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updating robot_state_publisher node and adding missing urdf configuration #8

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updating robot_state_publisher node and adding missing urdf configuration #8

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f404c25
updating robot_state_publisher node and adding missing urdf sensor mo…
sfoix Apr 18, 2016
00ee3a7
Updating xacro files to Jade version
sfoix Apr 24, 2017
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4 changes: 2 additions & 2 deletions cvg_sim_gazebo/launch/spawn_quadrotor.launch
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Expand Up @@ -10,7 +10,7 @@
<arg name="P" default="0"/>
<arg name="Y" default="0"/>
<!-- send the robot XML to param server -->
<param name="robot_description" command="$(find xacro)/xacro.py '$(arg model)'" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(arg model)'" />

<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
Expand All @@ -26,7 +26,7 @@
respawn="false" output="screen"/>

<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen" >
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
<param name="tf_prefix" type="string" value="" />
</node>
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2 changes: 1 addition & 1 deletion cvg_sim_gazebo/urdf/quadrotor.urdf.xacro
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Expand Up @@ -4,7 +4,7 @@
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
xmlns:xacro="http://ros.org/wiki/xacro">

<!-- Included URDF Files -->
<xacro:include filename="$(find cvg_sim_gazebo)/urdf/quadrotor_base.urdf.xacro" />
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13 changes: 5 additions & 8 deletions cvg_sim_gazebo/urdf/quadrotor_base.urdf.xacro
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@@ -1,13 +1,12 @@
<?xml version="1.0"?>

<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro"
>
<robot
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:include filename="$(find cvg_sim_gazebo_plugins)/urdf/quadrotor_plugins.urdf.xacro" />
<property name="pi" value="3.1415926535897931" />

<!-- Main quadrotor link -->
<xacro:macro name="quadrotor_base_macro">
Expand All @@ -33,8 +32,6 @@ xmlns:xacro="http://ros.org/wiki/xacro"
</collision>
</link>



<gazebo reference="base_link">
<turnGravityOff>false</turnGravityOff>
</gazebo>
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8 changes: 2 additions & 6 deletions cvg_sim_gazebo/urdf/quadrotor_sensors.urdf.xacro
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@@ -1,12 +1,8 @@
<?xml version="1.0"?>

<robot name="quadrotor_hokuyo_utm30lx"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<robot name="quadrotor_hokuyo_utm30lx" xmlns:xacro="http://ros.org/wiki/xacro">

<property name="M_PI" value="3.1415926535897931" />
<xacro:property name="M_PI" value="3.1415926535897931" />

<!-- Included URDF Files -->
<xacro:include filename="$(find cvg_sim_gazebo)/urdf/quadrotor_base.urdf.xacro" />
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6 changes: 3 additions & 3 deletions cvg_sim_gazebo/urdf/sensors/generic_camera.urdf.xacro
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Expand Up @@ -6,11 +6,11 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro"
>

<property name="M_PI" value="3.1415926535897931" />
<xacro:property name="M_PI" value="3.1415926535897931" />

<xacro:macro name="generic_camera" params="name sim_name parent *origin update_rate res_x res_y image_format hfov">
<joint name="${name}_joint" type="fixed">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_link"/>
</joint>
Expand Down Expand Up @@ -92,7 +92,7 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
<frameName>ardrone_base_${name}cam</frameName>
</plugin>
</sensor>
<turnGravityOff>true</turnGravityOff>
<turnGravityOff>false</turnGravityOff>
<material>Gazebo/Blue</material>
</gazebo>
</xacro:macro>
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2 changes: 1 addition & 1 deletion cvg_sim_gazebo/urdf/sensors/hokuyo_utm30lx.urdf.xacro
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Expand Up @@ -7,7 +7,7 @@ xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
>
<xacro:macro name="hokuyo_utm30lx" params="name parent *origin ros_topic update_rate ray_count min_angle max_angle">
<joint name="${name}_joint" type="fixed">
<insert_block name="origin" />
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_frame"/>
</joint>
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7 changes: 5 additions & 2 deletions cvg_sim_gazebo/urdf/sensors/sonar_sensor.urdf.xacro
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Expand Up @@ -3,8 +3,8 @@
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:xacro="http://ros.org/wiki/xacro"
>
xmlns:xacro="http://ros.org/wiki/xacro" >

<xacro:macro name="sonar_sensor" params="name parent *origin ros_topic update_rate min_range max_range field_of_view ray_count">
<joint name="${name}_joint" type="fixed">
<xacro:insert_block name="origin" />
Expand Down Expand Up @@ -57,6 +57,9 @@ xmlns:xacro="http://ros.org/wiki/xacro"
</ray>

<plugin name="gazebo_ros_${name}_controller" filename="libhector_gazebo_ros_sonar.so">
<offset>0.0</offset>
<drift>0.0</drift>
<driftFrequency>0.0</driftFrequency>
<gaussianNoise>0.000</gaussianNoise>
<topicName>${ros_topic}</topicName>
<frameId>${name}_link</frameId>
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22 changes: 20 additions & 2 deletions cvg_sim_gazebo_plugins/urdf/quadrotor_sensors.urdf.xacro
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Expand Up @@ -21,11 +21,20 @@ xmlns:xacro="http://ros.org/wiki/xacro"
<topicName>/ardrone/imu</topicName>
<rpyOffsets>0 0 0</rpyOffsets> <!-- deprecated -->
<gaussianNoise>0</gaussianNoise> <!-- deprecated -->
<offset>0.0 0.0 0.0</offset>
<drift>0.0 0.0 0.0</drift>
<driftFrequency>0.0 0.0 0.0</driftFrequency>
<accelOffset>0 0 0</accelOffset>
<accelDrift>0.5 0.5 0.5</accelDrift>
<accelDriftFrequency>0.0 0.0 0.0</accelDriftFrequency>
<accelGaussianNoise>0.35 0.35 0.3</accelGaussianNoise>
<rateOffset>0.0 0.0 0.0</rateOffset>
<rateDrift>0.0 0.0 0.0</rateDrift>
<rateDriftFrequency>0.0 0.0 0.0</rateDriftFrequency>
<rateGaussianNoise>0.00 0.00 0.00</rateGaussianNoise>
<headingDrift>0.0</headingDrift>
<headingDriftFrequency>0.0</headingDriftFrequency>
<headingOffset>0.0</headingOffset>
<headingGaussianNoise>0.00</headingGaussianNoise>
</plugin>

Expand All @@ -35,8 +44,10 @@ xmlns:xacro="http://ros.org/wiki/xacro"
<bodyName>base_link</bodyName>
<topicName>pressure_height</topicName>
<altimeterTopicName>altimeter</altimeterTopicName>
<offset>0</offset>
<offset>0.0</offset>
<accelOffset>0</accelOffset>
<drift>0.1</drift>
<driftFrequency>0.0</driftFrequency>
<gaussianNoise>0.5</gaussianNoise>
</plugin>

Expand All @@ -45,8 +56,10 @@ xmlns:xacro="http://ros.org/wiki/xacro"
<updateRate>10.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>magnetic</topicName>
<offset>0 0 0</offset>
<offset>0.0 0.0 0.0</offset>
<accelOffset>0.0 0.0 0.0</accelOffset>
<drift>0.0 0.0 0.0</drift>
<driftFrequency>0.0 0.0 0.0</driftFrequency>
<gaussianNoise>1.3e-2 1.3e-2 1.3e-2</gaussianNoise>
</plugin>

Expand All @@ -55,10 +68,15 @@ xmlns:xacro="http://ros.org/wiki/xacro"
<updateRate>4.0</updateRate>
<bodyName>base_link</bodyName>
<topicName>fix</topicName>
<offset>0.0 0.0 0.0</offset>
<accelOffset>0.0 0.0 0.0</accelOffset>
<velocityTopicName>fix_velocity</velocityTopicName>
<drift>5.0 5.0 5.0</drift>
<driftFrequency>0.0 0.0 0.0</driftFrequency>
<gaussianNoise>0.1 0.1 0.1</gaussianNoise>
<velocityDrift>0 0 0</velocityDrift>
<velocityOffset>0 0 0</velocityOffset>
<velocityDriftFrequency>0.0 0.0 0.0</velocityDriftFrequency>
<velocityGaussianNoise>0.1 0.1 0.1</velocityGaussianNoise>
</plugin>

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