From fc0cca3bca02e302e8576d61680545670aebf1b5 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 2 Dec 2019 15:57:34 +0900 Subject: [PATCH 1/8] Add base of human urdf model --- rois_description/robot/human1.urdf.xacro | 185 +++++++++++++++++++++++ 1 file changed, 185 insertions(+) create mode 100644 rois_description/robot/human1.urdf.xacro diff --git a/rois_description/robot/human1.urdf.xacro b/rois_description/robot/human1.urdf.xacro new file mode 100644 index 00000000..b45fb452 --- /dev/null +++ b/rois_description/robot/human1.urdf.xacro @@ -0,0 +1,185 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + hardware_interface/VelocityJointInterface + 15 + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + hardware_interface/VelocityJointInterface + 15 + + + + + + + robot1 + + + + + true + Gazebo/White + + + + + + true + Gazebo/Green + + + + + + true + Gazebo/Red + + + + + + true + Gazebo/Black + + + + + -- GitLab From 609e038f3343a98d745278c5942ff8d924531aed Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 2 Dec 2019 16:02:51 +0900 Subject: [PATCH 2/8] Add controller file of human --- rois_gazebo/config/human1_controller.yaml | 46 +++++++++++++++++++++++ 1 file changed, 46 insertions(+) create mode 100644 rois_gazebo/config/human1_controller.yaml diff --git a/rois_gazebo/config/human1_controller.yaml b/rois_gazebo/config/human1_controller.yaml new file mode 100644 index 00000000..ddf31bf4 --- /dev/null +++ b/rois_gazebo/config/human1_controller.yaml @@ -0,0 +1,46 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +diff_drive_controller: + type : "diff_drive_controller/DiffDriveController" + left_wheel : 'left_wheel_joint' + right_wheel : 'right_wheel_joint' + pose_covariance_diagonal : [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + twist_covariance_diagonal: [0.001, 0.001, 1000000.0, 1000000.0, 1000000.0, 1000.0] + + # Wheel separation and diameter. These are both optional. + # diff_drive_controller will attempt to read either one or both from the + # URDF if not specified as a parameter + wheel_separation : 0.3 + wheel_radius : 0.1 + + # Wheel separation and radius multipliers + wheel_separation_multiplier: 1.0 # default: 1.0 + wheel_radius_multiplier : 1.0 # default: 1.0 + + # Velocity commands timeout [s], default 0.5 + cmd_vel_timeout: 1.0 + + # Base frame_id + base_frame_id: human1/base_footprint #default: base_link + odom_frame_id: human1/odom + + # Velocity and acceleration limits + # Whenever a min_* is unspecified, default to -max_* + linear: + x: + has_velocity_limits : true + max_velocity : 2.0 # m/s + min_velocity : -2.0 # m/s + has_acceleration_limits: true + max_acceleration : 2.0 # m/s^2 + min_acceleration : -2.0 # m/s^2 + angular: + z: + has_velocity_limits : true + max_velocity : 1.0 # rad/s + min_velocity : -1.0 + has_acceleration_limits: true + max_acceleration : 1.0 # rad/s^2 + min_acceleration : -1.0 -- GitLab From 7ca178c59f6e26f3412d8a8d10a0d2ae4bdadcb0 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 2 Dec 2019 16:11:33 +0900 Subject: [PATCH 3/8] Rename robot => model on model-spawn-launchers --- rois_gazebo/launch/setup_gazebo.launch | 12 ++++++------ .../{spawn_robot.launch => spawn_model.launch} | 12 ++++++------ 2 files changed, 12 insertions(+), 12 deletions(-) rename rois_gazebo/launch/{spawn_robot.launch => spawn_model.launch} (72%) diff --git a/rois_gazebo/launch/setup_gazebo.launch b/rois_gazebo/launch/setup_gazebo.launch index 95e9dfdb..99fb925a 100644 --- a/rois_gazebo/launch/setup_gazebo.launch +++ b/rois_gazebo/launch/setup_gazebo.launch @@ -15,9 +15,9 @@ value="$(arg world_name)" /> - + - + - + + default="$(find rois_description)/robot/$(arg model_name).urdf.xacro" /> - + - + - + + args="-urdf -model $(arg model_name) -param robot_description $(arg init_pos)" /> -- GitLab From 2aafaf5911044ced24f4cce13522390edae62b6b Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 2 Dec 2019 17:09:23 +0900 Subject: [PATCH 4/8] Add launch file to spawn human model --- rois_gazebo/launch/spawn_human.launch | 11 +++++++++++ 1 file changed, 11 insertions(+) create mode 100644 rois_gazebo/launch/spawn_human.launch diff --git a/rois_gazebo/launch/spawn_human.launch b/rois_gazebo/launch/spawn_human.launch new file mode 100644 index 00000000..ab4dbdb7 --- /dev/null +++ b/rois_gazebo/launch/spawn_human.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + -- GitLab From 6ce0e0cb0c9d7f2e6dd8e4e01d828b30897b3e6c Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 2 Dec 2019 17:09:39 +0900 Subject: [PATCH 5/8] Fix params on human1.urdf.xacro --- rois_description/robot/human1.urdf.xacro | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rois_description/robot/human1.urdf.xacro b/rois_description/robot/human1.urdf.xacro index b45fb452..b10258d5 100644 --- a/rois_description/robot/human1.urdf.xacro +++ b/rois_description/robot/human1.urdf.xacro @@ -1,5 +1,5 @@ - + @@ -150,7 +150,7 @@ - robot1 + human1 -- GitLab From 3d39c87a354f1e6686ef55ebaeba9f4e5b2bc54f Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 2 Dec 2019 17:57:28 +0900 Subject: [PATCH 6/8] Change default speed of human model --- rois_gazebo/launch/spawn_human.launch | 1 + 1 file changed, 1 insertion(+) diff --git a/rois_gazebo/launch/spawn_human.launch b/rois_gazebo/launch/spawn_human.launch index ab4dbdb7..4b6a51e9 100644 --- a/rois_gazebo/launch/spawn_human.launch +++ b/rois_gazebo/launch/spawn_human.launch @@ -7,5 +7,6 @@ + -- GitLab From 49caf86a03294abcad0eb0e89ac323e6d1a85ac9 Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 2 Dec 2019 18:06:31 +0900 Subject: [PATCH 7/8] Change visual of human model --- rois_description/robot/human1.urdf.xacro | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/rois_description/robot/human1.urdf.xacro b/rois_description/robot/human1.urdf.xacro index b10258d5..d367df1e 100644 --- a/rois_description/robot/human1.urdf.xacro +++ b/rois_description/robot/human1.urdf.xacro @@ -16,7 +16,7 @@ - + @@ -156,21 +156,21 @@ true - Gazebo/White + Gazebo/Red true - Gazebo/Green + Gazebo/White true - Gazebo/Red + Gazebo/White -- GitLab From a5d7c4725e2be00b21e997b6234566f820de5f7c Mon Sep 17 00:00:00 2001 From: tanacchi Date: Mon, 2 Dec 2019 19:05:23 +0900 Subject: [PATCH 8/8] Use command-line argument for spawn_human launcher --- rois_gazebo/launch/spawn_human.launch | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/rois_gazebo/launch/spawn_human.launch b/rois_gazebo/launch/spawn_human.launch index 4b6a51e9..98863fe8 100644 --- a/rois_gazebo/launch/spawn_human.launch +++ b/rois_gazebo/launch/spawn_human.launch @@ -1,7 +1,10 @@ + + + - - + + -- GitLab