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Lucas S. files for the April tags environment #107
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f970b60
Added April tags environment files.
LucasJSch f6e7a5e
Modified create_base.xacro for spawning the April Tag on the robot.
LucasJSch 07abfeb
Addressed some changes for better visualizing April tags.
LucasJSch 6e050da
Addressed some of the requested changes.
LucasJSch 1d40759
Deleted unncessary lights from world file.
LucasJSch 1e4a6f0
Addressed some requested changes.
LucasJSch 4455664
Addressed requested changes.
LucasJSch c198d4c
Reduced environment size and adjusted camera rotation.
LucasJSch 3ed9810
Addressed requested changes.
LucasJSch 6e19b46
Merge branch 'kinetic-devel' into LucasJS-world
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,36 @@ | ||
| <?xml version="1.0" ?> | ||
| <robot xmlns:xacro="http://ros.org/wiki/xacro"> | ||
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| <xacro:macro name="april_tag"> | ||
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| <xacro:property name="april_tag_z_offset" value="0.3"/> | ||
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| <link name="april_tag_link"> | ||
| <visual> | ||
| <origin xyz=" 0 0 ${april_tag_z_offset}" rpy="0 0 0" /> | ||
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| <geometry> | ||
| <box size="0.5 0.5 0.05" /> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
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| <joint name="april_tag_joint" type="fixed"> | ||
| <parent link="base_link" /> | ||
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| <child link="april_tag_link"/> | ||
| </joint> | ||
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| <gazebo reference="april_tag_link"> | ||
| <visual> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts </uri> | ||
| <uri>model://create_april_tags/materials/textures </uri> | ||
| <name>AprilTag5</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| </gazebo> | ||
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| </xacro:macro> | ||
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| </robot> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| <launch> | ||
| <arg name="env" default="april_tags"/> | ||
| <param name="create1/amcl/initial_pose_x" value="0"/> | ||
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| <param name="create1/amcl/initial_pose_y" value="0"/> | ||
| <param name="create1/amcl/initial_pose_a" value="0"/> | ||
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| <param name="create2/amcl/initial_pose_x" value="0"/> | ||
| <param name="create2/amcl/initial_pose_y" value="0"/> | ||
| <param name="create2/amcl/initial_pose_a" value="0"/> | ||
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| <arg name="paused" value="$(optenv PAUSED false)"/> | ||
| <arg name="gui" value="$(optenv GUI true)"/> | ||
| <arg name="debug" value="$(optenv DEBUG false)"/> | ||
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| <env name="GAZEBO_MODEL_PATH" value="$(find ca_gazebo)/models"/> | ||
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| <!-- Launch Gazebo world --> | ||
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| <include file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
| <arg name="debug" value="$(arg debug)" /> | ||
| <arg name="gui" value="$(arg gui)" /> | ||
| <arg name="paused" value="$(arg paused)"/> | ||
| <arg name="use_sim_time" value="true"/> | ||
| <arg name="verbose" value="true"/> | ||
| <arg name="world_name" value="$(find ca_gazebo)/worlds/$(arg env).world"/> | ||
| </include> | ||
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| <!-- Spawn robot/s --> | ||
| <include file="$(find ca_gazebo)/launch/spawn_multirobot.launch"/> | ||
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| <!-- map_server --> | ||
| <include file="$(find ca_move_base)/launch/map_server.launch"> | ||
| <arg name="env" value="$(arg env)"/> | ||
| </include> | ||
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| <!-- publish the image --> | ||
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| </launch> | ||
107 changes: 107 additions & 0 deletions
107
ca_gazebo/models/create_april_tags/materials/scripts/apriltag.material
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,107 @@ | ||
| 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 | ||
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| texture_unit | ||
| { | ||
| texture apriltag0.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| 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 | ||
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| texture_unit | ||
| { | ||
| texture apriltag1.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| 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 | ||
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| texture_unit | ||
| { | ||
| texture apriltag2.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| 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 | ||
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| texture_unit | ||
| { | ||
| texture apriltag3.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| 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 | ||
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| texture_unit | ||
| { | ||
| texture apriltag4.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| 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 | ||
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| texture_unit | ||
| { | ||
| texture apriltag5.png | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>Lucas S. april tags assignment house</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <description></description> | ||
| <models> | ||
| <uri>model://create_april_tags</uri> | ||
| </models> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,98 @@ | ||
| <?xml version='1.0'?> | ||
| <sdf version='1.6'> | ||
| <model name='create_april_tags'> | ||
| <static>1</static> | ||
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| <link name='AprilTag1'> | ||
| <pose frame=''>9.0 9.0 -1.2 0 0 0</pose> | ||
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| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='AprilTag1_Visual'> | ||
| <pose frame=''>0 0 1.25 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.5 0.5 0.05 </size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts </uri> | ||
| <uri>model://create_april_tags/materials/textures </uri> | ||
| <name>AprilTag1</name> | ||
| </script> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| </link> | ||
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| <link name='AprilTag2'> | ||
| <pose frame=''>-9.0 -9.0 -1.2 0 0 0</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='AprilTag2_Visual'> | ||
| <pose frame=''>0 0 1.25 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.5 0.5 0.05 </size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts/apriltag.material </uri> | ||
| <name>AprilTag2</name> | ||
| </script> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| </link> | ||
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| <link name='AprilTag3'> | ||
| <pose frame=''>-9.0 9.0 -1.2 0 0 0</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='AprilTag3_Visual'> | ||
| <pose frame=''>0 0 1.25 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.5 0.5 0.05 </size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts </uri> | ||
| <uri>model://create_april_tags/materials/textures </uri> | ||
| <name>AprilTag3</name> | ||
| </script> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| </link> | ||
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| <link name='AprilTag4'> | ||
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| <pose frame=''>9.0 -9.0 -1.2 0 0 0</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='AprilTag4_Visual'> | ||
| <pose frame=''>0 0 1.25 0 -0 0</pose> | ||
| <geometry> | ||
| <box> | ||
| <size>0.5 0.5 0.05 </size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts </uri> | ||
| <uri>model://create_april_tags/materials/textures </uri> | ||
| <name>AprilTag4</name> | ||
| </script> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| </link> | ||
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| </model> | ||
| </sdf> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>Lucas S. camera</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <description></description> | ||
| <models> | ||
| <uri>model://camera</uri> | ||
| </models> | ||
| </model> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,49 @@ | ||
| <?xml version='1.0'?> | ||
| <sdf version='1.6'> | ||
| <model name='camera'> | ||
| <static>true</static> | ||
| <link name='link'> | ||
| <visual name='visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.1 0.1 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| <sensor name='apriltag_camera' type='camera'> | ||
| <camera> | ||
| <save enabled="false"> | ||
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| <path>/tmp/camera_save_tutorial</path> | ||
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| </save> | ||
| <horizontal_fov>1.047</horizontal_fov> | ||
| <image> | ||
| <width>5760</width> | ||
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| <height>3240</height> | ||
| </image> | ||
| <clip> | ||
| <near>0.1</near> | ||
| <far>500</far> | ||
| </clip> | ||
| </camera> | ||
| <always_on>1</always_on> | ||
| <update_rate>50</update_rate> | ||
| <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> | ||
| <alwaysOn>true</alwaysOn> | ||
| <updateRate>0.0</updateRate> | ||
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| <cameraName>/apriltag_camera</cameraName> | ||
| <imageTopicName>image_raw</imageTopicName> | ||
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| <cameraInfoTopicName>camera_info</cameraInfoTopicName> | ||
| <frameName>camera_link</frameName> | ||
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| <hackBaseline>0.07</hackBaseline> | ||
| <distortionK1>0.0</distortionK1> | ||
| <distortionK2>0.0</distortionK2> | ||
| <distortionK3>0.0</distortionK3> | ||
| <distortionT1>0.0</distortionT1> | ||
| <distortionT2>0.0</distortionT2> | ||
| </plugin> | ||
| </sensor> | ||
| </link> | ||
| </model> | ||
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| </sdf> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>Lucas S. four walls</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <description></description> | ||
| <models> | ||
| <uri>model://create_four_walls</uri> | ||
| </models> | ||
| </model> |
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I just realized about this. Is the visual tag mandatory? Since you only want to apply a texture, do you need to create this visual block?
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If I delete this, the Apriltag doesn't appear. This xacro corresponds to the Apriltag of the robot.
How can a texture be applied if there is no visual object to apply it to?