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Lucas S. files for the April tags environment #107

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f970b60
Added April tags environment files.
LucasJSch Oct 15, 2019
f6e7a5e
Modified create_base.xacro for spawning the April Tag on the robot.
LucasJSch Oct 15, 2019
07abfeb
Addressed some changes for better visualizing April tags.
LucasJSch Oct 16, 2019
6e050da
Addressed some of the requested changes.
LucasJSch Oct 17, 2019
1d40759
Deleted unncessary lights from world file.
LucasJSch Oct 18, 2019
1e4a6f0
Addressed some requested changes.
LucasJSch Oct 18, 2019
4455664
Addressed requested changes.
LucasJSch Oct 21, 2019
c198d4c
Reduced environment size and adjusted camera rotation.
LucasJSch Oct 21, 2019
3ed9810
Addressed requested changes.
LucasJSch Oct 23, 2019
6e19b46
Merge branch 'kinetic-devel' into LucasJS-world
LucasJSch Oct 23, 2019
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2 changes: 1 addition & 1 deletion ca_description/urdf/create_base.xacro
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Expand Up @@ -56,7 +56,7 @@
<xacro:caster_wheel/>

<xacro:april_tag name_prefix="create1" base_link="base_link">
<origin xyz=" 0 0 0.3" rpy="0 0 0" />
<origin xyz=" 0 0 0.3" rpy="0 0 1.58" />
</xacro:april_tag>

<!-- Simulation sensors -->
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2 changes: 1 addition & 1 deletion ca_description/urdf/create_base_gazebo.xacro
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Expand Up @@ -37,7 +37,7 @@
<bodyName>base_link</bodyName>
<topicName>gts</topicName>
<gaussianNoise>0</gaussianNoise>
<frameName>map</frameName>
<frameName>/map</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
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11 changes: 7 additions & 4 deletions ca_gazebo/launch/create_april_tags.launch
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@@ -1,15 +1,18 @@
<launch>
<arg name="env" default="april_tags"/>
<param name="create1/amcl/initial_pose_x" value="5"/>
<param name="create1/amcl/initial_pose_y" value="5"/>
<param name="create1/amcl/initial_pose_x" value="3"/>
<param name="create1/amcl/initial_pose_y" value="3"/>
<param name="create1/amcl/initial_pose_a" value="1"/>

<param name="create2/amcl/initial_pose_x" value="-5"/>
<param name="create2/amcl/initial_pose_y" value="-5"/>
<param name="create2/amcl/initial_pose_x" value="-3"/>
<param name="create2/amcl/initial_pose_y" value="-3"/>
<param name="create2/amcl/initial_pose_a" value="1"/>

<include file="$(find ca_gazebo)/launch/create_empty_world.launch">
<arg name="env" value="april_tags"/>
</include>

<node pkg="tf" type="static_transform_publisher" name="camera_link_broadcaster" args="0 0 16 3.14159 3.14159 0 map camera_link 20" />
<include file="$(find apriltag_ros)/launch/continuous_detection.launch"/>

</launch>
8 changes: 4 additions & 4 deletions ca_gazebo/models/create_april_tags/model.sdf
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Expand Up @@ -4,7 +4,7 @@
<static>1</static>

<link name='AprilTag1'>
<pose>9 9 0 0 0 0</pose>
<pose>4 4 0 0 0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='AprilTag1_Visual'>
Expand All @@ -26,7 +26,7 @@
</link>

<link name='AprilTag2'>
<pose>9 -9 0 0 0 0</pose>
<pose>4 -4 0 0 0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='AprilTag2_Visual'>
Expand All @@ -47,7 +47,7 @@
</link>

<link name='AprilTag3'>
<pose>-9 9 0 0 0 0</pose>
<pose>-4 4 0 0 0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='AprilTag3_Visual'>
Expand All @@ -68,7 +68,7 @@
</link>

<link name='AprilTag4'>
<pose>-9 -9 0 0 0 0</pose>
<pose>-4 -4 0 0 0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='AprilTag4_Visual'>
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6 changes: 3 additions & 3 deletions ca_gazebo/models/create_camera/model.sdf
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Expand Up @@ -15,12 +15,12 @@
<path>/tmp/camera_save_tutorial</path>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>5760</width>
<height>3240</height>
<width>1920</width>
<height>1080</height>
</image>
<clip>
<near>0.1</near>
<far>500</far>
<far>50</far>
</clip>
</camera>
<always_on>1</always_on>
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24 changes: 12 additions & 12 deletions ca_gazebo/models/create_four_walls/model.sdf
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Expand Up @@ -3,14 +3,14 @@
<model name='create_four_walls'>
<static>1</static>
<link name='Wall_101'>
<pose frame=''>-10 0 0 0 0 -1.5708</pose>
<pose frame=''>-5 0 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='Wall_101_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
<size>10 0.15 2.5</size>
</box>
</geometry>
<material>
Expand All @@ -32,7 +32,7 @@
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
<size>10 0.15 2.5</size>
</box>
</geometry>
<surface>
Expand Down Expand Up @@ -84,14 +84,14 @@
</link>

<link name='Wall_102'>
<pose frame=''>10 0 0 0 0 -1.5708</pose>
<pose frame=''>5 0 0 0 0 -1.5708</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='Wall_102_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
<size>10 0.15 2.5</size>
</box>
</geometry>
<material>
Expand All @@ -113,7 +113,7 @@
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
<size>10 0.15 2.5</size>
</box>
</geometry>
<surface>
Expand Down Expand Up @@ -167,14 +167,14 @@


<link name='Wall_103'>
<pose frame=''>0 10 0 0 0 0</pose>
<pose frame=''>0 5 0 0 0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='Wall_103_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
<size>10 0.15 2.5</size>
</box>
</geometry>
<material>
Expand All @@ -196,7 +196,7 @@
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
<size>10 0.15 2.5</size>
</box>
</geometry>
<surface>
Expand Down Expand Up @@ -250,14 +250,14 @@


<link name='Wall_104'>
<pose frame=''>0 -10 0 0 0 0</pose>
<pose frame=''>0 -5 0 0 0 0</pose>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
<visual name='Wall_104_Visual'>
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
<size>10 0.15 2.5</size>
</box>
</geometry>
<material>
Expand All @@ -279,7 +279,7 @@
<pose frame=''>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>20 0.15 2.5</size>
<size>10 0.15 2.5</size>
</box>
</geometry>
<surface>
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2 changes: 1 addition & 1 deletion ca_gazebo/worlds/april_tags.world
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Expand Up @@ -40,7 +40,7 @@

<include>
<uri>model://create_camera</uri>
<pose> 0 0 35 0 1.57 0</pose>
<pose> 0 0 16 0 1.57 1.57</pose>
<name>camera</name>
</include>

Expand Down