From f9aa66a438f921f6c17fdb52b6c78744c6c5173e Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Wed, 24 Feb 2021 15:44:04 +0100
Subject: [PATCH] Add example qr png and localization_sign_macro.xacro
---
urdf/loc_sign.xacro | 11 ++
urdf/signs/dae/png/qr_loc1.png | Bin 0 -> 3230 bytes
urdf/signs/dae/png/qr_loc88.png | Bin 0 -> 3023 bytes
urdf/signs/dae/png/world.png | Bin 0 -> 17752 bytes
urdf/signs/dae/qr_loc1.dae | 170 +++++++++++++++++++++++
urdf/signs/dae/qr_loc88.dae | 170 +++++++++++++++++++++++
urdf/signs/dae/world.dae | 170 +++++++++++++++++++++++
urdf/signs/localization_sign_macro.xacro | 131 +++++++++++++++++
8 files changed, 652 insertions(+)
create mode 100644 urdf/loc_sign.xacro
create mode 100644 urdf/signs/dae/png/qr_loc1.png
create mode 100644 urdf/signs/dae/png/qr_loc88.png
create mode 100644 urdf/signs/dae/png/world.png
create mode 100644 urdf/signs/dae/qr_loc1.dae
create mode 100644 urdf/signs/dae/qr_loc88.dae
create mode 100644 urdf/signs/dae/world.dae
create mode 100644 urdf/signs/localization_sign_macro.xacro
diff --git a/urdf/loc_sign.xacro b/urdf/loc_sign.xacro
new file mode 100644
index 0000000..88e60b7
--- /dev/null
+++ b/urdf/loc_sign.xacro
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="$(arg name)" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find iri_sign_description)/urdf/signs/localization_sign_macro.xacro" />
+
+ <xacro:localization_sign name="$(arg name)"
+ tag_dae="$(arg tag)"
+ top_panel_dae="$(arg type)">
+ </xacro:localization_sign>
+
+</robot>
diff --git a/urdf/signs/dae/png/qr_loc1.png b/urdf/signs/dae/png/qr_loc1.png
new file mode 100644
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diff --git a/urdf/signs/dae/png/qr_loc88.png b/urdf/signs/dae/png/qr_loc88.png
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diff --git a/urdf/signs/dae/qr_loc1.dae b/urdf/signs/dae/qr_loc1.dae
new file mode 100644
index 0000000..4f992c9
--- /dev/null
+++ b/urdf/signs/dae/qr_loc1.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author></author>
+ <authoring_tool>FBX COLLADA exporter</authoring_tool>
+ <comments></comments>
+ </contributor>
+ <created>2014-10-05T08:59:28Z</created>
+ <keywords></keywords>
+ <modified>2014-10-05T08:59:28Z</modified>
+ <revision></revision>
+ <subject></subject>
+ <title></title>
+ <unit meter="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
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+ </image>
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+ <blend_mode>ADD</blend_mode>
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+ </texture>
+ </diffuse>
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+ </technique>
+ </extra>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#"></instance_visual_scene>
+ </scene>
+</COLLADA>
diff --git a/urdf/signs/dae/qr_loc88.dae b/urdf/signs/dae/qr_loc88.dae
new file mode 100644
index 0000000..89a0a28
--- /dev/null
+++ b/urdf/signs/dae/qr_loc88.dae
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author></author>
+ <authoring_tool>FBX COLLADA exporter</authoring_tool>
+ <comments></comments>
+ </contributor>
+ <created>2014-10-05T08:59:28Z</created>
+ <keywords></keywords>
+ <modified>2014-10-05T08:59:28Z</modified>
+ <revision></revision>
+ <subject></subject>
+ <title></title>
+ <unit meter="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/qr_loc88.png</init_from>
+ </image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
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+ <blend_mode>ADD</blend_mode>
+ </technique>
+ </extra>
+ </texture>
+ </diffuse>
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+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
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diff --git a/urdf/signs/dae/world.dae b/urdf/signs/dae/world.dae
new file mode 100644
index 0000000..b587aca
--- /dev/null
+++ b/urdf/signs/dae/world.dae
@@ -0,0 +1,170 @@
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+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author></author>
+ <authoring_tool>FBX COLLADA exporter</authoring_tool>
+ <comments></comments>
+ </contributor>
+ <created>2014-10-05T08:59:28Z</created>
+ <keywords></keywords>
+ <modified>2014-10-05T08:59:28Z</modified>
+ <revision></revision>
+ <subject></subject>
+ <title></title>
+ <unit meter="1.0" name="meter"></unit>
+ <up_axis>Y_UP</up_axis></asset>
+ <library_images>
+ <image id="Map #1-image" name="Map #1">
+ <init_from>png/world.png</init_from>
+ </image>
+ </library_images>
+ <library_materials>
+ <material id="Material #36" name="Material #36">
+ <instance_effect url="#Material #36-fx"/>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material #36-fx" name="Material #36">
+ <profile_COMMON>
+ <technique sid="standard">
+ <phong>
+ <emission>
+ <color sid="emission">0 0 0 1</color>
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+ <wrapV sid="wrapV0">TRUE</wrapV>
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+ </texture>
+ </diffuse>
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+ </profile_COMMON>
+ </effect>
+ </library_effects>
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+ -->
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="" name="">
+ <node name="image" id="image" sid="image">
+ <matrix sid="matrix">1 0 0 0 0 0 1 0 0 -1 0 0 0 0 0 1</matrix>
+ <instance_geometry url="#image-lib">
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="Material #36" target="#Material #36"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ <extra>
+ <technique profile="FCOLLADA">
+ <visibility>1</visibility>
+ </technique>
+ </extra>
+ </node>
+ <extra>
+ <technique profile="MAX3D">
+ <frame_rate>30</frame_rate>
+ </technique>
+ <technique profile="FCOLLADA">
+ <start_time>0</start_time>
+ <end_time>3.333333</end_time>
+ </technique>
+ </extra>
+ </visual_scene>
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diff --git a/urdf/signs/localization_sign_macro.xacro b/urdf/signs/localization_sign_macro.xacro
new file mode 100644
index 0000000..082a586
--- /dev/null
+++ b/urdf/signs/localization_sign_macro.xacro
@@ -0,0 +1,131 @@
+<?xml version="1.0"?>
+
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+ <xacro:include filename="$(find iri_sign_description)/urdf/materials.xacro" />
+
+ <xacro:property name="PI" value="3.1415926535897931" />
+ <xacro:property name="box_width" value="0.12" />
+ <xacro:property name="box_depth" value="0.01" />
+ <xacro:property name="box_height" value="0.175" />
+ <xacro:property name="box_material" value="white" />
+ <xacro:property name="box_gazebo_material" value="Gazebo/White" />
+ <xacro:property name="tag_size" value="0.08" />
+ <xacro:property name="tag_z_offset" value="0.025" />
+ <xacro:property name="delta" value="0.0001" />
+ <xacro:property name="top_panel_width" value="0.05" />
+ <xacro:property name="top_panel_height" value="0.05" />
+ <xacro:property name="top_panel_z_offset" value="0.12" />
+
+ <xacro:macro name="localization_sign"
+ params="name:=loc_sign
+ tag_dae:=qr_loc1
+ top_panel_dae:=world
+ box_gazebo_material:=Gazebo/White">
+
+ <link name="${name}_base_link">
+ <visual>
+ <origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
+ <geometry>
+ <box size="${box_depth} ${box_width} ${box_height}"/>
+ </geometry>
+ <material name="${box_material}"/>
+ </visual>
+ <collision>
+ <origin xyz="-${box_depth/2.0} 0 ${box_height/2.0}" rpy="0 0 0"/>
+ <geometry>
+ <box size="${box_depth} ${box_width} ${box_height}"/>
+ </geometry>
+ </collision>
+ </link>
+
+ <gazebo reference="${name}_base_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_tag_link">
+ <inertial>
+ <mass value="0.001"/>
+ <origin xyz="0.0 0.0 0.0" rpy="0 0 0"/>
+ <inertia ixx="0.00001" ixy="0.0" ixz="0.0" iyy="0.00001" iyz="0.0" izz="0.00001" />
+ </inertial>
+ </link>
+
+ <joint name="joint_${name}_base_link_to_${name}_tag_link" type="fixed">
+ <origin xyz="${delta} 0 ${tag_size/2.0+tag_z_offset}" rpy="0 0 0" />
+ <parent link="${name}_base_link"/>
+ <child link="${name}_tag_link" />
+ </joint>
+
+ <gazebo reference="${name}_tag_link">
+ <material>${box_gazebo_material}</material>
+ </gazebo>
+
+ <link name="${name}_tag_image">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://iri_sign_description/urdf/signs/dae/${tag_dae}.dae" scale="${tag_size} 1.0 ${tag_size}"/>
+ </geometry>
+ </visual>
+ </link>
+
+ <joint name="joint_${name}_tag_link_to_${name}_tag_image" type="fixed">
+ <origin xyz="0 0 0" rpy="0 ${PI} -${PI/2}" />
+ <parent link="${name}_tag_link"/>
+ <child link="${name}_tag_image" />
+ </joint>
+
+ <gazebo reference="${name}_tag_image">
+ </gazebo>
+
+ <link name="${name}_top_panel_link">
+ </link>
+
+ <joint name="joint_${name}_base_link_to_${name}_top_panel_link" type="fixed">
+ <origin xyz="${delta} 0 ${top_panel_height/2.0+top_panel_z_offset}" rpy="0 0 0"/>
+ <parent link="${name}_base_link"/>
+ <child link="${name}_top_panel_link"/>
+ </joint>
+
+ <gazebo reference="${name}_top_panel_link">
+ </gazebo>
+
+ <link name="${name}_top_panel_image">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <geometry>
+ <mesh filename="package://iri_sign_description/urdf/signs/dae/${top_panel_dae}.dae" scale="${top_panel_width} 1.0 ${top_panel_height}"/>
+ <!--<box size="${top_panel_width} ${delta} ${top_panel_height}"/>-->
+ </geometry>
+ <material name="${box_material}"/>
+ </visual>
+ </link>
+
+ <gazebo reference="${name}_top_panel_image">
+ </gazebo>
+
+ <joint name="joint_${name}_top_panel_link_to_${name}_top_panel_image" type="fixed">
+ <origin xyz="0 0 0" rpy="0 ${PI} -${PI/2}" />
+ <parent link="${name}_top_panel_link"/>
+ <child link="${name}_top_panel_image" />
+ </joint>
+
+ <gazebo>
+ <static>true</static>
+ </gazebo>
+
+ <!--
+ <gazebo>
+ <plugin name="${name}_ground_truth" filename="libgazebo_ros_p3d.so">
+ <frameName>map</frameName>
+ <bodyName>${name}_base_link</bodyName>
+ <topicName>${name}_odom_ground_truth</topicName>
+ <updateRate>5.0</updateRate>
+ </plugin>
+ </gazebo>
+ -->
+
+ </xacro:macro>
+
+</root>
--
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