diff --git a/README.md b/README.md
index 2e1b85c1ea3e68365851daf5755c4dcbd512bd86..cc988994060fc00828bf6bfa13e6325e34631026 100644
--- a/README.md
+++ b/README.md
@@ -11,39 +11,38 @@ http://www.autonomousdrivingchallenge.com
## Installing
+Install modelcar basic packages, because we need its odometry package
-1. Clone AutoModelCar version-3 repo, because we need its odometry package
```
-mkdir -p ~/seat
-cd ~/seat
-git clone -b version-3 https://github.com/AutoModelCar/model_car.git model_car_3
-#git clone -b version-3-kinetic https://github.com/AutoModelCar/model_car.git model_car_3
-source /opt/ros/indigo/setup.bash
-#source /opt/ros/kinetic/setup.bash
-cd ~/seat/model_car_3/catkin_ws
-rm -rf build devel
-# We actually only need the odometry package
-catkin_make --only-pkg-with-deps odometry
+wget http://ftp.imp.fu-berlin.de/pub/autonomos/data/modelcar/software-packages/v3/kinetic/amd64/modelcar-basic-packages.deb
+sudo dpkg -i modelcar-basic-packages.deb
+source /opt/ros/modelcar/catkin_ws/install/setup.bash
+# You can add this last line to you ~/.bashrc
+
```
-2. Create our catkin_ws workspace, overlaying model_car_3/catkin_ws
+
+Create our catkin_ws workspace, overlaying /opt/ros/modelcar/install/catkin_ws
+
```
-source ~/seat/model_car_3/catkin_ws/devel/setup.bash
-mkdir -p ~/seat/catkin_ws/src
-cd ~/seat/catkin_ws
+source /opt/ros/modelcar/catkin_ws/install/setup.bash
+mkdir -p ~/catkin_ws/src
+cd ~/catkin_ws
catkin_make
-source ~/seat/catkin_ws/devel/setup.bash
-# You can/should add this last line to you ~/.bashrc
+source ~/catkin_ws/devel/setup.bash
+# You can add this last line to you ~/.bashrc
```
-3. Clone simulator in catkin_ws
+
+Clone simulator in catkin_ws
+
```
roscd; cd ../src
git clone https://gitlab.iri.upc.edu/seat_adc/seat_car_simulator.git
rosdep install -i --from-paths seat_car_simulator
roscd; cd ..
-catkin_make --only-pkg-with-deps seat_car_simulator
+catkin_make
```
## Running
diff --git a/road_description/launch/spawn_box.launch b/road_description/launch/spawn_box.launch
index 71150a5245c02853bf903c8d9c32ae3368eef0ea..26247bee682eba53d642b901d3a3cbad7271be73 100644
--- a/road_description/launch/spawn_box.launch
+++ b/road_description/launch/spawn_box.launch
@@ -10,7 +10,7 @@
<arg name="height" default="0.25"/>
<arg name="model" default="$(find road_description)/urdf/box/box.xacro"/>
- <param name="$(arg name)_description" command="$(find xacro)/xacro '$(arg model)' name:=$(arg name) length:=$(arg length) width:=$(arg width) height:=$(arg height)" />
+ <param name="$(arg name)_description" command="$(find xacro)/xacro --inorder '$(arg model)' name:=$(arg name) length:=$(arg length) width:=$(arg width) height:=$(arg height)" />
<node name="$(arg name)_state_publisher"
pkg ="robot_state_publisher"
diff --git a/road_description/launch/spawn_ceiling.launch b/road_description/launch/spawn_ceiling.launch
index 52da2ca1b2c192a99213e8c679e0aaf480c07a84..3e806dcdc76ac869f48392c8be5a83e8067a8cac 100644
--- a/road_description/launch/spawn_ceiling.launch
+++ b/road_description/launch/spawn_ceiling.launch
@@ -11,7 +11,7 @@
<arg name="parent" default="$(arg name)_base_link"/>
<param name="$(arg name)_description"
- command="$(find xacro)/xacro '$(arg model_path)'
+ command="$(find xacro)/xacro --inorder '$(arg model_path)'
name:=$(arg name)
parent:=$(arg parent)
height:=2.0"
diff --git a/road_description/launch/spawn_cylinder.launch b/road_description/launch/spawn_cylinder.launch
index 10016f92282d2a139481fd7ad3daa829a3e58caf..c225a602b5d1219a6b09389747898cd1cf157d4f 100644
--- a/road_description/launch/spawn_cylinder.launch
+++ b/road_description/launch/spawn_cylinder.launch
@@ -9,7 +9,7 @@
<arg name="height" default="0.25"/>
<arg name="model" default="$(find road_description)/urdf/cylinder/cylinder.xacro"/>
- <param name="$(arg name)_description" command="$(find xacro)/xacro '$(arg model)' name:=$(arg name) radius:=$(arg radius) height:=$(arg height)" />
+ <param name="$(arg name)_description" command="$(find xacro)/xacro --inorder '$(arg model)' name:=$(arg name) radius:=$(arg radius) height:=$(arg height)" />
<node name="$(arg name)_state_publisher"
pkg ="robot_state_publisher"
diff --git a/road_description/launch/spawn_road.launch b/road_description/launch/spawn_road.launch
index 4dd4f586a951b1d9c95b233ce2aa2a2d5fa46133..6fecec2930806787bcfaa0ecd05b42e340ddf60b 100644
--- a/road_description/launch/spawn_road.launch
+++ b/road_description/launch/spawn_road.launch
@@ -10,7 +10,7 @@
<arg name="parent" default="$(arg name)_base_link"/>
<param name="$(arg name)_description"
- command="$(find xacro)/xacro.py '$(arg model_path)'
+ command="$(find xacro)/xacro --inorder '$(arg model_path)'
name:=$(arg name)
parent:=$(arg parent)">
</param>
diff --git a/road_description/launch/spawn_trafficlights.launch b/road_description/launch/spawn_trafficlights.launch
index e0fc337827b1da7e52e38c4f716c5096187ef54c..60c43e3b7cdddc3e088d7f8cfef2d94e6701d2a8 100644
--- a/road_description/launch/spawn_trafficlights.launch
+++ b/road_description/launch/spawn_trafficlights.launch
@@ -10,7 +10,7 @@
<arg name="parent" default="$(arg name)_base_link"/>
<param name="$(arg name)_description"
- command="$(find xacro)/xacro '$(arg model_path)'
+ command="$(find xacro)/xacro --inorder '$(arg model_path)'
name:=$(arg name)
parent:=$(arg parent)"
/>
diff --git a/road_description/urdf/circuits/full/road.xacro b/road_description/urdf/circuits/full/road.xacro
index d8e9a67fa6ccb641799abcce1de289bbff92c03a..b6b2c677720cdbca5a1ef51873b4f0daffa9f349 100644
--- a/road_description/urdf/circuits/full/road.xacro
+++ b/road_description/urdf/circuits/full/road.xacro
@@ -4,7 +4,9 @@
<xacro:include filename="$(find road_description)/urdf/roads/road_piece.xacro" />
<xacro:include filename="$(find road_description)/urdf/roads/road_ground.xacro" />
- <link name="$(arg parent)">
+ <link name="$(arg parent)"/>
+
+ <link name="$(arg parent)_body">
<inertial>
<mass value="100"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -18,6 +20,12 @@
<material name="red"/>
</collision>
</link>
+
+ <joint name="joint_$(arg parent)_to_$(arg parent)_body" type="fixed">
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <parent link="$(arg parent)"/>
+ <child link="$(arg parent)_body" />
+ </joint>
<xacro:road name="$(arg name)0" parent="$(arg parent)" dae="full" size="12">
<origin xyz="0.0 -5.07 0" rpy="0 0 0"/>
diff --git a/road_description/urdf/circuits/test/road.xacro b/road_description/urdf/circuits/test/road.xacro
index d41d9fce0f473c889df90ce73ce92d2ac8577db9..29a56124428479f551d122c9023fcfbb647adcd8 100644
--- a/road_description/urdf/circuits/test/road.xacro
+++ b/road_description/urdf/circuits/test/road.xacro
@@ -4,7 +4,9 @@
<xacro:include filename="$(find road_description)/urdf/roads/road_piece.xacro" />
<xacro:include filename="$(find road_description)/urdf/roads/road_ground.xacro" />
- <link name="$(arg parent)">
+ <link name="$(arg parent)"/>
+
+ <link name="$(arg parent)_body">
<inertial>
<mass value="100"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
@@ -18,6 +20,12 @@
<material name="red"/>
</collision>
</link>
+
+ <joint name="joint_$(arg parent)_to_$(arg parent)_body" type="fixed">
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <parent link="$(arg parent)"/>
+ <child link="$(arg parent)_body" />
+ </joint>
<xacro:road name="$(arg name)0" parent="$(arg parent)" dae="test" size="12">
<origin xyz="0 -4.5 0" rpy="0 0 0"/>
diff --git a/seat_car_control/launch/control.launch b/seat_car_control/launch/control.launch
index bf233ef4ebd5ed3cdb39a719912c7b75f70722ba..1fed5a16d0f3b8b367bf17033c3f66b49adc8660 100644
--- a/seat_car_control/launch/control.launch
+++ b/seat_car_control/launch/control.launch
@@ -12,7 +12,7 @@
respawn="false"
output="screen"
ns="seat_car"
- args="joint_state_controller car_cont --shutdown-timeout 1"/>
+ args="joint_state_controller car_cont"/>
</launch>
diff --git a/seat_car_description/launch/description.launch b/seat_car_description/launch/description.launch
index b59d834fd5ba8fc8082a214f4ff9d4559cb45014..35151de3f6ccaecb2f123c8ba95641ce1b715de1 100644
--- a/seat_car_description/launch/description.launch
+++ b/seat_car_description/launch/description.launch
@@ -5,11 +5,11 @@
<arg name="model" default="car"/>
<param name="robot_description"
- command="$(find xacro)/xacro '$(find seat_car_description)/urdf/$(arg model).xacro'" />
+ command="$(find xacro)/xacro --inorder '$(find seat_car_description)/urdf/$(arg model).xacro'" />
- <node pkg="robot_state_publisher" type="state_publisher" name="tf_broadcaster_$(arg name)">
+ <node pkg="robot_state_publisher" type="robot_state_publisher" name="tf_broadcaster_$(arg name)">
<param name="publish_frequency" type="double" value="50.0"/>
<remap from="/joint_states" to="/$(arg name)/joint_states" />
</node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/seat_car_description/urdf/include/platform.xacro b/seat_car_description/urdf/include/platform.xacro
index d2510bf86e2677f45b99978178b70f540ce50d20..d72cc3ed657f4f3b56dc1145e1fac0394b0db8af 100644
--- a/seat_car_description/urdf/include/platform.xacro
+++ b/seat_car_description/urdf/include/platform.xacro
@@ -7,6 +7,9 @@
<xacro:property name="wheel_width" value="0.001" />
<link name="base_link">
+ </link>
+
+ <link name="body">
<inertial>
<mass value="6" />
<origin xyz="0.15971917 0.00000000 0.00197764" />
@@ -28,6 +31,12 @@
</geometry>
</collision>
</link>
+
+ <joint name="base_link_to_body" type="fixed">
+ <origin xyz="0.0 0 0" rpy="0 0 0" />
+ <parent link="base_link" />
+ <child link="body" />
+ </joint>
<joint name="base_link_rear_left_wheel_joint" type="revolute">
<origin xyz="0.0 -0.0825 0" rpy="${PI/2.0} 0 0" />
@@ -41,10 +50,10 @@
<transmission name="tran_rear_left">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link_rear_left_wheel_joint">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rear_left_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -84,10 +93,10 @@
<transmission name="tran_rear_right">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link_rear_right_wheel_joint">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="rear_right_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -128,10 +137,10 @@
<transmission name="tran_front_left_axel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link_front_left_axel_joint">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_axel_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -158,10 +167,10 @@
<transmission name="tran_front_left_wheel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_left_axel_front_left_wheel_joint">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_left_wheel_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -202,10 +211,10 @@
<transmission name="tran_front_right_axel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="base_link_front_right_axel_joint">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_axel_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -232,10 +241,10 @@
<transmission name="tran_front_right_wheel">
<type>transmission_interface/SimpleTransmission</type>
<joint name="front_right_axel_front_right_wheel_joint">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="front_right_wheel_motor">
- <hardwareInterface>EffortJointInterface</hardwareInterface>
+ <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
@@ -263,4 +272,4 @@
</collision>
</link>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/seat_car_description/urdf/include/sensors/front_rgb_camera.gazebo b/seat_car_description/urdf/include/sensors/front_rgb_camera.gazebo
index 88ca5ca530bf3484df8a5635a602202a5fdb2137..02ac3037a2ba640efb211b58d393d285ecf0240a 100644
--- a/seat_car_description/urdf/include/sensors/front_rgb_camera.gazebo
+++ b/seat_car_description/urdf/include/sensors/front_rgb_camera.gazebo
@@ -32,11 +32,6 @@
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<frameName>${front_camera_name}_rgb_optical_frame</frameName>
<hackBaseline>0.07</hackBaseline>
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
diff --git a/seat_car_description/urdf/include/sensors/front_rgbd_camera.gazebo b/seat_car_description/urdf/include/sensors/front_rgbd_camera.gazebo
index a3f67077102f8e007d75baffb2a208ddbe7e544a..4e5a5c9f9fc00205b2d8d9f7c3e3580b6bb33d86 100644
--- a/seat_car_description/urdf/include/sensors/front_rgbd_camera.gazebo
+++ b/seat_car_description/urdf/include/sensors/front_rgbd_camera.gazebo
@@ -30,6 +30,13 @@
<near>0.2</near>
<far>15.0</far>
</clip>
+ <distortion>
+ <k1>-0.25</k1>
+ <k2>0.12</k2>
+ <k3>0.0</k3>
+ <p1>-0.00028</p1>
+ <p2>-0.00005</p2>
+ </distortion>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
@@ -48,11 +55,6 @@
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.4</pointCloudCutoff>
<hackBaseline>0.007</hackBaseline>
- <distortionK1>0.0</distortionK1>
- <distortionK2>0.0</distortionK2>
- <distortionK3>0.0</distortionK3>
- <distortionT1>0.0</distortionT1>
- <distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
diff --git a/seat_car_description/urdf/include/sensors/top_camera.gazebo b/seat_car_description/urdf/include/sensors/top_camera.gazebo
index 05eb6631feb9a2e74245ce0a7d368728899c8dbe..88eca6c74d939b2606fdbb7ebedc1d6ee353e5cb 100644
--- a/seat_car_description/urdf/include/sensors/top_camera.gazebo
+++ b/seat_car_description/urdf/include/sensors/top_camera.gazebo
@@ -13,6 +13,7 @@
</gazebo>
<gazebo reference="${top_camera_name}">
+ <!-- -->
<sensor type="camera" name="${top_camera_name}">
<update_rate>${rate}</update_rate>
<camera name="${top_camera_name}">
@@ -26,6 +27,13 @@
<near>0.02</near>
<far>300</far>
</clip>
+ <distortion>
+ <k1>-0.25</k1>
+ <k2>0.12</k2>
+ <k3>0.0</k3>
+ <p1>-0.00028</p1>
+ <p2>-0.00005</p2>
+ </distortion>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
@@ -40,15 +48,42 @@
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${top_camera_name}_optical</frameName>
<hackBaseline>0.07</hackBaseline>
- <!-- Distortion not supported on Gazebo 2.2
- <distortionK1>-0.252292</distortionK1>
- <distortionK2>0.035156</distortionK2>
- <distortionK3>0.00057</distortionK3>
- <distortionT1>-0.002072</distortionT1>
- <distortionT2>0.0</distortionT2>
- -->
</plugin>
</sensor>
+ -->
+ <!-- wideanglecamera: does not work? black screen -->
+ <!--
+ <sensor name="${top_camera_name}" type="wideanglecamera">
+ <camera>
+ <horizontal_fov>1.047</horizontal_fov>
+ <image>
+ <width>320</width>
+ <height>240</height>
+ </image>
+ <clip>
+ <near>0.1</near>
+ <far>100</far>
+ </clip>
+ <lens>
+ <type>gnomonical</type>
+ <scale_to_hfov>true</scale_to_hfov>
+ <cutoff_angle>1.5707</cutoff_angle>
+ <env_texture_size>512</env_texture_size>
+ </lens>
+ </camera>
+ <always_on>1</always_on>
+ <update_rate>30</update_rate>
+ <plugin name="${top_camera_name}_controller" filename="libgazebo_ros_camera.so">
+ <alwaysOn>true</alwaysOn>
+ <updateRate>${rate}</updateRate>
+ <cameraName>usb_cam</cameraName>
+ <imageTopicName>image_raw</imageTopicName>
+ <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+ <frameName>${top_camera_name}_optical</frameName>
+ </plugin>
+ </sensor>
+ -->
+
</gazebo>
</robot>
\ No newline at end of file