Almost finalized config

RoboJackets · Jul 30, 2023 · 111d9fc · 111d9fc
1 parent 6a17b90
commit 111d9fc
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Showing 2 changed files with 97 additions and 11 deletions.
diff --git a/urc_gazebo/CMakeLists.txt b/urc_gazebo/CMakeLists.txt
@@ -89,7 +89,6 @@ install(
   launch
   urdf
   config
-  rviz
   src
   DESTINATION share/${PROJECT_NAME}/
 )

diff --git a/urc_gazebo/urdf/walli.xacro b/urc_gazebo/urdf/walli.xacro
@@ -59,12 +59,12 @@
       <material>Gazebo/Black</material>
     </gazebo>
   </xacro:macro>
-  <xacro:wheel prefix="left_front_wheel"   x_reflect="1" y_reflect="-1"/>
-  <xacro:wheel prefix="left_center_wheel"  x_reflect="0" y_reflect="-1"/>
-  <xacro:wheel prefix="left_rear_wheel"    x_reflect="-1" y_reflect="-1"/>
-  <xacro:wheel prefix="right_front_wheel"  x_reflect="1" y_reflect="1"/>
-  <xacro:wheel prefix="right_center_wheel" x_reflect="0" y_reflect="1"/>
-  <xacro:wheel prefix="right_rear_wheel"   x_reflect="-1" y_reflect="1"/>
+  <xacro:wheel prefix="left_front_wheel"   x_reflect="1" y_reflect="1"/>
+  <xacro:wheel prefix="left_center_wheel"  x_reflect="0" y_reflect="1"/>
+  <xacro:wheel prefix="left_rear_wheel"    x_reflect="-1" y_reflect="1"/>
+  <xacro:wheel prefix="right_front_wheel"  x_reflect="1" y_reflect="-1"/>
+  <xacro:wheel prefix="right_center_wheel" x_reflect="0" y_reflect="-1"/>
+  <xacro:wheel prefix="right_rear_wheel"   x_reflect="-1" y_reflect="-1"/>
 
   <!-- Robot Footprint -->
   <link name="base_footprint"/>
@@ -252,11 +252,11 @@
   <joint name="lidar_joint" type="fixed">
     <parent link="base_link"/>
     <child link="lidar_link"/>
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
+    <origin xyz="0.0 0.0 0.1" rpy="0.0 0.0 0.0"/>
   </joint>
-  <xacro:VLP-16 parent="lidar_link" name="lidar" topic="/scan" hz="${lidar_hz}" samples="${lidar_samples}" gpu="false">
+  <!-- <xacro:VLP-16 parent="lidar_link" name="lidar" topic="/scan" hz="${lidar_hz}" samples="${lidar_samples}" gpu="false">
     <origin xyz="${lidar_x} 0.0 ${lidar_z}" rpy="0 ${lidar_pitch} 0" />
-  </xacro:VLP-16>
+  </xacro:VLP-16> -->
   <gazebo reference="lidar_link">
   <sensor name="lidar" type="ray">
     <always_on>true</always_on>
@@ -272,7 +272,7 @@
         </horizontal>
       </scan>
       <range>
-        <min>0.120000</min>
+        <min>0.12</min>
         <max>3.5</max>
         <resolution>0.015000</resolution>
       </range>
@@ -353,6 +353,93 @@
   <xacro:camera orientation="center" origin_x="0.15" origin_y="0"    origin_z="-0.1" yaw="-0.14"/>
   <xacro:camera orientation="left"   origin_x="0"    origin_y="0.1"  origin_z="0"    yaw="1.5"/>
   <xacro:camera orientation="right"  origin_x="0"    origin_y="-0.1" origin_z="0"    yaw="-1.5"/>
+
+
+<!-- Depth Camera (addition for Nav2) -->
+<link name="camera_link">
+  <visual>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <geometry>
+      <box size="0.015 0.130 0.022"/>
+    </geometry>
+  </visual>
+
+  <collision>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <geometry>
+      <box size="0.015 0.130 0.022"/>
+    </geometry>
+  </collision>
+
+  <inertial>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <mass value="0.035"/>
+    <inertia ixx="0.001"  ixy="0"  ixz="0" iyy="0.001" iyz="0" izz="0.001" />
+  </inertial>
+</link>
+
+<joint name="camera_joint" type="fixed">
+  <parent link="base_link"/>
+  <child link="camera_link"/>
+  <origin xyz="0.215 0 0.05" rpy="0 0 0"/>
+</joint>
+
+<link name="camera_depth_frame"/>
+
+<joint name="camera_depth_joint" type="fixed">
+  <origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
+  <parent link="camera_link"/>
+  <child link="camera_depth_frame"/>
+</joint>
+
+<gazebo reference="camera_link">
+  <sensor name="depth_camera" type="depth">
+    <visualize>true</visualize>
+    <update_rate>30.0</update_rate>
+    <camera name="camera">
+      <horizontal_fov>1.047198</horizontal_fov>
+      <image>
+        <width>640</width>
+        <height>480</height>
+        <format>R8G8B8</format>
+      </image>
+      <clip>
+        <near>0.05</near>
+        <far>3</far>
+      </clip>
+    </camera>
+    <plugin name="depth_camera_controller" filename="libgazebo_ros_camera.so">
+      <baseline>0.2</baseline>
+      <alwaysOn>true</alwaysOn>
+      <updateRate>0.0</updateRate>
+      <frame_name>camera_depth_frame</frame_name>
+      <pointCloudCutoff>0.5</pointCloudCutoff>
+      <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
+      <distortionK1>0</distortionK1>
+      <distortionK2>0</distortionK2>
+      <distortionK3>0</distortionK3>
+      <distortionT1>0</distortionT1>
+      <distortionT2>0</distortionT2>
+      <CxPrime>0</CxPrime>
+      <Cx>0</Cx>
+      <Cy>0</Cy>
+      <focalLength>0</focalLength>
+      <hackBaseline>0</hackBaseline>
+    </plugin>
+  </sensor>
+</gazebo>
+
+
+
+
+
+
+
+
+
+
+
+
 
   <gazebo>
     <sensor name="imu" type="imu">