From 04a3d1f1abce0d7fdd71c0d9a4adfdeee955ff7b Mon Sep 17 00:00:00 2001 From: Shuhei Kozasa Date: Tue, 12 Jul 2022 14:57:43 +0900 Subject: [PATCH] =?UTF-8?q?Foxy=E7=89=88=E3=83=AA=E3=83=AA=E3=83=BC?= =?UTF-8?q?=E3=82=B9=20(#39)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 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 * 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 * Update version * Fix typo and add author * Adds change log Co-authored-by: Shota Aoki --- CHANGELOG.rst | 13 +++ README.md | 13 ++- launch/display.launch.py | 2 +- meshes/stl/RasPiMouse_MultiLiDARMount.stl | Bin 0 -> 418884 bytes meshes/stl/robotis_lds01.stl | Bin 0 -> 672084 bytes package.xml | 5 +- urdf/body/option.urdf.xacro | 32 +++++++- urdf/raspimouse.urdf.xacro | 29 +++++++ urdf/sensors/lidar.urdf.xacro | 95 +++++++++++++++++++++- 9 files changed, 178 insertions(+), 11 deletions(-) create mode 100644 CHANGELOG.rst create mode 100644 meshes/stl/RasPiMouse_MultiLiDARMount.stl create mode 100644 meshes/stl/robotis_lds01.stl diff --git a/CHANGELOG.rst b/CHANGELOG.rst new file mode 100644 index 0000000..544454f --- /dev/null +++ b/CHANGELOG.rst @@ -0,0 +1,13 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package raspimouse_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +1.0.0 (2022-07-12) +------------------ +* LiDARの追加 (`#38 `_) +* Merge master branch (ROS1) into ros2 branch (`#37 `_) +* Update library to rviz2 (`#36 `_) +* Update tread (ROS 2) (`#32 `_) +* Update README for ROS 2 (`#26 `_) +* Support ROS 2 Foxy (`#24 `_) +* Contributors: Daisuke Sato, Shota Aoki, Shuhei Kozasa diff --git a/README.md b/README.md index 46a0b07..91c8990 100644 --- 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). \ No newline at end of file diff --git a/launch/display.launch.py b/launch/display.launch.py index 64cc632..ebc3115 100644 --- 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', 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z>9#$SUVR4*o$_A?45GNx`Ms7~pS}A$``C5y4Wn1hz2lm*=vm7VhWDqIzm?`P_eW{F z5ARWzjGnrAcGaJ^D98x3j)aBibH3z=0XigMoKagkdc6lgmw3K373wdtzR3M zto=VbB#T?Gh^==~cc-l{iM*SVcZYy?NxQ8I<%YX9?IRqrTShgQat$t=-;Zl>j?`et zW$#^79~sq0!u4SZXRVW`PYJ0H@>NQ{iq%(C=RQ}^-C9mHIG1WLX)ubZH)TpMzI6zfBCS$VYxn+sbBX_b;z ODQksxa9XbwOaC7q{XTvG literal 0 HcmV?d00001 diff --git a/package.xml b/package.xml index bb81c99..deb7bce 100644 --- a/package.xml +++ b/package.xml @@ -2,11 +2,12 @@ raspimouse_description - 0.1.0 + 1.0.0 The raspimouse_description package RT Corporation Daisuke Sato - Daisuke Sato + Shota Aoki + Shuhei Kozasa MIT diff --git a/urdf/body/option.urdf.xacro b/urdf/body/option.urdf.xacro index 3af3f7b..4d234f2 100644 --- a/urdf/body/option.urdf.xacro +++ b/urdf/body/option.urdf.xacro @@ -14,9 +14,6 @@ - - - @@ -30,4 +27,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/urdf/raspimouse.urdf.xacro b/urdf/raspimouse.urdf.xacro index 5e51807..11229bd 100644 --- a/urdf/raspimouse.urdf.xacro +++ b/urdf/raspimouse.urdf.xacro @@ -13,6 +13,10 @@ + + + + @@ -72,6 +76,23 @@ + + + + + + + + + + + + + + + + + @@ -104,6 +125,14 @@ + + + + + + + + diff --git a/urdf/sensors/lidar.urdf.xacro b/urdf/sensors/lidar.urdf.xacro index 67408ef..ff2a6b9 100644 --- a/urdf/sensors/lidar.urdf.xacro +++ b/urdf/sensors/lidar.urdf.xacro @@ -5,6 +5,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -19,19 +50,75 @@ - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +