From f970b60657650211da527115d8d9d433b2b73069 Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Tue, 15 Oct 2019 11:13:26 -0300 Subject: [PATCH 1/9] Added April tags environment files. --- ca_description/urdf/april_tag.xacro | 35 ++ ca_gazebo/launch/create_april_tags.launch | 34 ++ .../materials/scripts/apriltag.material | 71 ++++ .../materials/textures/apriltag1.png | Bin 0 -> 106 bytes .../materials/textures/apriltag2.png | Bin 0 -> 110 bytes .../materials/textures/apriltag3.png | Bin 0 -> 106 bytes .../materials/textures/apriltag4.png | Bin 0 -> 104 bytes .../models/create_april_tags/model.config | 10 + ca_gazebo/models/create_april_tags/model.sdf | 98 +++++ ca_gazebo/models/create_camera/model.config | 10 + ca_gazebo/models/create_camera/model.sdf | 35 ++ .../models/create_four_walls/model.config | 10 + ca_gazebo/models/create_four_walls/model.sdf | 338 ++++++++++++++++++ ca_gazebo/worlds/april_tags.world | 113 ++++++ ca_gazebo/worlds/camera_tutorial.world | 57 +++ ca_gazebo/worlds/tag36_11_00000.png | Bin 0 -> 106 bytes ca_gazebo/worlds/wall_object.xacro | 91 +++++ 17 files changed, 902 insertions(+) create mode 100644 ca_description/urdf/april_tag.xacro create mode 100644 ca_gazebo/launch/create_april_tags.launch create mode 100644 ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material create mode 100644 ca_gazebo/models/create_april_tags/materials/textures/apriltag1.png create mode 100644 ca_gazebo/models/create_april_tags/materials/textures/apriltag2.png create mode 100644 ca_gazebo/models/create_april_tags/materials/textures/apriltag3.png create mode 100644 ca_gazebo/models/create_april_tags/materials/textures/apriltag4.png create mode 100644 ca_gazebo/models/create_april_tags/model.config create mode 100644 ca_gazebo/models/create_april_tags/model.sdf create mode 100644 ca_gazebo/models/create_camera/model.config create mode 100644 ca_gazebo/models/create_camera/model.sdf create mode 100644 ca_gazebo/models/create_four_walls/model.config create mode 100644 ca_gazebo/models/create_four_walls/model.sdf create mode 100644 ca_gazebo/worlds/april_tags.world create mode 100644 ca_gazebo/worlds/camera_tutorial.world create mode 100644 ca_gazebo/worlds/tag36_11_00000.png create mode 100644 ca_gazebo/worlds/wall_object.xacro diff --git a/ca_description/urdf/april_tag.xacro b/ca_description/urdf/april_tag.xacro new file mode 100644 index 000000000..36b304bd3 --- /dev/null +++ b/ca_description/urdf/april_tag.xacro @@ -0,0 +1,35 @@ + + + + + + + + + + + + + + + + file://media/materials/scripts/gazebo.material + Gazebo/Wood + + + + + + + + + + + + + + diff --git a/ca_gazebo/launch/create_april_tags.launch b/ca_gazebo/launch/create_april_tags.launch new file mode 100644 index 000000000..d99509667 --- /dev/null +++ b/ca_gazebo/launch/create_april_tags.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material b/ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material new file mode 100644 index 000000000..a154381ff --- /dev/null +++ b/ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material @@ -0,0 +1,71 @@ +material AprilTag1 +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 1.0 1.0 1.0 1.0 12.5 + + texture_unit + { + texture apriltag1.png + } + } + } +} + +material AprilTag2 +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 1.0 1.0 1.0 1.0 12.5 + + texture_unit + { + texture apriltag2.png + } + } + } +} + +material AprilTag3 +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 1.0 1.0 1.0 1.0 12.5 + + texture_unit + { + texture apriltag3.png + } + } + } +} + +material AprilTag4 +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 1.0 1.0 1.0 1.0 12.5 + + texture_unit + { + texture apriltag4.png + } + } + } +} \ No newline at end of file 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 0000000000000000000000000000000000000000..cb13ce70e1a309a1819ec3450392d9c0b82c28f9 GIT binary patch literal 106 zcmeAS@N?(olHy`uVBq!ia0vp^AT}2V6Od#IhOLn>}1|L7MtXfWVwn9#N= zHNips;Vwb8M-z`_TFg13)Vqesm8F|+&91^K9)1RfCXU&u5@xk=K+O!Eu6{1-oD!M< DYjz#X literal 0 HcmV?d00001 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 0000000000000000000000000000000000000000..f710c605a75fb3612229d0da58602d88ed8095c0 GIT binary patch literal 110 zcmeAS@N?(olHy`uVBq!ia0vp^AT}2V6Od#Ih}1|L7MtXfWVwn9#P$ zHEDr|v!y|%g>OLn>}1|L7MtXfWVwn9#PW z)$l=1OWqrv7AKpwWK)Lj%NIfye|-4v&^qbvyA=!!)7MPR<`d4G1k}vn>FVdQ&MBb@ E0O1-U5&!@I literal 0 HcmV?d00001 diff --git a/ca_gazebo/models/create_april_tags/materials/textures/apriltag4.png b/ca_gazebo/models/create_april_tags/materials/textures/apriltag4.png new file mode 100644 index 0000000000000000000000000000000000000000..d3a781beb7202c7a21802de9e02ac2b06d626219 GIT binary patch literal 104 zcmeAS@N?(olHy`uVBq!ia0vp^AT}2V6Od#Ih}1|L7MtXfWVwnBb<- z?ycah{JLSa^F`kXspSu6h%LU|yN0RT#IOG$BSVkbk{Ek)*$ALk22WQ%mvv4FO#m>T B9rXYJ literal 0 HcmV?d00001 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..9c5faed96 --- /dev/null +++ b/ca_gazebo/models/create_april_tags/model.config @@ -0,0 +1,10 @@ + + + Lucas S. april tags assignment house + 1.0 + model.sdf + + + model://create_april_tags + + \ No newline at end of file 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..bbb3922ff --- /dev/null +++ b/ca_gazebo/models/create_april_tags/model.sdf @@ -0,0 +1,98 @@ + + + + 1 + + + 9.0 9.0 -1.2 0 0 0 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 0.5 0.5 0.05 + + + + + + 1 + 0 + + + + + -9.0 -9.0 -1.2 0 0 0 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 0.5 0.5 0.05 + + + + + + 1 + 0 + + + + + -9.0 9.0 -1.2 0 0 0 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 0.5 0.5 0.05 + + + + + + 1 + 0 + + + + + 9.0 -9.0 -1.2 0 0 0 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 0.5 0.5 0.05 + + + + + + 1 + 0 + + + + + \ No newline at end of file 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..dcd19b1b5 --- /dev/null +++ b/ca_gazebo/models/create_camera/model.sdf @@ -0,0 +1,35 @@ + + + + true + + + + + 0.1 0.1 0.1 + + + + + + + /tmp/camera_save_tutorial + + 1.047 + + 1920 + 1080 + + + 10 + 50 + + + 1 + 5 + + + + + + \ No newline at end of file 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..f7f2676dd --- /dev/null +++ b/ca_gazebo/models/create_four_walls/model.sdf @@ -0,0 +1,338 @@ + + + + 1 + + -10 0 0 0 0 -1.5708 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 20 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 + + + 20 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 + + + + + + + + 10 0 0 0 0 -1.5708 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 20 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 + + + 20 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 10 0 0 0 0 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 20 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 + + + 20 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 -10 0 0 0 0 + 0 + 0 + + 0 0 1.25 0 -0 0 + + + 20 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 + + + 20 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..137998d02 --- /dev/null +++ b/ca_gazebo/worlds/april_tags.world @@ -0,0 +1,113 @@ + + + + + + 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 + + + + -10 7 1000 0 0 0 + 1 1 1 1 + 1 1 1 1 + + 20 + 0.2 + 0.8 + 0.01 + + false + + + + 10 7 1000 0 0 0 + 1 1 1 1 + 1 1 1 1 + + 20 + 0.2 + 0.8 + 0.01 + + false + + + + -10 -7 1000 0 0 0 + 1 1 1 1 + 1 1 1 1 + + 20 + 0.2 + 0.8 + 0.01 + + false + + + + 10 -7 1000 0 0 0 + 1 1 1 1 + 1 1 1 1 + + 20 + 0.2 + 0.8 + 0.01 + + false + + + + model://create_camera + 0 0 40 0 1.57 0 + camera + + + + model://create_april_tags + AprilTag1 + + + + 0.4 0.4 0.4 1 + 0.7 0.7 0.7 1 + true + + + + \ No newline at end of file diff --git a/ca_gazebo/worlds/camera_tutorial.world b/ca_gazebo/worlds/camera_tutorial.world new file mode 100644 index 000000000..0ed2eec36 --- /dev/null +++ b/ca_gazebo/worlds/camera_tutorial.world @@ -0,0 +1,57 @@ + + + + + 0.0 0.0 0.0 + + + 0 0 2.5 0 -0 0 + + + + + 1 1 1 + + + + + + + + 0 0 1 0 0 0 + + + + true + -1 0 2 0 1.5 0 + + + + + 0.1 0.2 0.3s + + + + + + + /tmp/camera_save_tutorial + + 1.047 + + 1920 + 1080 + + + 0.1 + 100 + + + 1 + 1 + + + + + + diff --git a/ca_gazebo/worlds/tag36_11_00000.png b/ca_gazebo/worlds/tag36_11_00000.png new file mode 100644 index 0000000000000000000000000000000000000000..cb13ce70e1a309a1819ec3450392d9c0b82c28f9 GIT binary patch literal 106 zcmeAS@N?(olHy`uVBq!ia0vp^AT}2V6Od#IhOLn>}1|L7MtXfWVwn9#N= zHNips;Vwb8M-z`_TFg13)Vqesm8F|+&91^K9)1RfCXU&u5@xk=K+O!Eu6{1-oD!M< DYjz#X literal 0 HcmV?d00001 diff --git a/ca_gazebo/worlds/wall_object.xacro b/ca_gazebo/worlds/wall_object.xacro new file mode 100644 index 000000000..6ae2d27ef --- /dev/null +++ b/ca_gazebo/worlds/wall_object.xacro @@ -0,0 +1,91 @@ + + + + + + -0.05 3.1 0 0 0 -1.5708 + 0 + 0 + + + + + + + 20 0.15 2.5 + + + + + 1 1 1 1 + 1 1 1 1 + 0.2 0.2 0.2 1 + 0 0 0 1 + + 1 + 0 + + + 0 + 10 + + + + + + 4.5 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 From f6e7a5e681b1f954a6ff6aca4e7b0f2a1bf5e6ff Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Tue, 15 Oct 2019 11:18:21 -0300 Subject: [PATCH 2/9] Modified create_base.xacro for spawning the April Tag on the robot. --- ca_description/urdf/create_base.xacro | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/ca_description/urdf/create_base.xacro b/ca_description/urdf/create_base.xacro index 59e5a1550..ecc91e006 100644 --- a/ca_description/urdf/create_base.xacro +++ b/ca_description/urdf/create_base.xacro @@ -6,6 +6,7 @@ + @@ -54,7 +55,10 @@ + + + From 07abfeb99049fe2b91986ca919e2180a01c41196 Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Wed, 16 Oct 2019 14:42:13 -0300 Subject: [PATCH 3/9] Addressed some changes for better visualizing April tags. --- .../launch/create_description.launch | 1 + ca_description/urdf/april_tag.xacro | 23 +++++------ ca_gazebo/launch/create_april_tags.launch | 3 ++ .../materials/scripts/apriltag.material | 36 ++++++++++++++++++ .../materials/textures/apriltag0.png | Bin 0 -> 9716 bytes .../materials/textures/apriltag1.png | Bin 106 -> 8442 bytes .../materials/textures/apriltag2.png | Bin 110 -> 8716 bytes .../materials/textures/apriltag3.png | Bin 106 -> 8584 bytes .../materials/textures/apriltag4.png | Bin 104 -> 7284 bytes .../materials/textures/apriltag5.png | Bin 0 -> 4655 bytes ca_gazebo/models/create_camera/model.sdf | 28 ++++++++++---- ca_gazebo/models/create_house/model.sdf | 2 +- ca_gazebo/worlds/april_tags.world | 2 +- ca_gazebo/worlds/empty.world | 4 +- navigation/ca_move_base/maps/empty.yaml | 2 +- 15 files changed, 78 insertions(+), 23 deletions(-) create mode 100644 ca_gazebo/models/create_april_tags/materials/textures/apriltag0.png create mode 100644 ca_gazebo/models/create_april_tags/materials/textures/apriltag5.png 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 index 36b304bd3..653cba68f 100644 --- a/ca_description/urdf/april_tag.xacro +++ b/ca_description/urdf/april_tag.xacro @@ -11,17 +11,6 @@ - - - file://media/materials/scripts/gazebo.material - Gazebo/Wood - - - @@ -30,6 +19,18 @@ + + + + + + + + diff --git a/ca_gazebo/launch/create_april_tags.launch b/ca_gazebo/launch/create_april_tags.launch index d99509667..3e51b4d75 100644 --- a/ca_gazebo/launch/create_april_tags.launch +++ b/ca_gazebo/launch/create_april_tags.launch @@ -12,6 +12,7 @@ + @@ -31,4 +32,6 @@ + + diff --git a/ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material b/ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material index a154381ff..ea62dec73 100644 --- a/ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material +++ b/ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material @@ -1,3 +1,21 @@ +material AprilTag0 +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 1.0 1.0 1.0 1.0 12.5 + + texture_unit + { + texture apriltag0.png + } + } + } +} + material AprilTag1 { technique @@ -68,4 +86,22 @@ material AprilTag4 } } } +} + +material AprilTag5 +{ + technique + { + pass + { + ambient 1.0 1.0 1.0 1.0 + diffuse 1.0 1.0 1.0 1.0 + specular 1.0 1.0 1.0 1.0 12.5 + + texture_unit + { + texture apriltag5.png + } + } + } } \ No newline at end of file diff --git a/ca_gazebo/models/create_april_tags/materials/textures/apriltag0.png 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z%w_v=eCcQhW2l7yq^$~SrJm_Y7i8!f&4xp%Lk!G@KbnBKkcENahtBlT?)wl5fxoQc Xk{V^4LL!@i<1GxHu6{1-oD!M - + - + /tmp/camera_save_tutorial 1.047 - 1920 - 1080 + 5760 + 3240 - 10 - 50 + 0.1 + 500 1 - 5 + 50 + + true + 0.0 + /apriltag_camera + image_raw + camera_info + camera_link + 0.07 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + diff --git a/ca_gazebo/models/create_house/model.sdf b/ca_gazebo/models/create_house/model.sdf index 2dff54a41..0c37077b6 100644 --- a/ca_gazebo/models/create_house/model.sdf +++ b/ca_gazebo/models/create_house/model.sdf @@ -3979,7 +3979,7 @@ 1 1 1 1 diff --git a/ca_gazebo/worlds/april_tags.world b/ca_gazebo/worlds/april_tags.world index 137998d02..2380faa5b 100644 --- a/ca_gazebo/worlds/april_tags.world +++ b/ca_gazebo/worlds/april_tags.world @@ -94,7 +94,7 @@ model://create_camera - 0 0 40 0 1.57 0 + 0 0 35 0 1.57 0 camera diff --git a/ca_gazebo/worlds/empty.world b/ca_gazebo/worlds/empty.world index 91ddbc6d0..fa451330e 100644 --- a/ca_gazebo/worlds/empty.world +++ b/ca_gazebo/worlds/empty.world @@ -2,7 +2,7 @@ - + <--include> model://sun @@ -14,7 +14,7 @@ 1000.0 0.001 - 1 + 10 quick diff --git a/navigation/ca_move_base/maps/empty.yaml b/navigation/ca_move_base/maps/empty.yaml index 82013ecc8..b448fdd7d 100644 --- a/navigation/ca_move_base/maps/empty.yaml +++ b/navigation/ca_move_base/maps/empty.yaml @@ -2,5 +2,5 @@ free_thresh: 0.196 image: empty.pgm negate: 0 occupied_thresh: 0.65 -origin: [-6.8999999999999915, -5.8999999999999915, 0.0] +origin: [0.0, 0.0, 0.0] resolution: 0.05 From 6e050da22a8d1164c9e2740c32d304a09d08d753 Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Thu, 17 Oct 2019 16:57:31 -0300 Subject: [PATCH 4/9] Addressed some of the requested changes. Still have to address the pose definition issue in the SDF file of the four static april tags. --- ca_gazebo/launch/create_april_tags.launch | 36 ++------ .../models/create_april_tags/model.config | 2 +- ca_gazebo/models/create_april_tags/model.sdf | 18 ++-- ca_gazebo/worlds/april_tags.world | 4 +- ca_gazebo/worlds/camera_tutorial.world | 57 ------------ ca_gazebo/worlds/wall_object.xacro | 91 ------------------- 6 files changed, 19 insertions(+), 189 deletions(-) delete mode 100644 ca_gazebo/worlds/camera_tutorial.world delete mode 100644 ca_gazebo/worlds/wall_object.xacro diff --git a/ca_gazebo/launch/create_april_tags.launch b/ca_gazebo/launch/create_april_tags.launch index 3e51b4d75..38cb3a13e 100644 --- a/ca_gazebo/launch/create_april_tags.launch +++ b/ca_gazebo/launch/create_april_tags.launch @@ -1,37 +1,17 @@ - - - + + + - - - - - - - + + + - - - - - - - - + + - - - - - - - - - - diff --git a/ca_gazebo/models/create_april_tags/model.config b/ca_gazebo/models/create_april_tags/model.config index 9c5faed96..e364bdd72 100644 --- a/ca_gazebo/models/create_april_tags/model.config +++ b/ca_gazebo/models/create_april_tags/model.config @@ -7,4 +7,4 @@ model://create_april_tags - \ No newline at end of file + diff --git a/ca_gazebo/models/create_april_tags/model.sdf b/ca_gazebo/models/create_april_tags/model.sdf index bbb3922ff..c126aff8e 100644 --- a/ca_gazebo/models/create_april_tags/model.sdf +++ b/ca_gazebo/models/create_april_tags/model.sdf @@ -4,11 +4,11 @@ 1 - 9.0 9.0 -1.2 0 0 0 + 9.0 9.0 -1.2 0 0 0 0 0 - 0 0 1.25 0 -0 0 + 0 0 1.25 0 -0 0 0.5 0.5 0.05 @@ -27,11 +27,11 @@ - -9.0 -9.0 -1.2 0 0 0 + -9.0 -9.0 -1.2 0 0 0 0 0 - 0 0 1.25 0 -0 0 + 0 0 1.25 0 -0 0 0.5 0.5 0.05 @@ -49,11 +49,11 @@ - -9.0 9.0 -1.2 0 0 0 + -9.0 9.0 -1.2 0 0 0 0 0 - 0 0 1.25 0 -0 0 + 0 0 1.25 0 -0 0 0.5 0.5 0.05 @@ -72,11 +72,11 @@ - 9.0 -9.0 -1.2 0 0 0 + 9.0 -9.0 -1.2 0 0 0 0 0 - 0 0 1.25 0 -0 0 + 0 0 1.25 0 -0 0 0.5 0.5 0.05 @@ -95,4 +95,4 @@ - \ No newline at end of file + diff --git a/ca_gazebo/worlds/april_tags.world b/ca_gazebo/worlds/april_tags.world index 2380faa5b..641528af1 100644 --- a/ca_gazebo/worlds/april_tags.world +++ b/ca_gazebo/worlds/april_tags.world @@ -12,8 +12,6 @@ model://ground_plane - - 1000.0 0.001 @@ -110,4 +108,4 @@ - \ No newline at end of file + diff --git a/ca_gazebo/worlds/camera_tutorial.world b/ca_gazebo/worlds/camera_tutorial.world deleted file mode 100644 index 0ed2eec36..000000000 --- a/ca_gazebo/worlds/camera_tutorial.world +++ /dev/null @@ -1,57 +0,0 @@ - - - - - 0.0 0.0 0.0 - - - 0 0 2.5 0 -0 0 - - - - - 1 1 1 - - - - - - - - 0 0 1 0 0 0 - - - - true - -1 0 2 0 1.5 0 - - - - - 0.1 0.2 0.3s - - - - - - - /tmp/camera_save_tutorial - - 1.047 - - 1920 - 1080 - - - 0.1 - 100 - - - 1 - 1 - - - - - - diff --git a/ca_gazebo/worlds/wall_object.xacro b/ca_gazebo/worlds/wall_object.xacro deleted file mode 100644 index 6ae2d27ef..000000000 --- a/ca_gazebo/worlds/wall_object.xacro +++ /dev/null @@ -1,91 +0,0 @@ - - - - - - -0.05 3.1 0 0 0 -1.5708 - 0 - 0 - - - - - - - 20 0.15 2.5 - - - - - 1 1 1 1 - 1 1 1 1 - 0.2 0.2 0.2 1 - 0 0 0 1 - - 1 - 0 - - - 0 - 10 - - - - - - 4.5 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 From 1d40759396b6b52a7aa192580510603d40cf5ba8 Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Fri, 18 Oct 2019 10:26:02 -0300 Subject: [PATCH 5/9] Deleted unncessary lights from world file. --- ca_gazebo/worlds/april_tags.world | 54 +------------------------------ 1 file changed, 1 insertion(+), 53 deletions(-) diff --git a/ca_gazebo/worlds/april_tags.world b/ca_gazebo/worlds/april_tags.world index 641528af1..a5d3d1f17 100644 --- a/ca_gazebo/worlds/april_tags.world +++ b/ca_gazebo/worlds/april_tags.world @@ -38,58 +38,6 @@ model://create_four_walls - - -10 7 1000 0 0 0 - 1 1 1 1 - 1 1 1 1 - - 20 - 0.2 - 0.8 - 0.01 - - false - - - - 10 7 1000 0 0 0 - 1 1 1 1 - 1 1 1 1 - - 20 - 0.2 - 0.8 - 0.01 - - false - - - - -10 -7 1000 0 0 0 - 1 1 1 1 - 1 1 1 1 - - 20 - 0.2 - 0.8 - 0.01 - - false - - - - 10 -7 1000 0 0 0 - 1 1 1 1 - 1 1 1 1 - - 20 - 0.2 - 0.8 - 0.01 - - false - - model://create_camera 0 0 35 0 1.57 0 @@ -98,7 +46,7 @@ model://create_april_tags - AprilTag1 + AprilTag From 1e4a6f093c39c2a9a49a1bdae8d4e66a36f36736 Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Fri, 18 Oct 2019 16:07:46 -0300 Subject: [PATCH 6/9] Addressed some requested changes. --- ca_description/urdf/april_tag.xacro | 14 +++++------ ca_description/urdf/create_base.xacro | 4 +++- ca_gazebo/launch/create_april_tags.launch | 2 -- .../create_april_tags/materials/model.config | 5 ++++ ...ag.material => create_april_tags.material} | 24 ------------------- .../models/create_april_tags/model.config | 6 ++++- ca_gazebo/models/create_april_tags/model.sdf | 8 +++---- ca_gazebo/models/create_camera/model.sdf | 12 ++++------ ca_gazebo/package.xml | 2 +- ca_gazebo/worlds/empty.world | 4 ++-- 10 files changed, 29 insertions(+), 52 deletions(-) create mode 100644 ca_gazebo/models/create_april_tags/materials/model.config rename ca_gazebo/models/create_april_tags/materials/scripts/{apriltag.material => create_april_tags.material} (57%) diff --git a/ca_description/urdf/april_tag.xacro b/ca_description/urdf/april_tag.xacro index 653cba68f..57d652e2a 100644 --- a/ca_description/urdf/april_tag.xacro +++ b/ca_description/urdf/april_tag.xacro @@ -1,25 +1,23 @@ - + - - - + - - + - + + - + @@ -61,8 +61,7 @@ @@ -84,8 +83,7 @@ diff --git a/ca_gazebo/models/create_camera/model.sdf b/ca_gazebo/models/create_camera/model.sdf index 7932cc95f..a3ba94f1d 100644 --- a/ca_gazebo/models/create_camera/model.sdf +++ b/ca_gazebo/models/create_camera/model.sdf @@ -2,7 +2,7 @@ true - + @@ -12,9 +12,7 @@ - /tmp/camera_save_tutorial - 1.047 5760 @@ -29,9 +27,9 @@ 50 true - 0.0 + 30 /apriltag_camera - image_raw + camera_output_image camera_info camera_link 0.07 @@ -44,6 +42,4 @@ - - - \ No newline at end of file + diff --git a/ca_gazebo/package.xml b/ca_gazebo/package.xml index 965980876..f7ae900d4 100644 --- a/ca_gazebo/package.xml +++ b/ca_gazebo/package.xml @@ -23,7 +23,7 @@ - + diff --git a/ca_gazebo/worlds/empty.world b/ca_gazebo/worlds/empty.world index fa451330e..91ddbc6d0 100644 --- a/ca_gazebo/worlds/empty.world +++ b/ca_gazebo/worlds/empty.world @@ -2,7 +2,7 @@ - <--include> + model://sun @@ -14,7 +14,7 @@ 1000.0 0.001 - 10 + 1 quick From 445566471e2bbb3cb158756ff936964bb417f641 Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Mon, 21 Oct 2019 12:41:08 -0300 Subject: [PATCH 7/9] Addressed requested changes. To do: decrease the size of the environment for using smaller image files from camera. --- ca_description/urdf/april_tag.xacro | 4 ++-- ca_description/urdf/create_base.xacro | 2 +- ca_gazebo/models/create_april_tags/model.sdf | 12 ++++-------- 3 files changed, 7 insertions(+), 11 deletions(-) diff --git a/ca_description/urdf/april_tag.xacro b/ca_description/urdf/april_tag.xacro index 57d652e2a..27b088880 100644 --- a/ca_description/urdf/april_tag.xacro +++ b/ca_description/urdf/april_tag.xacro @@ -1,7 +1,7 @@ - + @@ -12,7 +12,7 @@ - + diff --git a/ca_description/urdf/create_base.xacro b/ca_description/urdf/create_base.xacro index 8a599d821..2923c9976 100644 --- a/ca_description/urdf/create_base.xacro +++ b/ca_description/urdf/create_base.xacro @@ -55,7 +55,7 @@ - + diff --git a/ca_gazebo/models/create_april_tags/model.sdf b/ca_gazebo/models/create_april_tags/model.sdf index 67c66782b..4f378b5b9 100644 --- a/ca_gazebo/models/create_april_tags/model.sdf +++ b/ca_gazebo/models/create_april_tags/model.sdf @@ -4,11 +4,10 @@ 1 - 9.0 9.0 -1.2 0 0 0 + 9 9 0 0 0 0 0 0 - 0 0 1.25 0 -0 0 0.5 0.5 0.05 @@ -27,11 +26,10 @@ - -9.0 -9.0 -1.2 0 0 0 + 9 -9 0 0 0 0 0 0 - 0 0 1.25 0 -0 0 0.5 0.5 0.05 @@ -49,11 +47,10 @@ - -9.0 9.0 -1.2 0 0 0 + -9 9 0 0 0 0 0 0 - 0 0 1.25 0 -0 0 0.5 0.5 0.05 @@ -71,11 +68,10 @@ - 9.0 -9.0 -1.2 0 0 0 + -9 -9 0 0 0 0 0 0 - 0 0 1.25 0 -0 0 0.5 0.5 0.05 From c198d4cf888e01df6e36e7b526d6222de72f89ba Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Mon, 21 Oct 2019 15:00:08 -0300 Subject: [PATCH 8/9] Reduced environment size and adjusted camera rotation. To do: upload apriltag_ros as as internal package in create_autonomy. --- ca_description/urdf/create_base.xacro | 2 +- ca_description/urdf/create_base_gazebo.xacro | 2 +- ca_gazebo/launch/create_april_tags.launch | 11 +++++---- ca_gazebo/models/create_april_tags/model.sdf | 8 +++---- ca_gazebo/models/create_camera/model.sdf | 6 ++--- ca_gazebo/models/create_four_walls/model.sdf | 24 ++++++++++---------- ca_gazebo/worlds/april_tags.world | 2 +- 7 files changed, 29 insertions(+), 26 deletions(-) diff --git a/ca_description/urdf/create_base.xacro b/ca_description/urdf/create_base.xacro index 2923c9976..07336543b 100644 --- a/ca_description/urdf/create_base.xacro +++ b/ca_description/urdf/create_base.xacro @@ -56,7 +56,7 @@ - + diff --git a/ca_description/urdf/create_base_gazebo.xacro b/ca_description/urdf/create_base_gazebo.xacro index b99514875..3c1fd54ae 100644 --- a/ca_description/urdf/create_base_gazebo.xacro +++ b/ca_description/urdf/create_base_gazebo.xacro @@ -37,7 +37,7 @@ base_link gts 0 - map + /map 0 0 0 0 0 0 diff --git a/ca_gazebo/launch/create_april_tags.launch b/ca_gazebo/launch/create_april_tags.launch index d548f4b72..c9751374d 100644 --- a/ca_gazebo/launch/create_april_tags.launch +++ b/ca_gazebo/launch/create_april_tags.launch @@ -1,15 +1,18 @@ - - + + - - + + + + + diff --git a/ca_gazebo/models/create_april_tags/model.sdf b/ca_gazebo/models/create_april_tags/model.sdf index 4f378b5b9..c9499a3ae 100644 --- a/ca_gazebo/models/create_april_tags/model.sdf +++ b/ca_gazebo/models/create_april_tags/model.sdf @@ -4,7 +4,7 @@ 1 - 9 9 0 0 0 0 + 4 4 0 0 0 0 0 0 @@ -26,7 +26,7 @@ - 9 -9 0 0 0 0 + 4 -4 0 0 0 0 0 0 @@ -47,7 +47,7 @@ - -9 9 0 0 0 0 + -4 4 0 0 0 0 0 0 @@ -68,7 +68,7 @@ - -9 -9 0 0 0 0 + -4 -4 0 0 0 0 0 0 diff --git a/ca_gazebo/models/create_camera/model.sdf b/ca_gazebo/models/create_camera/model.sdf index a3ba94f1d..ee8c14e4b 100644 --- a/ca_gazebo/models/create_camera/model.sdf +++ b/ca_gazebo/models/create_camera/model.sdf @@ -15,12 +15,12 @@ /tmp/camera_save_tutorial 1.047 - 5760 - 3240 + 1920 + 1080 0.1 - 500 + 50 1 diff --git a/ca_gazebo/models/create_four_walls/model.sdf b/ca_gazebo/models/create_four_walls/model.sdf index f7f2676dd..126909770 100644 --- a/ca_gazebo/models/create_four_walls/model.sdf +++ b/ca_gazebo/models/create_four_walls/model.sdf @@ -3,14 +3,14 @@ 1 - -10 0 0 0 0 -1.5708 + -5 0 0 0 0 -1.5708 0 0 0 0 1.25 0 -0 0 - 20 0.15 2.5 + 10 0.15 2.5 @@ -32,7 +32,7 @@ 0 0 1.25 0 -0 0 - 20 0.15 2.5 + 10 0.15 2.5 @@ -84,14 +84,14 @@ - 10 0 0 0 0 -1.5708 + 5 0 0 0 0 -1.5708 0 0 0 0 1.25 0 -0 0 - 20 0.15 2.5 + 10 0.15 2.5 @@ -113,7 +113,7 @@ 0 0 1.25 0 -0 0 - 20 0.15 2.5 + 10 0.15 2.5 @@ -167,14 +167,14 @@ - 0 10 0 0 0 0 + 0 5 0 0 0 0 0 0 0 0 1.25 0 -0 0 - 20 0.15 2.5 + 10 0.15 2.5 @@ -196,7 +196,7 @@ 0 0 1.25 0 -0 0 - 20 0.15 2.5 + 10 0.15 2.5 @@ -250,14 +250,14 @@ - 0 -10 0 0 0 0 + 0 -5 0 0 0 0 0 0 0 0 1.25 0 -0 0 - 20 0.15 2.5 + 10 0.15 2.5 @@ -279,7 +279,7 @@ 0 0 1.25 0 -0 0 - 20 0.15 2.5 + 10 0.15 2.5 diff --git a/ca_gazebo/worlds/april_tags.world b/ca_gazebo/worlds/april_tags.world index a5d3d1f17..b889f54ac 100644 --- a/ca_gazebo/worlds/april_tags.world +++ b/ca_gazebo/worlds/april_tags.world @@ -40,7 +40,7 @@ model://create_camera - 0 0 35 0 1.57 0 + 0 0 16 0 1.57 1.57 camera From 3ed98109209454ee5c48e770d9138afde0a1db4d Mon Sep 17 00:00:00 2001 From: "Lucas J. Scheinkerman" Date: Wed, 23 Oct 2019 10:47:25 -0300 Subject: [PATCH 9/9] Addressed requested changes. --- ca_gazebo/launch/create_april_tags.launch | 6 +----- ca_gazebo/models/create_camera/model.sdf | 5 ++--- ca_gazebo/models/create_house/model.sdf | 2 +- ca_gazebo/package.xml | 2 +- 4 files changed, 5 insertions(+), 10 deletions(-) diff --git a/ca_gazebo/launch/create_april_tags.launch b/ca_gazebo/launch/create_april_tags.launch index c9751374d..497199923 100644 --- a/ca_gazebo/launch/create_april_tags.launch +++ b/ca_gazebo/launch/create_april_tags.launch @@ -4,12 +4,8 @@ - - - - - + diff --git a/ca_gazebo/models/create_camera/model.sdf b/ca_gazebo/models/create_camera/model.sdf index ee8c14e4b..6a5dd37c3 100644 --- a/ca_gazebo/models/create_camera/model.sdf +++ b/ca_gazebo/models/create_camera/model.sdf @@ -12,11 +12,10 @@ - /tmp/camera_save_tutorial 1.047 - 1920 - 1080 + 480 + 270 0.1 diff --git a/ca_gazebo/models/create_house/model.sdf b/ca_gazebo/models/create_house/model.sdf index 0c37077b6..2dff54a41 100644 --- a/ca_gazebo/models/create_house/model.sdf +++ b/ca_gazebo/models/create_house/model.sdf @@ -3979,7 +3979,7 @@ 1 1 1 1 diff --git a/ca_gazebo/package.xml b/ca_gazebo/package.xml index f7ae900d4..965980876 100644 --- a/ca_gazebo/package.xml +++ b/ca_gazebo/package.xml @@ -23,7 +23,7 @@ - +