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68 changes: 68 additions & 0 deletions config/my_controllers.yaml
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controller_manager:
ros__parameters:
update_rate: 30
use_sim_time: true

diff_cont:
type: diff_drive_controller/DiffDriveController

joint_broad:
type: joint_state_broadcaster/JointStateBroadcaster

diff_cont:
ros__parameters:

publish_rate: 50.0

base_frame_id: base_link

left_wheel_names: ['left_wheel_joint']
right_wheel_names: ['right_wheel_joint']
wheel_separation: 0.297
wheel_radius: 0.033

use_stamped_vel: false

# open_loop: false

# wheels_per_side: x
# wheel_separation_multiplier: x
# left_wheel_radius_multiplier: x
# right_wheel_radius_multiplier: x

# odom_frame_id: x
# pose_covariance_diagonal: x
# twist_covariance_diagonal: x
# open_loop: x
# enable_odom_tf: x

# cmd_vel_timeout: x
# publish_limited_velocity: x
# velocity_rolling_window_size: x


# linear.x.has_velocity_limits: false
# linear.x.has_acceleration_limits: false
# linear.x.has_jerk_limits: false
# linear.x.max_velocity: NAN
# linear.x.min_velocity: NAN
# linear.x.max_acceleration: NAN
# linear.x.min_acceleration: NAN
# linear.x.max_jerk: NAN
# linear.x.min_jerk: NAN

# angular.z.has_velocity_limits: false
# angular.z.has_acceleration_limits: false
# angular.z.has_jerk_limits: false
# angular.z.max_velocity: NAN
# angular.z.min_velocity: NAN
# angular.z.max_acceleration: NAN
# angular.z.min_acceleration: NAN
# angular.z.max_jerk: NAN
# angular.z.min_jerk: NAN




# joint_broad:
# ros__parameters:
55 changes: 55 additions & 0 deletions description/camera.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

<joint name="camera_joint" type="fixed">
<parent link="chassis"/>
<child link="camera_link"/>
<origin xyz="0.305 0 0.08" rpy="0 0 0"/>
</joint>

<link name="camera_link">
<visual>
<geometry>
<box size="0.010 0.03 0.03"/>
</geometry>
<material name="red"/>
</visual>
</link>


<joint name="camera_optical_joint" type="fixed">
<parent link="camera_link"/>
<child link="camera_link_optical"/>
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}"/>
</joint>

<link name="camera_link_optical"></link>



<gazebo reference="camera_link">
<material>Gazebo/Red</material>

<sensor name="camera" type="camera">
<pose> 0 0 0 0 0 0 </pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<camera>
<horizontal_fov>1.089</horizontal_fov>
<image>
<format>R8G8B8</format>
<width>640</width>
<height>480</height>
</image>
<clip>
<near>0.05</near>
<far>8.0</far>
</clip>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<frame_name>camera_link_optical</frame_name>
</plugin>
</sensor>
</gazebo>

</robot>
31 changes: 31 additions & 0 deletions description/gazebo_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

<gazebo>
<plugin name="diff_drive" filename="libgazebo_ros_diff_drive.so">

<!-- Wheel Information -->
<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>
<wheel_separation>0.297</wheel_separation>
<wheel_diameter>0.066</wheel_diameter>


<!-- Limits -->
<max_wheel_torque>200</max_wheel_torque>
<max_wheel_acceleration>10.0</max_wheel_acceleration>


<!-- Output -->
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_link</robot_base_frame>

<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>true</publish_wheel_tf>

</plugin>
</gazebo>


</robot>
40 changes: 40 additions & 0 deletions description/inertial_macros.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

<!-- Specify some standard inertial calculations https://en.wikipedia.org/wiki/List_of_moments_of_inertia -->
<!-- These make use of xacro's mathematical functionality -->

<xacro:macro name="inertial_sphere" params="mass radius *origin">
<inertial>
<xacro:insert_block name="origin"/>
<mass value="${mass}" />
<inertia ixx="${(2/5) * mass * (radius*radius)}" ixy="0.0" ixz="0.0"
iyy="${(2/5) * mass * (radius*radius)}" iyz="0.0"
izz="${(2/5) * mass * (radius*radius)}" />
</inertial>
</xacro:macro>


<xacro:macro name="inertial_box" params="mass x y z *origin">
<inertial>
<xacro:insert_block name="origin"/>
<mass value="${mass}" />
<inertia ixx="${(1/12) * mass * (y*y+z*z)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * mass * (x*x+z*z)}" iyz="0.0"
izz="${(1/12) * mass * (x*x+y*y)}" />
</inertial>
</xacro:macro>


<xacro:macro name="inertial_cylinder" params="mass length radius *origin">
<inertial>
<xacro:insert_block name="origin"/>
<mass value="${mass}" />
<inertia ixx="${(1/12) * mass * (3*radius*radius + length*length)}" ixy="0.0" ixz="0.0"
iyy="${(1/12) * mass * (3*radius*radius + length*length)}" iyz="0.0"
izz="${(1/2) * mass * (radius*radius)}" />
</inertial>
</xacro:macro>


</robot>
59 changes: 59 additions & 0 deletions description/lidar.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

<joint name="laser_joint" type="fixed">
<parent link="chassis"/>
<child link="laser_frame"/>
<origin xyz="0.1 0 0.175" rpy="0 0 0"/>
</joint>

<link name="laser_frame">
<visual>
<geometry>
<cylinder radius="0.05" length="0.04"/>
</geometry>
<material name="red"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.05" length="0.04"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>



<gazebo reference="laser_frame">
<material>Gazebo/Red</material>

<sensor name="laser" type="ray">
<pose> 0 0 0 0 0 0 </pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<min_angle>-3.14</min_angle>
<max_angle>3.14</max_angle>
</horizontal>
</scan>
<range>
<min>0.3</min>
<max>12</max>
</range>
</ray>
<plugin name="laser_controller" filename="libgazebo_ros_ray_sensor.so">
<ros>
<argument>~/out:=scan</argument>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>laser_frame</frame_name>
</plugin>
</sensor>
</gazebo>

</robot>
8 changes: 6 additions & 2 deletions description/robot.urdf.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="robot">

<!-- Example link -->
<link name="base_link"></link>
<xacro:include filename="robot_core.xacro" />
<xacro:include filename="gazebo_control.xacro" />
<xacro:include filename="inertial_macros.xacro" />
<xacro:include filename="lidar.xacro" />
<xacro:include filename="camera.xacro" />


</robot>
153 changes: 153 additions & 0 deletions description/robot_core.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

<xacro:include filename="inertial_macros.xacro"/>

<material name="white">
<color rgba="1 1 1 1" />
</material>

<material name="orange">
<color rgba="1 0.3 0.1 1"/>
</material>

<material name="blue">
<color rgba="0.2 0.2 1 1"/>
</material>

<material name="black">
<color rgba="0 0 0 1"/>
</material>

<!-- BASE LINK -->

<link name="base_link">

</link>


<!-- CHASSIS LINK -->

<joint name="chassis_joint" type="fixed">
<parent link="base_link"/>
<child link="chassis"/>
<origin xyz="-0.1 0 0"/>
</joint>

<link name="chassis">
<visual>
<origin xyz="0.15 0 0.075"/>
<geometry>
<box size="0.3 0.3 0.15"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin xyz="0.15 0 0.075"/>
<geometry>
<box size="0.3 0.3 0.15"/>
</geometry>
</collision>
<xacro:inertial_box mass="0.5" x="0.3" y="0.3" z="0.15">
<origin xyz="0.15 0 0.075" rpy="0 0 0"/>
</xacro:inertial_box>
</link>

<gazebo reference="chassis">
<material>Gazebo/White</material>
</gazebo>

<!-- LEFT WHEEL LINK -->

<joint name="left_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="left_wheel"/>
<origin xyz="0 0.175 0" rpy="-${pi/2} 0 0" />
<axis xyz="0 0 1"/>
</joint>

<link name="left_wheel">
<visual>
<geometry>
<cylinder radius="0.05" length="0.04"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.05" length="0.04"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>

<gazebo reference="left_wheel">
<material>Gazebo/Blue</material>
</gazebo>

<!-- RIGHT WHEEL LINK -->

<joint name="right_wheel_joint" type="continuous">
<parent link="base_link"/>
<child link="right_wheel"/>
<origin xyz="0 -0.175 0" rpy="${pi/2} 0 0" />
<axis xyz="0 0 -1"/>
</joint>

<link name="right_wheel">
<visual>
<geometry>
<cylinder radius="0.05" length="0.04"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder radius="0.05" length="0.04"/>
</geometry>
</collision>
<xacro:inertial_cylinder mass="0.1" length="0.04" radius="0.05">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_cylinder>
</link>

<gazebo reference="right_wheel">
<material>Gazebo/Blue</material>
</gazebo>

<!-- CASTER WHEEL LINK -->

<joint name="caster_wheel_joint" type="fixed">
<parent link="chassis"/>
<child link="caster_wheel"/>
<origin xyz="0.24 0 0"/>
</joint>


<link name="caster_wheel">
<visual>
<geometry>
<sphere radius="0.05"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<sphere radius="0.05"/>
</geometry>
</collision>
<xacro:inertial_sphere mass="0.1" radius="0.05">
<origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_sphere>
</link>

<gazebo reference="caster_wheel">
<material>Gazebo/Black</material>
<mu1 value="0.001"/>
<mu2 value="0.001"/>
</gazebo>


</robot>
35 changes: 35 additions & 0 deletions description/ros2_control.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" >

</ros2_control>
<ros2_control name="GazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity">
<param name="min">-10</param>
<param name="max">10</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity">
<param name="min">-10</param>
<param name="max">10</param>
</command_interface>
<state_interface name="velocity" />
<state_interface name="position" />
</joint>
</ros2_control>

<gazebo>
<plugin filename="gazebo_ros2_control" name="gazebo_ros2_control">
<parameters>$(find my_bot/config/my_controllers.yaml</parameters>
</plugin>
</gazebo>



</robot>
48 changes: 48 additions & 0 deletions launch/launch_sim.launch.py
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import os

from ament_index_python.packages import get_package_share_directory


from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

from launch_ros.actions import Node



def generate_launch_description():


# Include the robot_state_publisher launch file, provided by our own package. Force sim time to be enabled
# !!! MAKE SURE YOU SET THE PACKAGE NAME CORRECTLY !!!

package_name='my_bot' #<--- CHANGE ME

rsp = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory(package_name),'launch','rsp.launch.py'
)]), launch_arguments={'use_sim_time': 'true'}.items()
)

# Include the Gazebo launch file, provided by the gazebo_ros package
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([os.path.join(
get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]),
)

# Run the spawner node from the gazebo_ros package. The entity name doesn't really matter if you only have a single robot.
spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
arguments=['-topic', 'robot_description',
'-entity', 'my_bot'],
output='screen')



# Launch them all!
return LaunchDescription([
rsp,
gazebo,
spawn_entity,
])