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Commit 9fa1761c authored by marvin's avatar marvin
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waffle NO_CHANGE

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build/sim/bot.gazebo.xacro
+ 84
− 3
View file @ 9fa1761c
<?xml version="1.0" encoding="UTF-8"?> <?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="laser_visual" default="false" />
<xacro:arg name="camera_visual" default="false" /> <xacro:arg name="camera_visual" default="false" />
<xacro:arg name="imu_visual" default="false" /> <xacro:arg name="imu_visual" default="false" />
...@@ -44,8 +44,15 @@ ...@@ -44,8 +44,15 @@
<maxVel>1.0</maxVel> <maxVel>1.0</maxVel>
<material>Gazebo/FlatBlack</material> <material>Gazebo/FlatBlack</material>
</gazebo> </gazebo>
<gazebo reference="imu_link">
<sensor type="imu" name="imu">
<always_on>true</always_on>
<visualize>$(arg imu_visual)</visualize>
</sensor>
<material>Gazebo/Grey</material>
</gazebo>
<gazebo> <gazebo>
<plugin name="turtlebot3_waffle_pi_controller" filename="libgazebo_ros_diff_drive.so"> <plugin name="turtlebot3_waffle_controller" filename="libgazebo_ros_diff_drive.so">
<commandTopic>cmd_vel</commandTopic> <commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic> <odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame> <odometryFrame>odom</odometryFrame>
...@@ -94,5 +101,79 @@ ...@@ -94,5 +101,79 @@
</imu> </imu>
</plugin> </plugin>
</gazebo> </gazebo>
<!--link : https://www.raspberrypi.org/documentation/hardware/camera/--> <gazebo reference="base_scan">
<material>Gazebo/FlatBlack</material>
<sensor type="ray" name="lds_lfcd_sensor">
<pose>0 0 0 0 0 0</pose>
<visualize>$(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>$(arg camera_visual)</visualize>
<camera>
<horizontal_fov>1.3439</horizontal_fov>
<image>
<width>1920</width>
<height>1080</height>
<format>R8G8B8</format>
</image>
<depth_camera />
<clip>
<near>0.03</near>
<far>100</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_openni_kinect.so">
<baseline>0.2</baseline>
<alwaysOn>true</alwaysOn>
<updateRate>30.0</updateRate>
<cameraName>camera</cameraName>
<frameName>camera_rgb_optical_frame</frameName>
<imageTopicName>rgb/image_raw</imageTopicName>
<depthImageTopicName>depth/image_raw</depthImageTopicName>
<pointCloudTopicName>depth/points</pointCloudTopicName>
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
<depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
<pointCloudCutoff>0.4</pointCloudCutoff>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>0.0</CxPrime>
<Cx>0.0</Cx>
<Cy>0.0</Cy>
<focalLength>0</focalLength>
<hackBaseline>0</hackBaseline>
</plugin>
</sensor>
</gazebo>
</robot> </robot>
build/sim/bot.urdf.xacro
+ 37
− 7
View file @ 9fa1761c
<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle_pi"> <robot xmlns:xacro="http://ros.org/wiki/xacro" name="turtlebot3_waffle">
<xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro" /> <xacro:include filename="$(find turtlebot3_description)/urdf/common_properties.xacro" />
<xacro:include filename="$(find sim)/bot.gazebo.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" /> <link name="base_footprint" />
<joint name="base_joint" type="fixed"> <joint name="base_joint" type="fixed">
<parent link="base_footprint" /> <parent link="base_footprint" />
...@@ -12,7 +16,7 @@ ...@@ -12,7 +16,7 @@
<visual> <visual>
<origin xyz="-0.064 0 0.0" rpy="0 0 0" /> <origin xyz="-0.064 0 0.0" rpy="0 0 0" />
<geometry> <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> </geometry>
<material name="light_black" /> <material name="light_black" />
</visual> </visual>
...@@ -129,7 +133,7 @@ ...@@ -129,7 +133,7 @@
</joint> </joint>
<link name="base_scan"> <link name="base_scan">
<visual> <visual>
<origin xyz="0 0 0.0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001" /> <mesh filename="package://turtlebot3_description/meshes/sensors/lds.stl" scale="0.001 0.001 0.001" />
</geometry> </geometry>
...@@ -148,20 +152,34 @@ ...@@ -148,20 +152,34 @@
</inertial> </inertial>
</link> </link>
<joint name="camera_joint" type="fixed"> <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" /> <parent link="base_link" />
<child link="camera_link" /> <child link="camera_link" />
</joint> </joint>
<link name="camera_link"> <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> <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> <geometry>
<box size="0.015 0.030 0.027" /> <box size="0.012 0.132 0.020" />
</geometry> </geometry>
</collision> </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> </link>
<joint name="camera_rgb_joint" type="fixed"> <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} ${r200_cam_rgb_pz}" rpy="0 0 0" />
<parent link="camera_link" /> <parent link="camera_link" />
<child link="camera_rgb_frame" /> <child link="camera_rgb_frame" />
</joint> </joint>
...@@ -172,4 +190,16 @@ ...@@ -172,4 +190,16 @@
<child link="camera_rgb_optical_frame" /> <child link="camera_rgb_optical_frame" />
</joint> </joint>
<link name="camera_rgb_optical_frame" /> <link name="camera_rgb_optical_frame" />
<joint name="camera_depth_joint" type="fixed">
<origin xyz="${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> </robot>
build/sim/botname.txt
+ 1
− 1
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waffle_pi waffle
\ No newline at end of file \ No newline at end of file
src/var/FeatureModelConfigurator/configs/test.xml
+ 8
− 8
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...@@ -5,13 +5,13 @@ ...@@ -5,13 +5,13 @@
<feature automatic="unselected" name="turtlebot3_burger"/> <feature automatic="unselected" name="turtlebot3_burger"/>
<feature automatic="unselected" name="turtlebot3_burger_for_autorace"/> <feature automatic="unselected" name="turtlebot3_burger_for_autorace"/>
<feature automatic="unselected" name="turtlebot3_burgertest1"/> <feature automatic="unselected" name="turtlebot3_burgertest1"/>
<feature automatic="unselected" name="turtlebot3_waffle"/> <feature manual="selected" name="turtlebot3_waffle"/>
<feature manual="selected" name="turtlebot3_waffle_pi"/> <feature automatic="unselected" name="turtlebot3_waffle_pi"/>
<feature automatic="selected" name="Sensors"/> <feature automatic="selected" name="Sensors"/>
<feature automatic="unselected" name="NO_CHANGE"/> <feature manual="selected" name="NO_CHANGE"/>
<feature manual="selected" name="Custom"/> <feature automatic="unselected" name="Custom"/>
<feature name="Pi_Camera"/> <feature automatic="unselected" name="Pi_Camera"/>
<feature name="imu"/> <feature automatic="unselected" name="imu"/>
<feature name="lds_lfcd_sensor"/> <feature automatic="unselected" name="lds_lfcd_sensor"/>
<feature name="realsense_R200"/> <feature automatic="unselected" name="realsense_R200"/>
</configuration> </configuration>
src/var/FeatureModelConfigurator/resources/output/featuremodel.xml
+ 2
− 2
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<?xml version="1.0" encoding="UTF-8"?> <?xml version="1.0" encoding="UTF-8"?>
<specification> <specification>
<templates name="turtlebot3_waffle_pi" /> <templates name="turtlebot3_waffle" />
<sensors> <sensors>
<mode param="Custom" /> <mode param="NO_CHANGE" />
</sensors> </sensors>
</specification> </specification>
src/var/FeatureModelConfigurator/src/Configurator.jak
+ 13
− 3
View file @ 9fa1761c
...@@ -176,12 +176,22 @@ abstract class Configurator$$ConfiguratorMain { ...@@ -176,12 +176,22 @@ abstract class Configurator$$ConfiguratorMain {
} }
} }
SoUrCe turtlebot3_waffle_pi "../features/turtlebot3_waffle_pi/Configurator.jak";/** SoUrCe turtlebot3_waffle "../features/turtlebot3_waffle/Configurator.jak";/**
* TODO description * TODO description
*/ */
public class Configurator extends Configurator$$ConfiguratorMain { abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
public void save() { public void save() {
Super().addToModuleList("turtlebot3_waffle_pi"); Super().addToModuleList("turtlebot3_waffle");
Super().save();
}
}
SoUrCe NO_CHANGE "../features/NO_CHANGE/Configurator.jak";/**
* TODO description
*/
public class Configurator extends Configurator$$turtlebot3_waffle {
public void save() {
Super().addToModuleList("NO_CHANGE");
Super().save(); Super().save();
} }
} }
\ No newline at end of file
src/var/FeatureModelConfigurator/src/Configurator.java
+ 12
− 2
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...@@ -179,9 +179,19 @@ abstract class Configurator$$ConfiguratorMain { ...@@ -179,9 +179,19 @@ abstract class Configurator$$ConfiguratorMain {
/** /**
* TODO description * TODO description
*/ */
public class Configurator extends Configurator$$ConfiguratorMain { abstract class Configurator$$turtlebot3_waffle extends Configurator$$ConfiguratorMain {
public void save() { public void save() {
super.addToModuleList("turtlebot3_waffle_pi"); super.addToModuleList("turtlebot3_waffle");
super.save();
}
}
/**
* TODO description
*/
public class Configurator extends Configurator$$turtlebot3_waffle {
public void save() {
super.addToModuleList("NO_CHANGE");
super.save(); super.save();
} }
} }
\ No newline at end of file
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