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Commit c50c792f authored by Fernando Herrero's avatar Fernando Herrero
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Merge branch 'master' of https://gitlab.iri.upc.edu/seat_adc/seat_car_simulator

parents 4b273116 9783783e
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README.md
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− 2
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......@@ -17,7 +17,6 @@ Install modelcar basic packages, because we need its odometry package
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
```
......@@ -30,7 +29,7 @@ mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
# You can add this last line to you ~/.bashrc
# You should add this last line to your ~/.bashrc file
```
......@@ -43,6 +42,8 @@ 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
export GAZEBO_MODEL_PATH=`rospack find seat_car_gazebo`/models:$GAZEBO_MODEL_PATH
# You should add this last line to your ~/.bashrc file
```
## Running
......
road_description/launch/spawn_ceiling.launch
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......@@ -14,7 +14,7 @@
command="$(find xacro)/xacro --inorder '$(arg model_path)'
name:=$(arg name)
parent:=$(arg parent)
height:=2.0"
height:=4.0"
/>
<node name="$(arg name)_state_publisher"
......
road_description/launch/spawn_circuit.launch
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......@@ -24,4 +24,4 @@
<include file="$(find road_description)/launch/spawn_obstacles_$(arg circuit).launch">
</include>
</launch>
\ No newline at end of file
</launch>
road_description/urdf/circuits/full/ceiling_panels.xacro
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......@@ -2,8 +2,8 @@
<robot name="ceiling" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="pan" value="${PI/4}" />
<xacro:property name="tilt" value="${PI/4}" />
<xacro:property name="pan" value="0" />
<xacro:property name="tilt" value="0" />
<xacro:include filename="$(find road_description)/urdf/ceiling/panel_macro.xacro" />
......@@ -13,28 +13,28 @@
parent="$(arg parent)"
gazebo_material="Gazebo/Red"
urdf_color="red">
<origin xyz="5.0 0.0 $(arg height)" rpy="${-tilt} 0 ${-pan}"/>
<origin xyz="2.5 -5.0 $(arg height)" rpy="${-tilt} 0 ${-pan}"/>
</xacro:panel>
<xacro:panel name="panel_green"
parent="$(arg parent)"
gazebo_material="Gazebo/Green"
urdf_color="green">
<origin xyz="5.0 -10.0 $(arg height)" rpy="${tilt} 0 ${pan}"/>
<origin xyz="0.0 -2.5 $(arg height)" rpy="${tilt} 0 ${pan}"/>
</xacro:panel>
<xacro:panel name="panel_blue"
parent="$(arg parent)"
gazebo_material="Gazebo/Blue"
urdf_color="blue">
<origin xyz="-5.0 0.0 $(arg height)" rpy="${-tilt} 0 ${pan}"/>
<origin xyz="0.0 -7.5 $(arg height)" rpy="${-tilt} 0 ${pan}"/>
</xacro:panel>
<xacro:panel name="panel_yellow"
parent="$(arg parent)"
gazebo_material="Gazebo/Yellow"
urdf_color="yellow">
<origin xyz="-5.0 -10.0 $(arg height)" rpy="${tilt} 0 ${-pan}"/>
<origin xyz="-2.5 -5.0 $(arg height)" rpy="${tilt} 0 ${-pan}"/>
</xacro:panel>
</robot>
\ No newline at end of file
</robot>
seat_car_description/urdf/include/sensors.xacro
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......@@ -129,9 +129,9 @@
</joint>
<!-- top camera -->
<xacro:property name="top_camera_name" value="top_camera" />
<!-- <xacro:property name="top_camera_name" value="top_camera" />-->
<link name="${top_camera_name}">
<link name="top_camera">
<inertial>
<mass value="0.1600000" />
<origin xyz="0.00000000 0.00000000 -0.01396703" rpy="0 0 0"/>
......@@ -154,18 +154,18 @@
</collision>
</link>
<joint name="joint_camera_board_to_${top_camera_name}" type="fixed" >
<joint name="joint_camera_board_to_top_camera" type="fixed" >
<parent link="camera_board"/>
<child link="${top_camera_name}"/>
<child link="top_camera"/>
<origin xyz="0.019 0 0.0405" rpy="0 -${PI/2} ${PI}"/>
</joint>
<link name="${top_camera_name}_optical">
<link name="top_camera_optical">
</link>
<joint name="joint_${top_camera_name}_to_${top_camera_name}_optical" type="fixed" >
<parent link="${top_camera_name}"/>
<child link="${top_camera_name}_optical"/>
<joint name="joint_top_camera_to_top_camera_optical" type="fixed" >
<parent link="top_camera"/>
<child link="top_camera_optical"/>
<origin xyz="0.0 0 0.0" rpy="-${PI/2} 0 -${PI/2}"/>
</joint>
......@@ -210,4 +210,4 @@
<origin xyz="0 0 0" rpy="-${PI/2} 0 -${PI/2}"/>
</joint>
</robot>
\ No newline at end of file
</robot>
seat_car_description/urdf/include/sensors/top_camera.gazebo
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......@@ -14,34 +14,26 @@
<gazebo reference="${top_camera_name}">
<!-- -->
<sensor type="camera" name="${top_camera_name}">
<update_rate>${rate}</update_rate>
<camera name="${top_camera_name}">
<horizontal_fov>2.96</horizontal_fov>
<sensor type="wideanglecamera" name="${top_camera_name}">
<camera>
<horizontal_fov>3.14</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
<width>1920</width>
<height>1080</height>
</image>
<clip>
<near>0.02</near>
<far>50</far>
<near>0.1</near>
<far>100</far>
</clip>
<!--
<distortion>
<k1>-0.3</k1>
<k2>0.1</k2>
<k3>-0.0002</k3>
<p1>-0.00028</p1>
<p2>-0.00005</p2>
</distortion>
-->
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
<lens>
<type>stereographic</type>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>1.5707</cutoff_angle>
<env_texture_size>512</env_texture_size>
</lens>
</camera>
<always_on>1</always_on>
<update_rate>${rate}</update_rate>
<plugin name="${top_camera_name}_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>${rate}</updateRate>
......@@ -50,42 +42,14 @@
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${top_camera_name}_optical</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>-0.241471</distortionK1>
<distortionK2>0.038162</distortionK2>
<distortionK3>0.000000</distortionK3>
<distortionT1>0.005967</distortionT1>
<distortionT2>-0.002110</distortionT2>
</plugin>
</sensor>
-->
<!-- wideanglecamera: does not work? black screen -->
<!--
<sensor name="${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
</robot>
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