ClubRobotInsat · BloodFutur · Sep 28, 2024 · Sep 28, 2024 · Sep 28, 2024 · Sep 28, 2024
diff --git a/src/robot_description/CMakeLists.txt b/src/robot_description/CMakeLists.txt
@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.5)
+project(robot_description)
+
+find_package(ament_cmake REQUIRED)
+find_package(urdf REQUIRED)
+
+install(
+  DIRECTORY launch urdf rviz
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/src/robot_description/launch/description.launch.py b/src/robot_description/launch/description.launch.py
@@ -0,0 +1,79 @@
+import os
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, Command, PathJoinSubstitution, EnvironmentVariable
+from launch.conditions import IfCondition
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.parameter_descriptions import ParameterValue
+
+def generate_launch_description():
+    robot_base = os.getenv('ROBOT_BASE', '2wd')
+
+    urdf_path = PathJoinSubstitution(
+        [FindPackageShare('robot_description'), 'urdf/robots', f"{robot_base}.urdf.xacro"]
+    )
+
+    rviz_config_path = PathJoinSubstitution(
+        [FindPackageShare('robot_description'), 'rviz', 'description.rviz']
+    )
+
+    return LaunchDescription([
+        # Arguments
+        DeclareLaunchArgument(
+            name='urdf',
+            default_value=urdf_path,
+            description='URDF path',
+        ),
+
+        DeclareLaunchArgument(
+            name='publish_joints',
+            default_value='true',
+            description='Launch joint_state_publisher',
+        ),
+
+        DeclareLaunchArgument(
+            name='rviz',
+            default_value='false',
+            description='Launch rviz',
+        ),
+
+        DeclareLaunchArgument(
+            name="use_sim_time",
+            default_value="false",
+            description="Use simulation (Gazebo) clock if true",
+        ),
+
+        # Nodes
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher',
+            condition=IfCondition(LaunchConfiguration('publish_joints')),
+            parameters=[{
+                'use_sim_time': LaunchConfiguration('use_sim_time')
+            }],
+        ),
+
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'use_sim_time': LaunchConfiguration('use_sim_time'),
+                'robot_description': ParameterValue(Command(['xacro ', LaunchConfiguration('urdf')]))
+            }],
+        ),
+
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            condition=IfCondition(LaunchConfiguration('rviz')),
+            arguments=['-d', rviz_config_path],
+            parameters=[{
+                'use_sim_time': LaunchConfiguration('use_sim_time')
+            }],
+        )
+    ])
diff --git a/src/robot_description/package.xml b/src/robot_description/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+    <name>robot_description</name>
+    <version>0.0.0</version>
+    <description>INSA Toulouse Description Package</description>
+    <maintainer email="[email protected]">Ronan Bonnet</maintainer>
+    <license>Apache 2.0</license>
+    <url type="repository">https://github.com/ClubRobotInsat/Info2025</url>
+    <url type="bugtracker">https://github.com/ClubRobotInsat/Info2025/issues</url>
+    <buildtool_depend>ament_cmake</buildtool_depend>
+    <exec_depend>joint_state_publisher</exec_depend>
+    <exec_depend>robot_state_publisher</exec_depend>
+    <exec_depend>rviz2</exec_depend>
+    <exec_depend>xacro</exec_depend>
+    <export>
+        <build_type>ament_cmake</build_type>
+    </export>
+</package>
diff --git a/src/robot_description/rviz/description.rviz b/src/robot_description/rviz/description.rviz
@@ -0,0 +1,142 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 793
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.8999999761581421
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+      Marker Scale: 0.10000000149011612
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_footprint:
+          base_link:
+            {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.0010000000474974513
+      Reference Frame: <Fixed Frame>
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 238; 238; 236
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 0.5964717268943787
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5003980398178101
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 6.013586521148682
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000010000000000000156000003a2fc0200000001fb000000100044006900730070006c006100790073010000003b000003a2000000c700ffffff00000624000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Width: 1920
+  X: 0
+  Y: 27
diff --git a/src/robot_description/urdf/2wd.properties.xacro b/src/robot_description/urdf/2wd.properties.xacro
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:property name="base_length" value="0.24" />
+  <xacro:property name="base_width" value="0.275" />
+  <xacro:property name="base_height" value="0.003" />
+  <xacro:property name="base_mass" value="1" />
+
+  <xacro:property name="wheel_radius" value="0.045" />
+  <xacro:property name="wheel_width" value="0.01" />
+  <xacro:property name="wheel_pos_x" value="0.0" />
+  <xacro:property name="wheel_pos_y" value="0.13" />
+  <xacro:property name="wheel_pos_z" value="-0.03" />
+  <xacro:property name="wheel_mass" value=".1" />
+  <xacro:property name="wheel_torque" value="20" />
+  <xacro:property name="front_caster_wheel" value="true" />
+  <xacro:property name="rear_caster_wheel" value="true" />
+
+  <xacro:property name="laser_pose">
+    <origin xyz="0.12 0 0.33" rpy="0 0 0"/>
+  </xacro:property>
+
+  <xacro:property name="depth_sensor_pose">
+    <origin xyz="0.14 0.0 0.045" rpy="0 0 0"/>
+  </xacro:property>
+</robot>
diff --git a/src/robot_description/urdf/inertial_macros.xacro b/src/robot_description/urdf/inertial_macros.xacro
@@ -0,0 +1,40 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >
+
+    <!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
+    <!-- These make use of xacro's mathematical functionality -->
+
+    <xacro:macro name="inertial_sphere" params="mass radius *origin">
+        <inertial>
+            <xacro:insert_block name="origin"/>
+            <mass value="${mass}" />
+            <inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
+                     iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
+                     izz="${(2/5) * mass * (radius*radius)}" />
+        </inertial>
+    </xacro:macro>
+
+
+    <xacro:macro name="inertial_box" params="mass x y z *origin">
+        <inertial>
+            <xacro:insert_block name="origin"/>
+            <mass value="${mass}" />
+            <inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
+                     iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
+                     izz="${(1/12) * mass * (x*x+y*y)}" />
+        </inertial>
+    </xacro:macro>
+
+
+    <xacro:macro name="inertial_cylinder" params="mass length radius *origin">
+        <inertial>
+            <xacro:insert_block name="origin"/>
+            <mass value="${mass}" />
+            <inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
+                     iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
+                     izz="${(1/2) * mass * (radius*radius)}" />
+        </inertial>
+    </xacro:macro>
+
+
+</robot>
diff --git a/src/robot_description/urdf/parts/base/base.gazebo.xacro b/src/robot_description/urdf/parts/base/base.gazebo.xacro
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="base_gazebo">
+        <gazebo reference="base_link">
+            <visual>
+                <material>
+                    <ambient>
+                        0.8392 0.6314 0.0 1.0
+                    </ambient>
+                    <diffuse>
+                        0.8392 0.6314 0.0 1.0
+                    </diffuse>
+                    <specular>
+                        0.99 0.99 0.99 1.0
+                    </specular>
+                    <emissive>
+                        0.0 0.0 0.0 0.0
+                    </emissive>
+                </material>
+            </visual>
+            <selfCollide>
+                false
+            </selfCollide>
+            <mu1 value="0.05" />
+            <mu2 value="0.05" />
+        </gazebo>
+    </xacro:macro>
+</robot>