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rwc2024 #156

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84735c1
(loc) reduce min angle driven
MatthijsBurgh Jul 15, 2024
3c901b0
(loc) min 150 particles
MatthijsBurgh Jul 15, 2024
1d8a3fc
feat(gpsr): Add restart launch arg
ar13pit Jul 16, 2024
49fb1b3
Disable hand_camera
MatthijsBurgh Jul 17, 2024
b5570b7
(sim) add rwc2024 world
MatthijsBurgh Jul 17, 2024
ad5e552
Updated gmapping params
MatthijsBurgh Jul 18, 2024
5e19444
Add description files for potential sim fix
MatthijsBurgh Jul 18, 2024
de7c489
Potential sim fix
MatthijsBurgh Jul 18, 2024
cdf8aa2
Use env python
MatthijsBurgh Jul 19, 2024
a4e7be8
Speed up HERO
MatthijsBurgh Jul 19, 2024
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63 changes: 63 additions & 0 deletions hsrb_description/robots/hsrb1s.urdf.xacro
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<?xml version="1.0"?>
<robot name="hsrb"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:xacro="http://ros.org/wiki/xacro">

<!-- common xacro -->
<xacro:include filename="$(find hsrb_description)/urdf/common.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/materials.urdf.xacro" />

<!-- links and joints -->
<xacro:include filename="$(find hsrb_description)/urdf/base_v0/base.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/torso_v0/torso.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/head_v0/head.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/arm_v0/arm.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/wrist_v0/wrist.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/hand_v0/hand.urdf.xacro" />

<xacro:arg name="personal_name" default=""/>

<!-- constant -->
<xacro:property name="personal_name" value="$(arg personal_name)"/>
<xacro:property name="robot_name" value="hsrb"/>

<!-- create robot -->
<xacro:hsrb_base prefix="base" robot_namespace="${robot_name}"/>

<xacro:hsrb_torso prefix="torso" parent="base_link" mimic_joint="arm_lift_joint">
<origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_torso>

<xacro:hsrb_head prefix="head" parent="torso_lift_link">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_head>

<xacro:hsrb_arm prefix="arm" parent="base_link">
<origin xyz="0.0 0.0 0.340" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_arm>

<xacro:hsrb_wrist prefix="wrist" parent="arm_roll_link" robot_namespace="${robot_name}">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_wrist>

<xacro:hsrb_hand prefix="hand" parent="wrist_roll_link">
<origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 ${pi}"/>
</xacro:hsrb_hand>

<gazebo>
<plugin name="${robot_name}_ros_control" filename="lib${robot_name}_gazebo_ros_control.so">
<robotNamespace>${robot_name}</robotNamespace>
<legacyModeNS>false</legacyModeNS>
</plugin>

<plugin name="${robot_name}_p3d_ground_truth" filename="libgazebo_ros_p3d.so">
<robotNamespace>${personal_name}/${robot_name}</robotNamespace>
<bodyName>base_footprint</bodyName>
<topicName>odom_ground_truth</topicName>
<frameName>map</frameName>
<updateRate>30</updateRate>
</plugin>
</gazebo>
</robot>
63 changes: 63 additions & 0 deletions hsrb_description/robots/hsrb2s.urdf.xacro
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<?xml version="1.0"?>
<robot name="hsrb"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:xacro="http://ros.org/wiki/xacro">

<!-- common xacro -->
<xacro:include filename="$(find hsrb_description)/urdf/common.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/materials.urdf.xacro" />

<!-- links and joints -->
<xacro:include filename="$(find hsrb_description)/urdf/base_v1/base.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/torso_v0/torso.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/head_v0/head.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/arm_v0/arm.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/wrist_v0/wrist.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/hand_v0/hand.urdf.xacro" />

<xacro:arg name="personal_name" default=""/>

<!-- constant -->
<xacro:property name="personal_name" value="$(arg personal_name)"/>
<xacro:property name="robot_name" value="hsrb"/>

<!-- create robot -->
<xacro:hsrb_base prefix="base" robot_namespace="${robot_name}"/>

<xacro:hsrb_torso prefix="torso" parent="base_link" mimic_joint="arm_lift_joint">
<origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_torso>

<xacro:hsrb_head prefix="head" parent="torso_lift_link">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_head>

<xacro:hsrb_arm prefix="arm" parent="base_link">
<origin xyz="0.0 0.0 0.340" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_arm>

<xacro:hsrb_wrist prefix="wrist" parent="arm_roll_link" robot_namespace="${robot_name}">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_wrist>

<xacro:hsrb_hand prefix="hand" parent="wrist_roll_link">
<origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 ${pi}"/>
</xacro:hsrb_hand>

<gazebo>
<plugin name="${robot_name}_ros_control" filename="lib${robot_name}_gazebo_ros_control.so">
<robotNamespace>${personal_name}/${robot_name}</robotNamespace>
<legacyModeNS>false</legacyModeNS>
</plugin>

<plugin name="${robot_name}_p3d_ground_truth" filename="libgazebo_ros_p3d.so">
<robotNamespace>${personal_name}/${robot_name}</robotNamespace>
<bodyName>base_footprint</bodyName>
<topicName>odom_ground_truth</topicName>
<frameName>map</frameName>
<updateRate>30</updateRate>
</plugin>
</gazebo>
</robot>
63 changes: 63 additions & 0 deletions hsrb_description/robots/hsrb3s.urdf.xacro
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<?xml version="1.0"?>
<robot name="hsrb"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:xacro="http://ros.org/wiki/xacro">

<!-- common xacro -->
<xacro:include filename="$(find hsrb_description)/urdf/common.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/materials.urdf.xacro" />

<!-- links and joints -->
<xacro:include filename="$(find hsrb_description)/urdf/base_v1/base.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/torso_v0/torso.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/head_v1/head.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/arm_v0/arm.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/wrist_v0/wrist.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/hand_v0/hand.urdf.xacro" />

<xacro:arg name="personal_name" default=""/>

<!-- constant -->
<xacro:property name="personal_name" value="$(arg personal_name)"/>
<xacro:property name="robot_name" value="hsrb"/>

<!-- create robot -->
<xacro:hsrb_base prefix="base" robot_namespace="${robot_name}"/>

<xacro:hsrb_torso prefix="torso" parent="base_link" mimic_joint="arm_lift_joint">
<origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_torso>

<xacro:hsrb_head prefix="head" parent="torso_lift_link">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_head>

<xacro:hsrb_arm prefix="arm" parent="base_link">
<origin xyz="0.0 0.0 0.340" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_arm>

<xacro:hsrb_wrist prefix="wrist" parent="arm_roll_link" robot_namespace="${robot_name}">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_wrist>

<xacro:hsrb_hand prefix="hand" parent="wrist_roll_link">
<origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 ${pi}"/>
</xacro:hsrb_hand>

<gazebo>
<plugin name="${robot_name}_ros_control" filename="lib${robot_name}_gazebo_ros_control.so">
<robotNamespace>${personal_name}/${robot_name}</robotNamespace>
<legacyModeNS>false</legacyModeNS>
</plugin>

<plugin name="${robot_name}_p3d_ground_truth" filename="libgazebo_ros_p3d.so">
<robotNamespace>${personal_name}/${robot_name}</robotNamespace>
<bodyName>base_footprint</bodyName>
<topicName>odom_ground_truth</topicName>
<frameName>map</frameName>
<updateRate>30</updateRate>
</plugin>
</gazebo>
</robot>
66 changes: 66 additions & 0 deletions hsrb_description/robots/hsrb4s.urdf.xacro
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<?xml version="1.0"?>
<robot name="hsrb"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:xacro="http://ros.org/wiki/xacro">

<!-- common xacro -->
<xacro:include filename="$(find hsrb_description)/urdf/common.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/materials.urdf.xacro" />

<!-- links and joints -->
<xacro:include filename="$(find hero_bringup)/hsrb_description/urdf/base_v2/base.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/torso_v0/torso.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/head_v2/head.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/arm_v0/arm.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/wrist_v0/wrist.urdf.xacro" />
<xacro:include filename="$(find hsrb_description)/urdf/hand_v0/hand.urdf.xacro" />

<xacro:arg name="personal_name" default=""/>
<xacro:arg name="ground_truth_xyz_offset" default="0.0\ 0.0\ 0.0"/>
<xacro:arg name="ground_truth_rpy_offset" default="0.0\ 0.0\ 0.0"/>

<!-- constant -->
<xacro:property name="personal_name" value="$(arg personal_name)"/>
<xacro:property name="robot_name" value="hsrb"/>

<!-- create robot -->
<xacro:hsrb_base prefix="base" personal_name="${personal_name}" robot_namespace="${robot_name}" robot_name="${robot_name}"/>

<xacro:hsrb_torso prefix="torso" parent="base_link" mimic_joint="arm_lift_joint">
<origin xyz="0.0 0.0 0.752" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_torso>

<xacro:hsrb_head prefix="head" parent="torso_lift_link">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_head>

<xacro:hsrb_arm prefix="arm" parent="base_link">
<origin xyz="0.0 0.0 0.340" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_arm>

<xacro:hsrb_wrist prefix="wrist" parent="arm_roll_link" robot_namespace="${robot_name}">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:hsrb_wrist>

<xacro:hsrb_hand prefix="hand" parent="wrist_roll_link">
<origin xyz="0.012 0.0 0.1405" rpy="0.0 0.0 ${pi}"/>
</xacro:hsrb_hand>

<gazebo>
<plugin name="${robot_name}_ros_control" filename="lib${robot_name}_gazebo_ros_control.so">
<robotNamespace>${personal_name}/${robot_name}</robotNamespace>
<legacyModeNS>false</legacyModeNS>
</plugin>
<plugin name="${robot_name}_p3d_ground_truth" filename="lib${robot_name}_gazebo_ros_p3d.so">
<robotNamespace>${personal_name}/${robot_name}</robotNamespace>
<bodyName>base_footprint</bodyName>
<topicName>odom_ground_truth</topicName>
<frameName>map</frameName>
<updateRate>30</updateRate>
<xyzOffset>$(arg ground_truth_xyz_offset)</xyzOffset>
<rpyOffset>$(arg ground_truth_rpy_offset)</rpyOffset>
</plugin>
</gazebo>
</robot>
2 changes: 1 addition & 1 deletion hsrb_description/robots/upload_hsrb.launch
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<group ns="$(arg namespace)">
<param name="robot_description"
command="$(find xacro)/xacro --inorder $(find hsrb_description)/robots/$(arg robot_model).urdf.xacro gazebo_visualization_enabled:=$(arg visualization) implicit_damping:=$(arg implicit_damping) ground_truth_xyz_offset:=$(arg ground_truth_xyz_offset) ground_truth_rpy_offset:=$(arg ground_truth_rpy_offset)" />
command="$(find xacro)/xacro --inorder $(find hero_bringup)/hsrb_description/robots/$(arg robot_model).urdf.xacro gazebo_visualization_enabled:=$(arg visualization) implicit_damping:=$(arg implicit_damping) ground_truth_xyz_offset:=$(arg ground_truth_xyz_offset) ground_truth_rpy_offset:=$(arg ground_truth_rpy_offset)" />
<param name="robot_collision_pair" textfile="$(find hsrb_description)/robots/collision_pair_hsrb.xml" />
</group>
</launch>
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