diff --git a/ca_description/launch/create_description.launch b/ca_description/launch/create_description.launch index 76c74a07f..e459b0dd8 100644 --- a/ca_description/launch/create_description.launch +++ b/ca_description/launch/create_description.launch @@ -1,5 +1,6 @@ + diff --git a/ca_description/urdf/april_tag.xacro b/ca_description/urdf/april_tag.xacro new file mode 100644 index 000000000..27b088880 --- /dev/null +++ b/ca_description/urdf/april_tag.xacro @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ca_description/urdf/create_base.xacro b/ca_description/urdf/create_base.xacro index 59e5a1550..07336543b 100644 --- a/ca_description/urdf/create_base.xacro +++ b/ca_description/urdf/create_base.xacro @@ -6,6 +6,7 @@ + @@ -54,7 +55,12 @@ + + + + + diff --git a/ca_gazebo/launch/create_april_tags.launch b/ca_gazebo/launch/create_april_tags.launch new file mode 100644 index 000000000..497199923 --- /dev/null +++ b/ca_gazebo/launch/create_april_tags.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ca_gazebo/models/create_april_tags/materials/model.config b/ca_gazebo/models/create_april_tags/materials/model.config new file mode 100644 index 000000000..44fb982f6 --- /dev/null +++ b/ca_gazebo/models/create_april_tags/materials/model.config @@ -0,0 +1,5 @@ + + + Config file for not having 'missing .config file' issue. + 1.0 + diff --git a/ca_gazebo/models/create_april_tags/materials/scripts/create_april_tags.material b/ca_gazebo/models/create_april_tags/materials/scripts/create_april_tags.material new file mode 100644 index 000000000..fc0ce3996 --- /dev/null +++ b/ca_gazebo/models/create_april_tags/materials/scripts/create_april_tags.material @@ -0,0 +1,83 @@ +material AprilTag0 +{ + technique + { + pass + { + texture_unit + { + texture apriltag0.png + } + } + } +} + +material AprilTag1 +{ + technique + { + pass + { + texture_unit + { + texture apriltag1.png + } + } + } +} + +material AprilTag2 +{ + technique + { + pass + { + texture_unit + { + texture apriltag2.png + } + } + } +} + +material AprilTag3 +{ + technique + { + pass + { + texture_unit + { + texture apriltag3.png + } + } + } +} + +material AprilTag4 +{ + technique + { + pass + { + texture_unit + { + texture apriltag4.png + } + } + } +} + +material AprilTag5 +{ + technique + { + pass + { + texture_unit + { + texture apriltag5.png + } + } + } +} \ No newline at end of file diff --git a/ca_gazebo/models/create_april_tags/materials/textures/apriltag0.png b/ca_gazebo/models/create_april_tags/materials/textures/apriltag0.png new file mode 100644 index 000000000..679cf5a2c Binary files /dev/null and b/ca_gazebo/models/create_april_tags/materials/textures/apriltag0.png differ diff --git a/ca_gazebo/models/create_april_tags/materials/textures/apriltag1.png b/ca_gazebo/models/create_april_tags/materials/textures/apriltag1.png new file mode 100644 index 000000000..32f2e8e8d Binary files /dev/null and b/ca_gazebo/models/create_april_tags/materials/textures/apriltag1.png differ diff --git a/ca_gazebo/models/create_april_tags/materials/textures/apriltag2.png b/ca_gazebo/models/create_april_tags/materials/textures/apriltag2.png new file mode 100644 index 000000000..d34db901f Binary files /dev/null and b/ca_gazebo/models/create_april_tags/materials/textures/apriltag2.png differ diff --git a/ca_gazebo/models/create_april_tags/materials/textures/apriltag3.png b/ca_gazebo/models/create_april_tags/materials/textures/apriltag3.png new file mode 100644 index 000000000..dda0257bb Binary files /dev/null and b/ca_gazebo/models/create_april_tags/materials/textures/apriltag3.png differ diff --git a/ca_gazebo/models/create_april_tags/materials/textures/apriltag4.png b/ca_gazebo/models/create_april_tags/materials/textures/apriltag4.png new file mode 100644 index 000000000..3437005db Binary files /dev/null and b/ca_gazebo/models/create_april_tags/materials/textures/apriltag4.png differ diff --git a/ca_gazebo/models/create_april_tags/materials/textures/apriltag5.png b/ca_gazebo/models/create_april_tags/materials/textures/apriltag5.png new file mode 100644 index 000000000..39dc5f5e7 Binary files /dev/null and b/ca_gazebo/models/create_april_tags/materials/textures/apriltag5.png differ diff --git a/ca_gazebo/models/create_april_tags/model.config b/ca_gazebo/models/create_april_tags/model.config new file mode 100644 index 000000000..0bd2a195a --- /dev/null +++ b/ca_gazebo/models/create_april_tags/model.config @@ -0,0 +1,14 @@ + + + Lucas S. april tags assignment house + 1.0 + model.sdf + + Lucas + lscheink@creativa77.com.ar + + April tags environment + + model://create_april_tags + + diff --git a/ca_gazebo/models/create_april_tags/model.sdf b/ca_gazebo/models/create_april_tags/model.sdf new file mode 100644 index 000000000..c9499a3ae --- /dev/null +++ b/ca_gazebo/models/create_april_tags/model.sdf @@ -0,0 +1,92 @@ + + + + 1 + + + 4 4 0 0 0 0 + 0 + 0 + + + + 0.5 0.5 0.05 + + + + + + 1 + 0 + + + + + 4 -4 0 0 0 0 + 0 + 0 + + + + 0.5 0.5 0.05 + + + + + + 1 + 0 + + + + + -4 4 0 0 0 0 + 0 + 0 + + + + 0.5 0.5 0.05 + + + + + + 1 + 0 + + + + + -4 -4 0 0 0 0 + 0 + 0 + + + + 0.5 0.5 0.05 + + + + + + 1 + 0 + + + + + diff --git a/ca_gazebo/models/create_camera/model.config b/ca_gazebo/models/create_camera/model.config new file mode 100644 index 000000000..62cd449bf --- /dev/null +++ b/ca_gazebo/models/create_camera/model.config @@ -0,0 +1,10 @@ + + + Lucas S. camera + 1.0 + model.sdf + + + model://camera + + \ No newline at end of file diff --git a/ca_gazebo/models/create_camera/model.sdf b/ca_gazebo/models/create_camera/model.sdf new file mode 100644 index 000000000..6a5dd37c3 --- /dev/null +++ b/ca_gazebo/models/create_camera/model.sdf @@ -0,0 +1,44 @@ + + + + true + + + + + 0.1 0.1 0.1 + + + + + + 1.047 + + 480 + 270 + + + 0.1 + 50 + + + 1 + 50 + + true + 30 + /apriltag_camera + camera_output_image + camera_info + camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + diff --git a/ca_gazebo/models/create_four_walls/model.config b/ca_gazebo/models/create_four_walls/model.config new file mode 100644 index 000000000..9347c3460 --- /dev/null +++ b/ca_gazebo/models/create_four_walls/model.config @@ -0,0 +1,10 @@ + + + Lucas S. four walls + 1.0 + model.sdf + + + model://create_four_walls + + diff --git a/ca_gazebo/models/create_four_walls/model.sdf b/ca_gazebo/models/create_four_walls/model.sdf new file mode 100644 index 000000000..126909770 --- /dev/null +++ b/ca_gazebo/models/create_four_walls/model.sdf @@ -0,0 +1,338 @@ + + + + 1 + + -5 0 0 0 0 -1.5708 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 10 0.15 2.5 + + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + 0 + 0 + + + 0 + 10 + 0 0 1.25 0 -0 0 + + + 10 0.15 2.5 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 5 0 0 0 0 -1.5708 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 10 0.15 2.5 + + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + 0 + 0 + + + 0 + 10 + 0 0 1.25 0 -0 0 + + + 10 0.15 2.5 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + + + 0 5 0 0 0 0 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 10 0.15 2.5 + + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + 0 + 0 + + + 0 + 10 + 0 0 1.25 0 -0 0 + + + 10 0.15 2.5 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + + + 0 -5 0 0 0 0 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 10 0.15 2.5 + + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + 0 + 0 + + + 0 + 10 + 0 0 1.25 0 -0 0 + + + 10 0.15 2.5 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + + + + + \ No newline at end of file diff --git a/ca_gazebo/worlds/april_tags.world b/ca_gazebo/worlds/april_tags.world new file mode 100644 index 000000000..b889f54ac --- /dev/null +++ b/ca_gazebo/worlds/april_tags.world @@ -0,0 +1,59 @@ + + + + + + model://sun + 0 0 50000 0 0 0 + + + + + model://ground_plane + + + + 1000.0 + 0.001 + 10 + + + quick + 150 + 0 + 1.400000 + 1 + + + 0.00001 + 0.2 + 2000.000000 + 0.01000 + + + + + + + model://create_four_walls + + + + model://create_camera + 0 0 16 0 1.57 1.57 + camera + + + + model://create_april_tags + AprilTag + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + + + + diff --git a/ca_gazebo/worlds/tag36_11_00000.png b/ca_gazebo/worlds/tag36_11_00000.png new file mode 100644 index 000000000..cb13ce70e Binary files /dev/null and b/ca_gazebo/worlds/tag36_11_00000.png differ