = robot_pose_; + turtlebot3_state_num = TB3_LEFT_TURN; + } else { + turtlebot3_state_num = TB3_DRIVE_FORWARD; + } + } + + if (scan_data_[CENTER] < check_forward_dist) { + prev_robot_pose_ = robot_pose_; + turtlebot3_state_num = TB3_RIGHT_TURN; + } + break; + + case TB3_DRIVE_FORWARD: + update_cmd_vel(LINEAR_VELOCITY, 0.0); + turtlebot3_state_num = GET_TB3_DIRECTION; + break; + + case TB3_RIGHT_TURN: + if (fabs(prev_robot_pose_ - robot_pose_) >= escape_range) { + turtlebot3_state_num = GET_TB3_DIRECTION; + } else { + update_cmd_vel(0.0, -1 * ANGULAR_VELOCITY); + } + break; + + case TB3_LEFT_TURN: + if (fabs(prev_robot_pose_ - robot_pose_) >= escape_range) { + turtlebot3_state_num = GET_TB3_DIRECTION; + } else { + update_cmd_vel(0.0, ANGULAR_VELOCITY); + } + break; + + default: + turtlebot3_state_num = GET_TB3_DIRECTION; + break; + } +} + +/******************************************************************************* +** Main +*******************************************************************************/ +int main(int argc, char ** argv) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + + return 0; +} diff --git a/turtlebot3_gazebo/urdf/common_properties.urdf b/turtlebot3_gazebo/urdf/common_properties.urdf new file mode 100644 index 0000000000000000000000000000000000000000..7aea0c4cb380c1c120075521d2b85d343129aad8 --- /dev/null +++ b/turtlebot3_gazebo/urdf/common_properties.urdf @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/turtlebot3_gazebo/urdf/turtlebot3_apm.urdf b/turtlebot3_gazebo/urdf/turtlebot3_apm.urdf new file mode 100644 index 0000000000000000000000000000000000000000..160fa396851db51377b8423155f5a071189ebf20 --- /dev/null +++ b/turtlebot3_gazebo/urdf/turtlebot3_apm.urdf @@ -0,0 +1,293 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf b/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf new file mode 100644 index 0000000000000000000000000000000000000000..65a64811e3179cc6d4feef08d65a5ca5c89f7f33 --- /dev/null +++ b/turtlebot3_gazebo/urdf/turtlebot3_burger.urdf @@ -0,0 +1,196 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf b/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf new file mode 100644 index 0000000000000000000000000000000000000000..160fa396851db51377b8423155f5a071189ebf20 --- /dev/null +++ b/turtlebot3_gazebo/urdf/turtlebot3_waffle.urdf @@ -0,0 +1,293 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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new file mode 100644 index 0000000000000000000000000000000000000000..b62256009496c69fb4d95bd9f402d3afed4e4bfc --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage1.world @@ -0,0 +1,54 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_dqn_world + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world new file mode 100644 index 0000000000000000000000000000000000000000..8efeee78bf9247dc505927265d010fcba906a83c --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage2.world @@ -0,0 +1,58 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_dqn_world + + + + + model://turtlebot3_dqn_world/obstacles + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world new file mode 100644 index 0000000000000000000000000000000000000000..d8d7dc1af04c21e9e2083b8c73f6338977a3b7c9 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage3.world @@ -0,0 +1,62 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_dqn_world + + + + + + 1 + + model://turtlebot3_dqn_world/obstacles + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world new file mode 100644 index 0000000000000000000000000000000000000000..b0174dcafb9d9cc833d35c54edf952cbe9f560f1 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_dqn_stage4.world @@ -0,0 +1,75 @@ + + + + + + model://ground_plane + + + + model://sun + + + + false + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_dqn_world + + + + + 0 0 0 0 0 0 + model://turtlebot3_dqn_world/inner_walls + + + + + + 2 2 0 0 0 0 + model://turtlebot3_dqn_world/obstacle1 + + + + + + + -2 -2 0 0 0 0 + model://turtlebot3_dqn_world/obstacle2 + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_house.world b/turtlebot3_gazebo/worlds/turtlebot3_house.world new file mode 100644 index 0000000000000000000000000000000000000000..c7d63d944561c54d04e9d6c853cfa9d16453940e --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_house.world @@ -0,0 +1,75 @@ + + + + + + + + + + + ogre2 + + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_house + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3_world.world b/turtlebot3_gazebo/worlds/turtlebot3_world.world new file mode 100644 index 0000000000000000000000000000000000000000..caa1b0653de79b98b2c18f42776470af24b6b3b4 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3_world.world @@ -0,0 +1,293 @@ + + + + + + + + + + + + ogre2 + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + false + 5 + 5 + floating + false + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 100 + 50 + floating + false + #777777 + + + + + + + false + docked + + + + + + + false + docked + + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_world + + + + + diff --git a/turtlebot3_gazebo/worlds/turtlebot3apm_world.world b/turtlebot3_gazebo/worlds/turtlebot3apm_world.world new file mode 100644 index 0000000000000000000000000000000000000000..ad60acbbdefd402b5f9eb3102c86bc9422084d69 --- /dev/null +++ b/turtlebot3_gazebo/worlds/turtlebot3apm_world.world @@ -0,0 +1,294 @@ + + + + + + + + + + + + + ogre2 + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane + + + + + + https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun + + + + + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + orbit + perspective + + + + 3D View + false + docked + + + ogre2 + scene + 0.4 0.4 0.4 + 0.8 0.8 0.8 + 0.319654 -0.235002 9.29441 0 1.5138 0.009599 + + + + + floating + 5 + 5 + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + false + 5 + 5 + floating + false + + + + + + false + 5 + 5 + floating + false + + + + + + false + 5 + 5 + floating + false + + + + + + + World control + false + false + 72 + 1 + + floating + + + + + + + true + true + true + true + + + + + + + World stats + false + false + 110 + 290 + 1 + + floating + + + + + + + true + true + true + true + + + + + + false + 0 + 0 + 250 + 50 + floating + false + #666666 + + + + + + + false + 250 + 0 + 150 + 50 + floating + false + #666666 + + + + + + + false + 0 + 50 + 250 + 50 + floating + false + #777777 + + + + + + + false + 250 + 50 + 50 + 50 + floating + false + #777777 + + + + + + + false + 300 + 50 + 100 + 50 + floating + false + #777777 + + + + + + + false + docked + + + + + + + false + docked + + + + + + 1000.0 + 0.001 + 1 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + 1 + + model://turtlebot3_world + + + + + diff --git a/turtlebot3_simulations/CHANGELOG.rst b/turtlebot3_simulations/CHANGELOG.rst new file mode 100644 index 0000000000000000000000000000000000000000..a81d01556c6df09427bcc226e71b137ee75d6eda --- /dev/null +++ b/turtlebot3_simulations/CHANGELOG.rst @@ -0,0 +1,181 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package turtlebot3_simulations +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +2.2.6 (2202-05-26) +------------------ +* ROS2 Humble Hawksbill supported + +2.2.5 (2021-08-25) +------------------ +* Release for ROS2 Rolling +* Contributors: Will Son + +2.2.4 (2021-06-14) +------------------ +* Release for ROS2 Galactic +* Separate world and robot models(#162) +* Clean up unncessary files +* Use turtlebot3_common mesh modeling +* Independent turtlebot3_simulations package +* Contributors: Joep Tool, Will Son + +2.2.3 (2021-04-12) +------------------ +* Update required keyword arguments +* Clear up exec_depend +* Fix Waffle Pi wheel inertia +* Contributors: ruffsl, Will Son + +2.2.2 (2021-02-24) +------------------ +* Remove shared objects built in older version +* Contributors: Will Son + +2.2.1 (2021-01-13) +------------------ +* Eloquent Elusor EOL +* Add missing imu joint in sdf +* Append Gazebo model path +* Portable fix, launch description revise +* Ament lint applied +* Contributors: minwoominwoominwoo7, Rayman, seanyen, ashe kim, Will Son + +2.2.0 (2020-06-29) +------------------ +* TurtleBot3 Drive node implementation +* Additional Gazebo maps added +* argument tags in the sdf file replaced with remapping tags +* Low polygon 3D modeling applied for simulation +* Contributors: Ryan Shim, Mikael Arguedas, Will Son + +2.1.0 (2019-09-10) +------------------ +* ROS 2 migration of turtlebot3_fake_node package +* Modified rviz config (background colour changed to white, tf display disabled) +* Added turtlebot3_house and related world, model files +* Contributors: Ryan Shim, Darby Lim, Pyo + +2.0.1 (2019-09-05) +------------------ +* Modified dependency packages +* Modified launch directory +* Added a launch file for robot state publisher +* Contributors: Darby Lim, Pyo + +2.0.0 (2019-08-20) +------------------ +* Supported ROS 2 Dashing Diademata +* Updated the CHANGELOG and version to release binary packages +* Contributors: Darby Lim, Pyo + +1.3.0 (2020-06-29) +------------------ +* Turtlebot3 Autorace 2020 implemented +* Remove the plugin_path from gazebo_ros export +* Remove *nix path separator +* Contributors: Ashe Kim, Ben Wolsieffer, Sean Yen + +1.2.0 (2019-01-22) +------------------ +* move out the init() from ROS_ASSERT `#68 `_ +* moved into `#65 `_ +* modified ML stage +* delete unused param +* update algorithm and modified variable more clearly +* Contributors: Darby Lim, Gilbert, Louise Poubel, Pyo + +1.1.0 (2018-07-20) +------------------ +* added TurtleBot3 Waffle Pi +* modified uri path +* modified autorace +* delete remap +* Contributors: Darby Lim, Gilbert, Pyo + +1.0.2 (2018-06-01) +------------------ +* added mission.launch modified model.sdf +* deleted turtlebot3's gazebo plugins +* modified autorace gazebo +* merged pull request `#53 `_ `#52 `_ `#51 `_ `#50 `_ `#49 `_ +* Contributors: Gilbert, Darby Lim, Pyo + +1.0.1 (2018-05-30) +------------------ +* resolving dependency issues: + http://build.ros.org/job/Kbin_dj_dJ64__turtlebot3_gazebo__debian_jessie_amd64__binary/2/ +* Contributors: Pyo + +1.0.0 (2018-05-29) +------------------ +* added world for turtlebot3_autorace +* added world for turtlebot3_machine_learning +* merged pull request `#46 `_ from AuTURBO/develop + add turtlebot3_autorace world' +* merged pull request `#48 `_ `#47 `_ `#44 `_ `#42 `_ `#41 `_ +* Contributors: Darby Lim, Gilbert, hyunoklee, Pyo + +0.2.4 (2018-03-14) +------------------ +* solved DuplicateVersionsException error +* Contributors: Pyo + +0.2.3 (2018-03-14) +------------------ +* solved DuplicateVersionsException error +* Contributors: Pyo + +0.2.2 (2018-03-14) +------------------ +* added line feed into metapackage +* Contributors: Pyo + +0.2.1 (2018-03-14) +------------------ +* added worlds for gazebo and turtlebot3 +* deleted turtlebot3_gazebo_plugin and merged into turtlebot3_gazebo_ros package +* Contributors: Darby Lim + +0.2.0 (2018-03-13) +------------------ +* added TurtleBot3 Waffle Pi +* added slam with multiple tb3 +* added multi example +* added turtlebot3_house +* added turtlebot3_house +* added msg function +* modified gazebo plugin +* modified tb3 control +* modified sensor param +* modified camera position +* modified image_listener +* modified cmake file +* modified spwn model name +* modified multi slam param +* modified camera position +* modified folder name +* Contributors: Darby Lim + +0.1.7 (2017-08-16) +------------------ +* renamed missed the install rule (worlds -> models) +* Contributors: Darby Lim, Tully Foote + +0.1.6 (2017-08-14) +------------------ +* modified folder name and model path +* updated rviz and add static tf publisher for depth camera +* Contributors: Darby Lim + +0.1.5 (2017-06-09) +------------------ +* modified make files for dependencies +* updated turtlebot3 sim +* updated world config +* Contributors: Darby Lim + +0.1.4 (2017-05-23) +------------------ +* added as new meta-packages and version update (0.1.4) +* Contributors: Darby Lim, Pyo diff --git a/turtlebot3_simulations/CMakeLists.txt b/turtlebot3_simulations/CMakeLists.txt new file mode 100644 index 0000000000000000000000000000000000000000..c238398aacc84f809618b813c1420fd9f387c6f4 --- /dev/null +++ b/turtlebot3_simulations/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 3.5) +project(turtlebot3_simulations) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) +endif() + +find_package(ament_cmake REQUIRED) +ament_package() diff --git a/turtlebot3_simulations/package.xml b/turtlebot3_simulations/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..8a4f15cbeae38ce2a7345a483ca3ff68e3c78b00 --- /dev/null +++ b/turtlebot3_simulations/package.xml @@ -0,0 +1,23 @@ + + + + turtlebot3_simulations + 2.2.6 + + ROS 2 packages for TurtleBot3 simulations + + Will Son + Apache 2.0 + http://turtlebot3.robotis.com + https://github.com/ROBOTIS-GIT/turtlebot3_simulations + https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues + Darby Lim + Pyo + Ryan Shim + ament_cmake + turtlebot3_fake_node + turtlebot3_gazebo + + ament_cmake + + diff --git a/turtlebot3_simulations_ci.repos b/turtlebot3_simulations_ci.repos new file mode 100644 index 0000000000000000000000000000000000000000..be0e451671dc93554ca54ec63008e41f098d1a86 --- /dev/null +++ b/turtlebot3_simulations_ci.repos @@ -0,0 +1,17 @@ +repositories: + turtlebot3/turtlebot3: + type: git + url: https://github.com/ROBOTIS-GIT/turtlebot3.git + version: ros2-devel + turtlebot3/turtlebot3_msgs: + type: git + url: https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git + version: ros2-devel + utils/DynamixelSDK: + type: git + url: https://github.com/ROBOTIS-GIT/DynamixelSDK.git + version: ros2-devel + utils/hls_lfcd_lds_driver: + type: git + url: https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git + version: ros2-devel