Lucas S. files for the April tags environment

ca_description/launch/create_description.launch

@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+
   <arg name="model" default="$(find ca_description)/urdf/create_2.xacro"/>
 
   <arg name="robot_name" default="create"/>

ca_description/urdf/april_tag.xacro

@@ -11,17 +11,6 @@
         <geometry>
           <box size="0.5 0.5 0.05" />
         </geometry>
-        <gazebo reference="april_tag_link">
-          <material>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/Wood</name>
-            <!--script>
-              <uri>model://create_april_tags/materials/scripts </uri>
-              <uri>model://create_april_tags/materials/textures </uri>
-              <name>AprilTag1</name>
-            </script-->
-          </material>
-        </gazebo>
       </visual>
     </link>
 
@@ -30,6 +19,18 @@
     <child link="april_tag_link"/>
   </joint>
 
+  <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>
+
   </xacro:macro>
 
 </robot>

ca_gazebo/launch/create_april_tags.launch

@@ -12,6 +12,7 @@
 	<arg name="gui" value="$(optenv GUI true)"/>
 	<arg name="debug" value="$(optenv DEBUG false)"/>
 
+	<env name="GAZEBO_MODEL_PATH" value="$(find ca_gazebo)/models"/>
 
 	<!-- Launch Gazebo world -->
 	<include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -31,4 +32,6 @@
 	<arg name="env" value="$(arg env)"/>
   </include>
 
+  <!-- publish the image -->
+
 </launch>

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
+      }
+    }
+  }
 }

ca_gazebo/models/create_camera/model.sdf

@@ -10,23 +10,37 @@
           </box>
         </geometry>
       </visual>
-      <sensor name='my_camera' type='camera'>
+      <sensor name='apriltag_camera' type='camera'>
         <camera>
-          <save enabled="true">
+          <save enabled="false">
             <path>/tmp/camera_save_tutorial</path>
           </save>
           <horizontal_fov>1.047</horizontal_fov>
           <image>
-            <width>1920</width>
-            <height>1080</height>
+            <width>5760</width>
+            <height>3240</height>
           </image>
           <clip>
-            <near>10</near>
-            <far>50</far>
+            <near>0.1</near>
+            <far>500</far>
           </clip>
         </camera>
         <always_on>1</always_on>
-        <update_rate>5</update_rate>
+        <update_rate>50</update_rate>
+        <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
+          <alwaysOn>true</alwaysOn>
+          <updateRate>0.0</updateRate>
+          <cameraName>/apriltag_camera</cameraName>
+          <imageTopicName>image_raw</imageTopicName>
+          <cameraInfoTopicName>camera_info</cameraInfoTopicName>
+          <frameName>camera_link</frameName>
+          <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>

ca_gazebo/models/create_house/model.sdf

@@ -3979,7 +3979,7 @@
         </geometry>
         <material>
           <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <uri>file://media/materials/scripts/gazebo.material </uri>
             <name>Gazebo/Bricks</name>
           </script>
           <ambient>1 1 1 1</ambient>

ca_gazebo/worlds/april_tags.world

@@ -94,7 +94,7 @@
 
     <include>
       <uri>model://create_camera</uri>
-      <pose> 0 0 40 0 1.57 0</pose>
+      <pose> 0 0 35 0 1.57 0</pose>
       <name>camera</name>
     </include>
 

ca_gazebo/worlds/empty.world

@@ -2,7 +2,7 @@
 <sdf version="1.6">
   <world name="default">
     <!-- A global light source -->
-    <include>
+    <--include>
       <uri>model://sun</uri>
     </include>
 
@@ -14,7 +14,7 @@
     <physics type="ode">
       <real_time_update_rate>1000.0</real_time_update_rate>
       <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
+      <real_time_factor>10</real_time_factor>
       <ode>
         <solver>
           <type>quick</type>

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