diff --git a/build/sim/bot.gazebo.xacro b/build/sim/bot.gazebo.xacro
index e681b1b9b95438290b6cf3eebac7df549b4b1dfa..357fa620e85482c9bce27129d63cd83c64fc46da 100644
--- a/build/sim/bot.gazebo.xacro
+++ b/build/sim/bot.gazebo.xacro
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="UTF-8"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi_sim">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_sim">
<xacro:arg name="laser_visual" default="false" />
<xacro:arg name="camera_visual" default="false" />
<xacro:arg name="imu_visual" default="false" />
@@ -44,8 +44,15 @@
<maxVel>1.0</maxVel>
<material>Gazebo/FlatBlack</material>
</gazebo>
+ <gazebo reference="imu_link">
+ <sensor type="imu" name="imu">
+ <always_on>true</always_on>
+ <visualize>$(arg imu_visual)</visualize>
+ </sensor>
+ <material>Gazebo/Grey</material>
+ </gazebo>
<gazebo>
- <plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so">
+ <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
@@ -94,5 +101,79 @@
</imu>
</plugin>
</gazebo>
- <!--link : https://www.raspberrypi.org/documentation/hardware/camera/-->
+ <gazebo reference="base_scan">
+ <material>Gazebo/FlatBlack</material>
+ <sensor type="ray" name="lds_lfcd_sensor">
+ <pose>0 0 0 0 0 0</pose>
+ <visualize>$(arg laser_visual)</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>
+ <gazebo reference="camera_rgb_frame">
+ <sensor type="depth" name="realsense_R200">
+ <always_on>true</always_on>
+ <visualize>$(arg camera_visual)</visualize>
+ <camera>
+ <horizontal_fov>1.3439</horizontal_fov>
+ <image>
+ <width>1920</width>
+ <height>1080</height>
+ <format>R8G8B8</format>
+ </image>
+ <depth_camera />
+ <clip>
+ <near>0.03</near>
+ <far>100</far>
+ </clip>
+ </camera>
+ <plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
+ <baseline>0.2</baseline>
+ <alwaysOn>true</alwaysOn>
+ <updateRate>30.0</updateRate>
+ <cameraName>camera</cameraName>
+ <frameName>camera_rgb_optical_frame</frameName>
+ <imageTopicName>rgb/image_raw</imageTopicName>
+ <depthImageTopicName>depth/image_raw</depthImageTopicName>
+ <pointCloudTopicName>depth/points</pointCloudTopicName>
+ <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
+ <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
+ <pointCloudCutoff>0.4</pointCloudCutoff>
+ <hackBaseline>0.07</hackBaseline>
+ <distortionK1>0.0</distortionK1>
+ <distortionK2>0.0</distortionK2>
+ <distortionK3>0.0</distortionK3>
+ <distortionT1>0.0</distortionT1>
+ <distortionT2>0.0</distortionT2>
+ <CxPrime>0.0</CxPrime>
+ <Cx>0.0</Cx>
+ <Cy>0.0</Cy>
+ <focalLength>0</focalLength>
+ <hackBaseline>0</hackBaseline>
+ </plugin>
+ </sensor>
+ </gazebo>
</robot>
diff --git a/build/sim/bot.urdf.xacro b/build/sim/bot.urdf.xacro
index a268ae6cd2d2c2f5fc5f79efe38976a51b40ddbd..0e9289f6c3bae4a5f2dfc9b2d173f0ffb5025daa 100644
--- a/build/sim/bot.urdf.xacro
+++ b/build/sim/bot.urdf.xacro
@@ -1,7 +1,11 @@
<?xml version="1.0" encoding="UTF-8"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro" />
<xacro:include filename="$(find sim)/bot.gazebo.xacro" />
+ <xacro:property name="r200_cam_rgb_px" value="0.005" />
+ <xacro:property name="r200_cam_rgb_py" value="0.018" />
+ <xacro:property name="r200_cam_rgb_pz" value="0.013" />
+ <xacro:property name="r200_cam_depth_offset" value="0.01" />
<link name="base_footprint" />
<joint name="base_joint" type="fixed">
<parent link="base_footprint" />
@@ -12,7 +16,7 @@
<visual>
<origin xyz="-0.064 0 0.0" rpy="0 0 0" />
<geometry>
- <mesh filename="package://turtlebot3_description/meshes/bases/waffle_pi_base.stl" scale="0.001 0.001 0.001" />
+ <mesh filename="package://turtlebot3_description/meshes/bases/waffle_base.stl" scale="0.001 0.001 0.001" />
</geometry>
<material name="light_black" />
</visual>
@@ -129,7 +133,7 @@
</joint>
<link name="base_scan">
<visual>
- <origin xyz="0 0 0.0" rpy="0 0 0" />
+ <origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001" />
</geometry>
@@ -148,20 +152,34 @@
</inertial>
</link>
<joint name="camera_joint" type="fixed">
- <origin xyz="0.073 -0.011 0.084" rpy="0 0 0" />
+ <origin xyz="0.064 -0.065 0.094" rpy="0 0 0" />
<parent link="base_link" />
<child link="camera_link" />
</joint>
<link name="camera_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="1.57 0 1.57" />
+ <geometry>
+ <mesh filename="package://turtlebot3_description/meshes/sensors/r200.dae" />
+ </geometry>
+ </visual>
<collision>
- <origin xyz="0.005 0.011 0.013" rpy="0 0 0" />
+ <origin xyz="0.003 0.065 0.007" rpy="0 0 0" />
<geometry>
- <box size="0.015 0.030 0.027" />
+ <box size="0.012 0.132 0.020" />
</geometry>
</collision>
+ <!-- This inertial field needs doesn't contain reliable data!! -->
+ <!-- <inertial>
+ <mass value="0.564" />
+ <origin xyz="0 0 0" />
+ <inertia ixx="0.003881243" ixy="0.0" ixz="0.0"
+ iyy="0.000498940" iyz="0.0"
+ izz="0.003879257" />
+ </inertial>-->
</link>
<joint name="camera_rgb_joint" type="fixed">
- <origin xyz="0.003 0.011 0.009" rpy="0 0 0" />
+ <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py} ${r200_cam_rgb_pz}" rpy="0 0 0" />
<parent link="camera_link" />
<child link="camera_rgb_frame" />
</joint>
@@ -172,4 +190,16 @@
<child link="camera_rgb_optical_frame" />
</joint>
<link name="camera_rgb_optical_frame" />
+ <joint name="camera_depth_joint" type="fixed">
+ <origin xyz="${r200_cam_rgb_px} ${r200_cam_rgb_py + r200_cam_depth_offset} ${r200_cam_rgb_pz}" rpy="0 0 0" />
+ <parent link="camera_link" />
+ <child link="camera_depth_frame" />
+ </joint>
+ <link name="camera_depth_frame" />
+ <joint name="camera_depth_optical_joint" type="fixed">
+ <origin xyz="0 0 0" rpy="-1.57 0 -1.57" />
+ <parent link="camera_depth_frame" />
+ <child link="camera_depth_optical_frame" />
+ </joint>
+ <link name="camera_depth_optical_frame" />
</robot>
diff --git a/build/sim/botname.txt b/build/sim/botname.txt
index 06115db6b4d48d5478a2d5abcc55375e585fffdc..07bb3138a66f538ea0a699432c9312975b3b69c2 100644
--- a/build/sim/botname.txt
+++ b/build/sim/botname.txt
@@ -1 +1 @@
-waffle_pi
\ No newline at end of file
+waffle
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/configs/test.xml b/src/var/FeatureModelConfigurator/configs/test.xml
index 3472dd56eb9cb7001d85127c2c602a27d34bb22e..2346818cebe5c92c872f1136b7c1060e2f9d3646 100644
--- a/src/var/FeatureModelConfigurator/configs/test.xml
+++ b/src/var/FeatureModelConfigurator/configs/test.xml
@@ -5,13 +5,13 @@
<feature automatic="unselected" name="turtlebot3_burger"/>
<feature automatic="unselected" name="turtlebot3_burger_for_autorace"/>
<feature automatic="unselected" name="turtlebot3_burgertest1"/>
- <feature automatic="unselected" name="turtlebot3_waffle"/>
- <feature manual="selected" name="turtlebot3_waffle_pi"/>
+ <feature manual="selected" name="turtlebot3_waffle"/>
+ <feature automatic="unselected" name="turtlebot3_waffle_pi"/>
<feature automatic="selected" name="Sensors"/>
- <feature automatic="unselected" name="NO_CHANGE"/>
- <feature manual="selected" name="Custom"/>
- <feature name="Pi_Camera"/>
- <feature name="imu"/>
- <feature name="lds_lfcd_sensor"/>
- <feature name="realsense_R200"/>
+ <feature manual="selected" name="NO_CHANGE"/>
+ <feature automatic="unselected" name="Custom"/>
+ <feature automatic="unselected" name="Pi_Camera"/>
+ <feature automatic="unselected" name="imu"/>
+ <feature automatic="unselected" name="lds_lfcd_sensor"/>
+ <feature automatic="unselected" name="realsense_R200"/>
</configuration>
diff --git a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
index 5145399b09271131f9e156318751d0a0cedf8400..a8bd65a9a6d9fe8504b9b3612797b34d8d128fff 100644
--- a/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
+++ b/src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8"?>
<specification>
- <templates name="turtlebot3_waffle_pi" />
+ <templates name="turtlebot3_waffle" />
<sensors>
- <mode param="Custom" />
+ <mode param="NO_CHANGE" />
</sensors>
</specification>
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.jak b/src/var/FeatureModelConfigurator/src/Configurator.jak
index a09c23337bce5607ade934cd52b603f8101c8d94..4e48e0006a35a4e034eccf58566088ca2e58e1b3 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.jak
+++ b/src/var/FeatureModelConfigurator/src/Configurator.jak
@@ -176,12 +176,22 @@ abstract class Configurator$$ConfiguratorMain {
}
}
-SoUrCe turtlebot3_waffle_pi "../features/turtlebot3_waffle_pi/Configurator.jak";/**
+SoUrCe turtlebot3_waffle "../features/turtlebot3_waffle/Configurator.jak";/**
* TODO description
*/
-public class Configurator extends Configurator$$ConfiguratorMain {
+abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
public void save() {
- Super().addToModuleList("turtlebot3_waffle_pi");
+ Super().addToModuleList("turtlebot3_waffle");
+ Super().save();
+ }
+}
+
+SoUrCe NO_CHANGE "../features/NO_CHANGE/Configurator.jak";/**
+ * TODO description
+ */
+public class Configurator extends Configurator$$turtlebot3_waffle {
+ public void save() {
+ Super().addToModuleList("NO_CHANGE");
Super().save();
}
}
\ No newline at end of file
diff --git a/src/var/FeatureModelConfigurator/src/Configurator.java b/src/var/FeatureModelConfigurator/src/Configurator.java
index 3971d09b0eb66639750b2b006bbc50a8efa59a37..ee822aa62b8995b8ddb53f83833708672f5265a0 100644
--- a/src/var/FeatureModelConfigurator/src/Configurator.java
+++ b/src/var/FeatureModelConfigurator/src/Configurator.java
@@ -179,9 +179,19 @@ abstract class Configurator$$ConfiguratorMain {
/**
* TODO description
*/
-public class Configurator extends Configurator$$ConfiguratorMain {
+abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
public void save() {
- super.addToModuleList("turtlebot3_waffle_pi");
+ super.addToModuleList("turtlebot3_waffle");
+ super.save();
+ }
+}
+
+/**
+ * TODO description
+ */
+public class Configurator extends Configurator$$turtlebot3_waffle {
+ public void save() {
+ super.addToModuleList("NO_CHANGE");
super.save();
}
}
\ No newline at end of file