Foxy版リリース (#39)

* LiDARの追加 (#38) * Update descriptions * Adds stl data of multi LIDAR mount * Adds xacro if for lds and rplidar. * Adds macro lidar_multi_mount * Adds macro lidar_multi_sensor * Update README. Adds License description * Adds stl file for LDS * Update specs * Update collision size * Adjust positions * Add colors * Adds legs for LDS * fix typo * Adds lidar parameter to macro lidar_multi_sensor. * Adds RPLIDAR thing * Adds lidar parameter to macro lidar_multi_sensor * Adds if statement. rplidar is to be added * Update README * Update file name * Update links * Update lidar macro * update macro names * Adds RPLIDAR macros * Update specs for RPLIDAR * Updates the position of LDS and the length of its legs * Updates RPLIDAR's position * Adds a command that displays the lidar mounted on the robot. * Replace material color to black * Adds leg visual macro for the lidars * Remove comments * Update urdf/raspimouse.urdf.xacro Co-authored-by: Shota Aoki <[email protected]> * Adjust the collision size and position of the LIDARs * Remove comment * Adjusts the size of the collision of the multi_lidar_mount * Adjust the inertial position * Adjust the inertial height of each LIDAR * LiDARマウントの重心位置を修正 Co-authored-by: Shota Aoki <[email protected]> * Update version * Fix typo and add author * Adds change log Co-authored-by: Shota Aoki <[email protected]>
rt-net · Jul 12, 2022 · 04a3d1f · 04a3d1f
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diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -0,0 +1,13 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package raspimouse_description
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.0.0 (2022-07-12)
+------------------
+* LiDARの追加 (`#38 <https://github.com/rt-net/raspimouse_description/issues/38>`_)
+* Merge master branch (ROS1) into ros2 branch (`#37 <https://github.com/rt-net/raspimouse_description/issues/37>`_)
+* Update library to rviz2 (`#36 <https://github.com/rt-net/raspimouse_description/issues/36>`_)
+* Update tread (ROS 2) (`#32 <https://github.com/rt-net/raspimouse_description/issues/32>`_)
+* Update README for ROS 2 (`#26 <https://github.com/rt-net/raspimouse_description/issues/26>`_)
+* Support ROS 2 Foxy (`#24 <https://github.com/rt-net/raspimouse_description/issues/24>`_)
+* Contributors: Daisuke Sato, Shota Aoki, Shuhei Kozasa
diff --git a/README.md b/README.md
@@ -32,12 +32,20 @@ source install/setup.bash
 
 ## How to Use
 
-Display a Raspberry Pi Mouse robot model on RViz2 with the following comand:
+Display a Raspberry Pi Mouse robot model on RViz2 with the following command:
 
 ```sh
 ros2 launch raspimouse_description display.launch.py
 ```
 
+You can also display a LiDAR mounted robot model with the following command:
+
+```sh
+ros2 launch raspimouse_description display.launch.py lidar:=rplidar
+```
+
+The `lidar` option supports `urg`, `lds`, and `rplidar`.
+
 ## LICENSE
 
 (C) 2016-2021 RT Corporation
@@ -48,3 +56,6 @@ Unless attributed otherwise, everything in this repository is under the MIT lice
 ### Acknowledgements
 
 Special thanks to https://gbiggs.github.io/rosjp_urdf_tutorial_text/index.html
+
+The file [robotis_lds01.stl](./meshes/stl/robotis_lds01.stl) is released from ROBOTIS and licensed under the [Apache License 2.0](https://github.com/ROBOTIS-GIT/turtlebot3/blob/a3c515b350a752b93ed8de4a009442e80e9d787d/LICENSE).
+The original file is released in [turtlebot3_description package](https://github.com/ROBOTIS-GIT/turtlebot3/blob/a3c515b350a752b93ed8de4a009442e80e9d787d/turtlebot3_description/meshes/sensors/lds.stl).
diff --git a/launch/display.launch.py b/launch/display.launch.py
@@ -28,7 +28,7 @@ def generate_launch_description():
     declare_arg_lidar = DeclareLaunchArgument(
         'lidar',
         default_value='none',
-        description='Set "none" or "urg".')
+        description='Set "none", "urg", "lds", or "rplidar".')
     declare_arg_lidar_frame = DeclareLaunchArgument(
         'lidar_frame',
         default_value='laser',

diff --git a/meshes/stl/RasPiMouse_MultiLiDARMount.stl b/meshes/stl/RasPiMouse_MultiLiDARMount.stl
diff --git a/meshes/stl/robotis_lds01.stl b/meshes/stl/robotis_lds01.stl
diff --git a/package.xml b/package.xml
@@ -2,11 +2,12 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>raspimouse_description</name>
-  <version>0.1.0</version>
+  <version>1.0.0</version>
   <description>The raspimouse_description package</description>
   <maintainer email="[email protected]">RT Corporation</maintainer>
   <author email="[email protected]">Daisuke Sato</author>
-  <author email="[email protected]">Daisuke Sato</author>
+  <author email="[email protected]">Shota Aoki</author>
+  <author email="[email protected]">Shuhei Kozasa</author>
 
   <license>MIT</license>
 

diff --git a/urdf/body/option.urdf.xacro b/urdf/body/option.urdf.xacro
@@ -14,9 +14,6 @@
         </geometry>
       </visual>
       <collision>
-        <!-- <geometry> -->
-          <!-- <mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_top_plate.dae"/> -->
-        <!-- </geometry> -->
         <origin rpy="0 0 0" xyz="0.005 0 0.0435" />
         <geometry>
           <box size="0.117 0.080 0.087" />
@@ -30,4 +27,33 @@
     </link>
   </xacro:macro>
 
+  <xacro:macro name="lidar_multi_mount" params="prefix parent *joint_origin">
+    <joint name="${prefix}_joint" type="fixed">
+      <xacro:insert_block name="joint_origin" />
+      <parent link="${parent}" />
+      <child link="${prefix}_link" />
+    </joint>
+    <link name="${prefix}_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://raspimouse_description/meshes/stl/RasPiMouse_MultiLiDARMount.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="Light Black">
+          <color rgba="0.2 0.2 0.2 1.0" />
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0.0 0 0.002" />
+        <geometry>
+          <box size="0.135 0.095 0.005" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin xyz="0 0 0.002" />
+        <mass value="0.04"/>
+        <xacro:box_inertia m="0.04" x="0.13" y="0.1" z="0.002" />
+      </inertial>
+    </link>
+  </xacro:macro>
+
 </robot>
diff --git a/urdf/raspimouse.urdf.xacro b/urdf/raspimouse.urdf.xacro
@@ -13,6 +13,10 @@
   <xacro:arg name="robot_namespace" default="/" />
   <xacro:arg name="diffdrive_namespace" default="/" />
   <xacro:arg name="sensor_namespace" default="raspimouse_on_gazebo" />
+
+  <material name="black">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
 
   <xacro:include filename="$(find raspimouse_description)/urdf/common.xacro" />
   <xacro:include filename="$(find raspimouse_description)/urdf/body/body.urdf.xacro" />
@@ -72,6 +76,23 @@
     </xacro:lidar_urg_sensor>
   </xacro:if>
 
+  <xacro:if value="${'$(arg lidar)' == 'lds'}">
+    <xacro:lidar_multi_mount prefix="lds_multi_mount" parent="base_link">
+      <origin xyz="0 0 0.0855" rpy="0 0 0" />
+    </xacro:lidar_multi_mount>
+    <xacro:lidar_lds_sensor sensor_link_name="$(arg lidar_frame)" parent="$(arg lidar)_multi_mount_link">
+      <origin xyz="0.0 0.0 0.0345" rpy="0 0 3.14" />
+    </xacro:lidar_lds_sensor>
+  </xacro:if>
+
+  <xacro:if value="${'$(arg lidar)' == 'rplidar'}">
+    <xacro:lidar_multi_mount prefix="rplidar_multi_mount" parent="base_link">
+      <origin xyz="0 0 0.0855" rpy="0 0 0" />
+    </xacro:lidar_multi_mount>
+    <xacro:lidar_rp_sensor sensor_link_name="$(arg lidar_frame)" parent="$(arg lidar)_multi_mount_link">
+      <origin xyz="0.0 0.0 0.0445" rpy="0 0 3.14"/> <!-- The LIDAR is about 13cm from the ground-->
+    </xacro:lidar_rp_sensor>
+  </xacro:if>
 
   <!-- =============== Gazebo =============== -->
 
@@ -104,6 +125,14 @@
       <xacro:lidar_gazebo sensor_link_name="$(arg lidar_frame)" base_rad="0" rad_range="4.71" min_range="0.10" max_range="5.6" />
     </xacro:if>
 
+    <xacro:if value="${'$(arg lidar)' == 'lds'}">
+      <xacro:lidar_gazebo sensor_link_name="$(arg lidar_frame)" base_rad="0" rad_range="6.28" min_range="0.12" max_range="3.50" />
+    </xacro:if>
+
+    <xacro:if value="${'$(arg lidar)' == 'rplidar'}">
+      <xacro:lidar_gazebo sensor_link_name="$(arg lidar_frame)" base_rad="0" rad_range="6.28" min_range="0.15" max_range="12" />
+    </xacro:if>
+
     <!-- DiffDriveController -->
     <xacro:diffdrive_gazebo publish_tf="$(arg tf)" publish_jointstate="$(arg jointstate)"
       robot_namespace="$(arg diffdrive_namespace)" />

diff --git a/urdf/sensors/lidar.urdf.xacro b/urdf/sensors/lidar.urdf.xacro
@@ -5,6 +5,37 @@
 
   <xacro:arg name="laser_visual" default="false"/>
 
+  <xacro:macro name="lidar_legs" params="length radius z_pos">
+    <visual>
+      <origin xyz="0.035 0.025 ${z_pos}" rpy="0 0 0" />
+      <geometry>
+        <cylinder length="${length}" radius="${radius}" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <visual>
+      <origin xyz="0.035 -0.025 ${z_pos}" rpy="0 0 0" />
+      <geometry>
+        <cylinder length="${length}" radius="${radius}" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <visual>
+      <origin xyz="-0.022 0.031 ${z_pos}" rpy="0 0 0" />
+      <geometry>
+        <cylinder length="${length}" radius="${radius}" />
+      </geometry>
+      <material name="black" />
+    </visual>
+    <visual>
+      <origin xyz="-0.022 -0.031 ${z_pos}" rpy="0 0 0" />
+      <geometry>
+        <cylinder length="${length}" radius="${radius}" />
+      </geometry>
+      <material name="black" />
+    </visual>
+  </xacro:macro>
+
   <xacro:macro name="lidar_urg_sensor" params="sensor_link_name parent *joint_origin">
     <joint name="${sensor_link_name}_joint" type="fixed">
       <xacro:insert_block name="joint_origin"/>
@@ -19,19 +50,75 @@
         </geometry>
       </visual>
       <collision>
-        <!-- <geometry> -->
-          <!-- <mesh filename="package://raspimouse_description/meshes/dae/sensor/urg_optical_axis_center_origin.dae"/> -->
-        <!-- </geometry> -->
         <origin xyz="0 0 -0.01815" />
         <geometry>
           <cylinder radius="0.025" length="0.070"/>
         </geometry>
       </collision>
       <inertial>
-        <mass value="0.160" />
+        <mass value="0.16" />
         <origin xyz="0 0 0" />
         <xacro:cylinder_inertia m="0.16" r="0.025" h="0.07" />
       </inertial>
     </link>
   </xacro:macro>
+
+  <xacro:macro name="lidar_lds_sensor" params="sensor_link_name parent *joint_origin">
+    <joint name="${sensor_link_name}_joint" type="fixed">
+      <xacro:insert_block name="joint_origin"/>
+      <parent link="${parent}"/>
+      <child link="${sensor_link_name}"/>
+    </joint>
+
+    <link name="${sensor_link_name}">
+      <visual>
+        <geometry>
+          <mesh filename="package://raspimouse_description/meshes/stl/robotis_lds01.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="black"/>
+      </visual>
+      <xacro:lidar_legs length="0.019" radius="0.005" z_pos="-0.0228"/>
+      <collision>
+        <geometry>
+          <cylinder radius="0.035" length="0.040"/>
+        </geometry>
+        <origin xyz="0 0 -0.008" />
+      </collision>
+      <inertial>
+        <mass value="0.160" />
+        <origin xyz="0 0 0" />
+        <xacro:cylinder_inertia m="0.16" r="0.025" h="0.03" />
+      </inertial>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="lidar_rp_sensor" params="sensor_link_name parent *joint_origin">
+    <joint name="${sensor_link_name}_joint" type="fixed">
+      <xacro:insert_block name="joint_origin"/>
+      <parent link="${parent}"/>
+      <child link="${sensor_link_name}"/>
+    </joint>
+
+    <link name="${sensor_link_name}">
+      <visual>
+        <geometry>
+          <mesh filename="package://raspimouse_description/meshes/stl/robotis_lds01.stl" scale="0.001 0.001 0.001"/>
+        </geometry>
+        <material name="black"/>
+      </visual>
+      <xacro:lidar_legs length="0.027" radius="0.003" z_pos="-0.028"/>
+      <collision>
+        <geometry>
+          <cylinder radius="0.036" length="0.042"/>
+        </geometry>
+        <origin xyz="0 0 -0.008" />
+      </collision>
+      <inertial>
+        <mass value="0.160" />
+        <origin xyz="0 0 0" />
+        <xacro:cylinder_inertia m="0.16" r="0.025" h="0.03" />
+      </inertial>
+    </link>
+  </xacro:macro>
+
 </robot>