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Add odometry and lidar to mars_rover model for Nav2 #10

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merged 3 commits into from
Jan 30, 2024
Merged

Add odometry and lidar to mars_rover model for Nav2 #10

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5e6b4f4
Add odometry publisher to mars_rover model (#11).
mkhansenbot Dec 30, 2023
504df16
Add base_link to mars_rover model (#11).
mkhansenbot Jan 20, 2024
6505526
Add lidar to mars_rover model (#11).
mkhansenbot Jan 20, 2024
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9 changes: 8 additions & 1 deletion models/curiosity_path/urdf/chassis.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -5,10 +5,17 @@

<!-- Used for fixing robot to Gazebo 'chassis' -->
<link name="base_footprint" />
<link name="base_link" />

<joint name="base_joint" type="fixed">
<joint name="base_footprint_to_link" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>

<joint name="base_to_chassis" type="fixed">
<parent link="base_link"/>
<child link="chassis"/>
<origin rpy="0 0 1.57" xyz="0 0 0"/>
</joint>


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54 changes: 45 additions & 9 deletions models/curiosity_path/urdf/curiosity_mars_rover.gazebo
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Expand Up @@ -116,12 +116,54 @@

<gazebo>
<plugin filename="libign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
<robot_param>robot_description</robot_param>
<robot_param_node>robot_state_publisher</robot_param_node>
<parameters>$(find mars_rover)/config/mars_rover_control.yaml</parameters>
<robot_param>robot_description</robot_param>
<robot_param_node>robot_state_publisher</robot_param_node>
<parameters>$(find mars_rover)/config/mars_rover_control.yaml</parameters>
</plugin>

<plugin filename="ignition-gazebo-odometry-publisher-system" name="ignition::gazebo::systems::OdometryPublisher">
<odom_frame>/odom</odom_frame>
<robot_base_frame>/base_footprint</robot_base_frame>
<odom_publish_frequency>10</odom_publish_frequency>
</plugin>

<plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
<background_color>0.9 0.753 0.66 1</background_color>
</plugin>
</gazebo>

<gazebo reference="lidar_link">
<sensor name='lidar' type='gpu_lidar'>"
<ignition_frame_id>lidar_link</ignition_frame_id>
<pose relative_to='lidar_link'>0 0 0 0 0 0</pose>
<topic>scan</topic>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-3.1416</min_angle>
<max_angle>3.1416</max_angle>
</horizontal>
<vertical>
<samples>1</samples>
<resolution>0.01</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</vertical>
</scan>
<range>
<min>1.0</min>
<max>20.0</max>
<resolution>0.05</resolution>
</range>
</ray>
<always_on>1</always_on>
<visualize>true</visualize>
</sensor>
</gazebo>

<gazebo reference="camera_link">
<sensor type="camera" name="camera_sensor">
Expand All @@ -146,12 +188,6 @@
</camera>
<always_on>1</always_on>
<topic>image_raw</topic>
<plugin
filename="ignition-gazebo-sensors-system"
name="ignition::gazebo::systems::Sensors">
<render_engine>ogre2</render_engine>
<background_color>0.9 0.753 0.66 1</background_color>
</plugin>
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</sensor>
</gazebo>

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26 changes: 26 additions & 0 deletions models/curiosity_path/urdf/sensor_mast.xacro
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Expand Up @@ -268,6 +268,32 @@
<origin xyz="0.13642 -0.218683 0.222314" rpy="0 0 ${-PI/2}"/>
</joint>

<link name="lidar_link">
<!-- Inertial for gazebo to take it into account, Put 1gr weight -->
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.001" />
<inertia ixx="9.1875e-09" ixy="0.0" ixz="0.0" iyy="9.1875e-09" iyz="0.0" izz="1.378125e-08"/>
</inertial>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<cylinder radius="0.05" length="0.02"/>
</geometry>
<material name="black"/>
</visual>
</link>

<gazebo reference="lidar_link">
<material>Gazebo/Black</material>
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Not sure if this works as intended in the new Gazebo, I'm planning to try out this along with supporting PRs.

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Yeah, I'm not sure it does either because I saw a warning when I ran, but I also saw that the camera has a material specified

simulation/models/curiosity_path/urdf/sensor_mast.xacro

Line 262 in 1307f4f

<material>Gazebo/Green</material>

and I do see the lidar show up as black. If this is wrong let me know I can remove or change.

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Yeah the new Gazebo can't parse 'Gazebo/' materials, its recently added to Harmonic. For rendering green, you might need to change it to:

<material>
  <ambient>0 1 0 1</ambient>
  <diffuse>0 1 0 1</diffuse>
  <specular>0.1 0.1 0.1 1</specular>
</material>

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@quarkytale - what if I remove the material tag entirely? If it isn't being parsed, I would guess it's ignored and it will make no technical difference if I remove it, except to clean up dead code, which is good.

</gazebo>

<joint name="lidar_joint" type="fixed">
<parent link="mast_cameras"/>
<child link="lidar_link"/>
<origin xyz="0 0 0.325" rpy="0 0 ${-PI/2}"/>
</joint>

</xacro:macro>

</robot>