completed G.004 and G.005 (fixed launchfile world arg)

AutonomyLab · Feb 24, 2020 · 5fbbf0e · 5fbbf0e
1 parent 0028ecd
commit 5fbbf0e
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Showing 9 changed files with 108 additions and 30 deletions.
diff --git a/README.md b/README.md
@@ -9,6 +9,14 @@ A.004
 
 G.001
 
+G.002
+
+G.003
+
+G.004
+
+G.005
+
 # Tasks Completed
 
 0.000

diff --git a/nuturtle_description/config/diff_params.yaml b/nuturtle_description/config/diff_params.yaml
@@ -38,4 +38,4 @@ motor_rot_max: 6.35492
 motor_pwr_max: 265
 
 # Maximum motor torque (stall) in Nm (9V: 1.0 | 11.1V: 1.4 | 12V: 1.5)
-motor_torque_max: 1.0
+motor_torque_max: 1.5
diff --git a/nuturtle_description/rviz/ddrive_inspect.rviz b/nuturtle_description/rviz/ddrive_inspect.rviz
@@ -10,6 +10,7 @@ Panels:
         - /TF1/Frames1
         - /TF1/Tree1
         - /Marker1
+        - /LaserScan1
       Splitter Ratio: 0.5
     Tree Height: 713
   - Class: rviz/Selection
@@ -30,7 +31,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: LaserScan
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -81,18 +82,17 @@ Visualization Manager:
       Show Axes: true
       Show Names: true
       Tree:
-        base_footprint:
-          base_link:
-            ball_caster:
-              {}
-            base_scan:
-              {}
-            rl_wheel:
-              {}
-            rr_wheel:
-              {}
         odom:
-          {}
+          base_footprint:
+            base_link:
+              ball_caster:
+                {}
+              base_scan:
+                {}
+              rl_wheel:
+                {}
+              rr_wheel:
+                {}
       Update Interval: 0
       Value: true
     - Alpha: 1
@@ -144,9 +144,39 @@ Visualization Manager:
       Marker Topic: visualization_marker
       Name: Marker
       Namespaces:
-        {}
+        "": true
       Queue Size: 100
       Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 0.15950000286102295
+        Min Value: 0.15950000286102295
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 239; 41; 41
+      Color Transformer: FlatColor
+      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
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -175,25 +205,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.1841745376586914
+      Distance: 3.0793755054473877
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 1.2171825170516968
-        Y: 0.5935019850730896
-        Z: -0.1324193775653839
+        X: 0.9488404393196106
+        Y: 0.7157317996025085
+        Z: 0.11317954957485199
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.8047969937324524
+      Pitch: 1.5697963237762451
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.648577690124512
+      Yaw: 3.1235787868499756
     Saved: ~
 Window Geometry:
   Displays:

diff --git a/nuturtle_description/urdf/diff_drive.urdf.xacro b/nuturtle_description/urdf/diff_drive.urdf.xacro
@@ -132,7 +132,7 @@
                     friction="0"/>
 
   <xacro:frame_joint name="base_scan" type="fixed"
-                    origin_rpy="0 0 0" origin_xyz="0 0 ${H/2}"
-                    parent="base_link" child="base_scan"/>
+                    origin_rpy="0 0 0" origin_xyz="0 0 ${H/2 + r_bc}"
+                    parent="base_link" child="base_scan"/> <!-- Add small offset to laser scanner -->
 
 </robot>
diff --git a/nuturtle_gazebo/launch/diff_drive_gazebo.launch b/nuturtle_gazebo/launch/diff_drive_gazebo.launch
@@ -7,10 +7,11 @@
   <arg name="headless" default="false"/>
   <arg name="debug" default="false"/>
 
-  <arg name="world" default="$(find gazebo_ros)/launch/empty_world.launch"/>
+  <arg name="world" default="$(find nuturtlebot)/worlds/block.world"/>
 
   <!-- We reuse the logic in empty_world.launch, changing only the name of the world to be launched -->
-  <include file="$(arg world)">
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(arg world)" />
     <arg name="debug" value="$(arg debug)" />
     <arg name="gui" value="$(arg gui)" />
     <arg name="paused" value="false"/>

diff --git a/nuturtle_gazebo/launch/gazebo_waypoints.launch b/nuturtle_gazebo/launch/gazebo_waypoints.launch
@@ -3,8 +3,10 @@
 	<include file="$(find nuturtle_robot)/launch/follow_waypoints.launch">
 			<arg name="robot" value="-1"/>
 	</include>
-
+	<!-- TRY: $(find nuturtlebot)/worlds/block.world -->
+	<!-- TRY: $(find gazebo_ros)/launch/empty_world.launch -->
+	<arg name="world" default="$(find gazebo_ros)/launch/empty_world.launch"/>
 	<include file="$(find nuturtle_gazebo)/launch/diff_drive_gazebo.launch">
+		<arg name="world" value="$(arg world)"/>
 	</include>
-
 </launch>
diff --git a/nuturtle_gazebo/urdf/diff_drive.gazebo.xacro b/nuturtle_gazebo/urdf/diff_drive.gazebo.xacro
@@ -79,4 +79,38 @@
     <!-- <fdir1>1 1 0</fdir1> --> <!-- friction direction -->
 </gazebo>
 
+<!-- Laser Scanner -->
+<gazebo reference="base_scan">
+  <material>Gazebo/Orange</material>
+  <sensor type="ray" name="lds_lfcd_sensor">
+    <pose>0 0 0 0 0 0</pose>
+    <visualize>true</visualize>
+    <update_rate>5</update_rate>
+    <ray>
+      <scan>
+        <horizontal>
+          <samples>360</samples>
+          <resolution>1</resolution>
+          <min_angle>0.0</min_angle>
+          <max_angle>6.28319</max_angle>
+        </horizontal>
+      </scan>
+      <range>
+        <min>0.120</min>
+        <max>3.5</max>
+        <resolution>0.015</resolution>
+      </range>
+      <noise>
+        <type>gaussian</type>
+        <mean>0.0</mean>
+        <stddev>0.01</stddev>
+      </noise>
+    </ray>
+    <plugin name="gazebo_ros_lds_lfcd_controller" filename="libgazebo_ros_laser.so">
+      <topicName>scan</topicName>
+      <frameName>base_scan</frameName>
+    </plugin>
+  </sensor>
+</gazebo>
+
 </robot>
diff --git a/nuturtle_robot/launch/basic_remote.launch b/nuturtle_robot/launch/basic_remote.launch
@@ -10,11 +10,14 @@
 	    <machine name="turtlebot" address="turtlebot$(arg robot)" env-loader="/home/student/install/env.sh" user="student"/>
     </group>
 
-
-
     <node machine="turtlebot" pkg="rosserial_python" type="serial_node.py" name="serial_node">
 	    <param name="port" value="/dev/ttyACM0"/>
 	    <param name="baud" value="115200"/>
 	</node>
 
+	<node machine="turtlebot" pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="hlds_laser_publisher">
+		<param name="port" value="/dev/ttyUSB0"/>
+		<param name="frame_id" value="base_scan"/>
+	</node>
+
 </launch>
diff --git a/tsim/config/turtle_way.yaml b/tsim/config/turtle_way.yaml
@@ -1,10 +1,10 @@
 # waypoint x coords for pentagon
 # waypoint_x: [3, 7, 7, 5, 3]
-waypoint_x: [1, 1.5, 1.5, 1.25, 1]
+waypoint_x: [0, 0.5, 0.5, 0.25, 0]
 
 # waypoint y coords for pentagon
 # waypoint_y: [2, 2, 7, 10, 7]
-waypoint_y: [1, 1, 1.5, 2., 1.5]
+waypoint_y: [0, 0, 0.5, 1., 0.5]
 
 # frequency of control loop
 frequency: 60.
-Original file line number
+Diff line change
@@ Expand Up / @@ -9,6 +9,14 @@ A.004 @@
     G.001
+    G.002
+    G.003
+    G.004
+    G.005
     # Tasks Completed
 .000
@@ Expand Down @@