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Merged
shunsugar merged 4 commits into from
Apr 23, 2025
Merged

Feature/simulation #103

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d050820
add simulation environment
kugurofu Apr 18, 2025
3441b41
add simulation git
kugurofu Apr 18, 2025
4edbe5d
apply format
kugurofu Apr 18, 2025
cfa14d3
change name simulation xacro file
kugurofu Apr 21, 2025
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56 changes: 56 additions & 0 deletions orange_description/xacro/orange_robot_simulation.gazebo
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<?xml version="1.0"?>
<robot>
<!--front wheels-->
<gazebo reference="left_wheel">
<mu1>5.0</mu1>
<mu2>5.0</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
</gazebo>
<gazebo reference="right_wheel">
<mu1>5.0</mu1>
<mu2>5.0</mu2>
<kp>1000000.0</kp>
<kd>100.0</kd>
<minDepth>0.001</minDepth>
<maxVel>1.0</maxVel>
</gazebo>
<!--caster-->
<gazebo reference="left_caster_link">
<mu1>0.0</mu1>
<mu2>0.0</mu2>
</gazebo>
<gazebo reference="right_caster_link">
<mu1>0.0</mu1>
<mu2>0.0</mu2>
</gazebo>
<!--plugins-->
<gazebo>
<plugin name="diff_drive_controller" filename="libgazebo_ros_diff_drive.so">
<update_rate>30</update_rate>
<left_joint>left_wheel_hinge</left_joint>
<right_joint>right_wheel_hinge</right_joint>
<wheel_separation>0.5672</wheel_separation>
<wheel_diameter>0.203</wheel_diameter>
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>2.0</max_wheel_acceleration>
<command_topic>cmd_vel</command_topic>
<publish_odom>false</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>false</publish_wheel_tf>
<odometry_topic>odom</odometry_topic>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_footprint</robot_base_frame>
</plugin>
<plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
<ros>
<remapping>~/out:=joint_states</remapping>
</ros>
<update_rate>30</update_rate>
<joint_name>left_wheel_hinge</joint_name>
<joint_name>right_wheel_hinge</joint_name>
</plugin>
</gazebo>
</robot>
146 changes: 146 additions & 0 deletions orange_description/xacro/orange_robot_simulation.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="orange_robot">
<!--import gazebo reference-->
<xacro:include filename="$(find orange_description)/xacro/orange_robot_simulation.gazebo"/>
<!--import 2D LiDAR model-->
<xacro:include filename="$(find orange_description)/xacro/sensors/hokuyo.xacro"/>
<xacro:sensor_hokuyo name="hokuyo" parent="base_link" min_angle="-1.22" max_angle="1.22" samples="720">
<origin xyz="0.1075 0.0 0.1085" rpy="0.0 0.0 0.0"/>
</xacro:sensor_hokuyo>
<!--import 3D LiDAR model-->
<!--bringup-->
<!--<xacro:include filename="$(find orange_description)/xacro/sensors/livox.xacro"/>
<xacro:sensor_livox name="livox_frame" parent="base_link" min_angle="-2.35619" max_angle="2.35619" samples="720">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
</xacro:sensor_livox>-->
<!--simulation-->
<xacro:include filename="$(find orange_description)/xacro/sensors/livox_simulation.xacro"/>
<xacro:mid360 name="livox" parent="base_link" topic="mid360">
<origin xyz="-0.0185 0.0 0.8985" rpy="${pi} 0.0 0.0"/>
</xacro:mid360>
<!--import imu model-->
<xacro:include filename="$(find orange_description)/xacro/sensors/imu.xacro"/>
<xacro:sensor_imu name="imu" parent="base_link" size="0.05 0.05 0.05">
<origin xyz="-0.253 0.0 0.068" rpy="0.0 0.0 0.0"/>
</xacro:sensor_imu>
<!--base footprint-->
<link name="base_footprint"/>
<!--base link-->
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin xyz="0.0 0.0 0.1015" rpy="0 0 0"/>
</joint>
<link name="base_link">
<visual>
<origin xyz="0.0775 0.25275 0.6425" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file://$(find orange_description)/meshes/chassis.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.1995 0.0 0.341" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.549 0.5055 0.603"/>
</geometry>
</collision>
<inertial>
<mass value="27.1"/>
<origin xyz="-0.1995 0.0 0.19" rpy="0.0 0.0 0.0"/>
<inertia ixx="0.78032248125" ixy="0.0" ixz="0.0" iyy="0.883913925" iyz="0.0" izz="1.25773640625"/>
</inertial>
</link>
<!--caster-->
<joint name="left_caster_hinge" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<child link="left_caster_link"/>
<parent link="base_link"/>
</joint>
<joint name="right_caster_hinge" type="fixed">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<child link="right_caster_link"/>
<parent link="base_link"/>
</joint>
<link name="left_caster_link">
<visual>
<origin xyz="-0.4815 0.145 -0.039" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file://$(find orange_description)/meshes/left_caster.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.4815 0.145 -0.039" rpy="0.0 1.57079632679 1.57079632679"/>
<geometry>
<sphere radius="0.0625"/>
</geometry>
</collision>
</link>
<link name="right_caster_link">
<visual>
<origin xyz="-0.4815 -0.145 -0.039" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file://$(find orange_description)/meshes/right_caster.dae"/>
<sphere radius="0.0625"/>
</geometry>
</visual>
<collision>
<origin xyz="-0.4815 -0.145 -0.039" rpy="0.0 1.57079632679 1.57079632679"/>
<geometry>
<sphere radius="0.0625"/>
</geometry>
</collision>
</link>
<!--front wheels-->
<joint type="revolute" name="left_wheel_hinge">
<origin xyz="0.0 0.2834 0.0" rpy="0.0 0.0 0.0"/>
<child link="left_wheel">left_wheel</child>
<parent link="base_link">base_link</parent>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="100.0" lower="-5000" upper="5000"/>
</joint>
<joint type="revolute" name="right_wheel_hinge">
<origin xyz="0.0 -0.2834 0.0" rpy="0.0 0.0 0.0"/>
<child link="right_wheel">right_wheel</child>
<parent link="base_link">base_link</parent>
<axis xyz="0 1 0"/>
<limit effort="100" velocity="100.0" lower="-5000" upper="5000"/>
</joint>
<link name="left_wheel">
<visual name="visual">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file://$(find orange_description)/meshes/front_wheel.dae"/>
</geometry>
</visual>
<collision name="collision">
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.57079632679 1.57079632679"/>
<geometry>
<cylinder length="0.047" radius="0.1015"/>
</geometry>
</collision>
<inertial>
<mass value="3.4"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.57079632679 1.57079632679"/>
<inertia ixx="0.00938279583" ixy="0.0" ixz="0.0" iyy="0.00938279583" iyz="0.0" izz="0.017513825"/>
</inertial>
</link>
<link name="right_wheel">
<visual name="visual">
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file://$(find orange_description)/meshes/front_wheel.dae"/>
</geometry>
</visual>
<collision name="collision">
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.57079632679 1.57079632679"/>
<geometry>
<cylinder length="0.047" radius="0.1015"/>
</geometry>
</collision>
<inertial>
<mass value="3.4"/>
<origin xyz="0.0 0.0 0.0" rpy="0.0 1.57079632679 1.57079632679"/>
<inertia ixx="0.00938279583" ixy="0.0" ixz="0.0" iyy="0.00938279583" iyz="0.0" izz="0.017513825"/>
</inertial>
</link>
</robot>
77 changes: 77 additions & 0 deletions orange_description/xacro/sensors/livox_simulation.xacro
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<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.1415926"/>
<xacro:property name="laser_min_range" value="0.1"/>
<xacro:property name="laser_max_range" value="200.0"/>
<xacro:property name="samples" value="40000"/>
<xacro:property name="resolution" value="0.002"/>
<xacro:property name="noise_mean" value="0.0"/>
<xacro:property name="noise_stddev" value="0.01"/>
<xacro:property name="mass" value="0.4"/>
<xacro:property name="length" value="0.1"/>
<xacro:property name="width" value="0.06"/>
<xacro:property name="height" value="0.06"/>
<xacro:macro name="box_inertia" params="m w h d">
<inertial>
<origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
<mass value="${m}"/>
<inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
</inertial>
</xacro:macro>
<xacro:macro name="mid360" params="name:='' parent:= 'base_link' topic:='mid360' *origin ">
<link name="${name}">
<xacro:box_inertia m="${length}" w="${width}" d="${length}" h="${height}"/>
<visual>
<geometry>
<box size="${length} ${width} ${height}"/>
</geometry>
</visual>
</link>
<joint name="${name}_joint" type="fixed">
<parent link="${parent}"/>
<child link="${name}"/>
<xacro:insert_block name="origin"/>
</joint>
<gazebo reference="${name}">
<sensor type="ray" name="${name}">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>10</update_rate>
<!-- This ray plgin is only for visualization. -->
<plugin name="${name}_plugin" filename="libros2_livox.so">
<ray>
<scan>
<horizontal>
<samples>100</samples>
<resolution>1</resolution>
<min_angle>${0}</min_angle>
<max_angle>${2*M_PI}</max_angle>
</horizontal>
<vertical>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>${-7.22/180*M_PI}</min_angle>
<max_angle>${55.22/180*M_PI}</max_angle>
</vertical>
</scan>
<range>
<min>${laser_min_range}</min>
<max>${laser_max_range}</max>
<resolution>${resolution}</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>${noise_mean}</mean>
<stddev>${noise_stddev}</stddev>
</noise>
</ray>
<visualize>false</visualize>
<samples>${samples}</samples>
<downsample>1</downsample>
<csv_file_name>$(find ros2_livox_simulation)/scan_mode/mid360.csv</csv_file_name>
<topic>${topic}</topic>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>
6 changes: 3 additions & 3 deletions orange_gazebo/launch/empty_world.launch.xml
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Expand Up @@ -13,9 +13,9 @@
<arg name="imu_topic" default="/imu"/>
<arg name="fusion_odom_topic" default="/fusion/odom"/>
<arg name="world_file_path" default="$(find-pkg-share gazebo_ros)/worlds/empty.world"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot_simulation.xacro"/>
<!-- ground_segmentation -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation_simulation.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="input_topic" value="/mid360_PointCloud2"/>
<arg name="ground_output_topic" value="$(var livox_points_topic)/ground"/>
Expand All @@ -28,7 +28,7 @@
<arg name="scan_out" value="$(var velodyne_scan_topic)"/>
</include>-->
<!-- pointcloud2_to_laserscan -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan.launch.py">
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan_simulation.launch.py">
<arg name="cloud_in" value="$(var livox_points_topic)/obstacle"/>
<arg name="scan_out" value="$(var livox_scan_topic)"/>
</include>
Expand Down
6 changes: 3 additions & 3 deletions orange_gazebo/launch/orange_hosei.launch.xml
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Expand Up @@ -13,12 +13,12 @@
<arg name="imu_topic" default="/imu"/>
<arg name="fusion_odom_topic" default="/fusion/odom"/>
<arg name="world_file_path" default="$(find-pkg-share orange_gazebo)/worlds/orange_hosei.world"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot_simulation.xacro"/>
<arg name="x" default="0.0"/>
<arg name="y" default="0.0"/>
<arg name="yaw" default="0.0"/>
<!-- ground_segmentation -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation_simulation.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="input_topic" value="/mid360_PointCloud2"/>
<arg name="ground_output_topic" value="$(var livox_points_topic)/ground"/>
Expand All @@ -31,7 +31,7 @@
<arg name="scan_out" value="$(var velodyne_scan_topic)"/>
</include>-->
<!-- pointcloud2_to_laserscan -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan.launch.py">
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan_simulation.launch.py">
<arg name="cloud_in" value="$(var livox_points_topic)/obstacle"/>
<arg name="scan_out" value="$(var livox_scan_topic)"/>
</include>
Expand Down
6 changes: 3 additions & 3 deletions orange_gazebo/launch/orange_igvc.launch.xml
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Expand Up @@ -13,9 +13,9 @@
<arg name="imu_topic" default="/imu"/>
<arg name="fusion_odom_topic" default="/fusion/odom"/>
<arg name="world_file_path" default="$(find-pkg-share orange_gazebo)/worlds/orange_igvc.world"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot_simulation.xacro"/>
<!-- ground_segmentation -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation_simulation.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="input_topic" value="/mid360_PointCloud2"/>
<arg name="ground_output_topic" value="$(var livox_points_topic)/ground"/>
Expand All @@ -28,7 +28,7 @@
<arg name="scan_out" value="$(var velodyne_scan_topic)"/>
</include>-->
<!-- pointcloud2_to_laserscan -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan.launch.py">
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan_simulation.launch.py">
<arg name="cloud_in" value="$(var livox_points_topic)/obstacle"/>
<arg name="scan_out" value="$(var livox_scan_topic)"/>
</include>
Expand Down
6 changes: 3 additions & 3 deletions orange_gazebo/launch/orange_world.launch.xml
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Expand Up @@ -13,9 +13,9 @@
<arg name="imu_topic" default="/imu"/>
<arg name="fusion_odom_topic" default="/fusion/odom"/>
<arg name="world_file_path" default="$(find-pkg-share orange_gazebo)/worlds/orange_world.world"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot.xacro"/>
<arg name="xacro_file_path" default="$(find-pkg-share orange_description)/xacro/orange_robot_simulation.xacro"/>
<!-- ground_segmentation -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation.launch.xml">
<include file="$(find-pkg-share orange_sensor_tools)/launch/ground_segmentation_simulation.launch.xml">
<arg name="use_sim_time" value="$(var use_sim_time)"/>
<arg name="input_topic" value="/mid360_PointCloud2"/>
<arg name="ground_output_topic" value="$(var livox_points_topic)/ground"/>
Expand All @@ -28,7 +28,7 @@
<arg name="scan_out" value="$(var velodyne_scan_topic)"/>
</include>-->
<!-- pointcloud2_to_laserscan -->
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan.launch.py">
<include file="$(find-pkg-share orange_sensor_tools)/launch/livox_to_pointcloud2_laserscan_simulation.launch.py">
<arg name="cloud_in" value="$(var livox_points_topic)/obstacle"/>
<arg name="scan_out" value="$(var livox_scan_topic)"/>
</include>
Expand Down
5 changes: 4 additions & 1 deletion orange_ros2.rosinstall
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@shunsugar shunsugar Apr 19, 2025

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このシミュレータ使ったんですね。ありがとうございます。
もしかしたら、複数人が同時に使うとサーバが落ちるかもしれないです。。。

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@kugurofu kugurofu Apr 22, 2025

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ROS_DOMAIN_IDでは解決できないか検証してみます

Original file line number Diff line number Diff line change
Expand Up @@ -38,4 +38,7 @@
local-name: pcd_convert
uri: https://github.com/KBKN-Autonomous-Robotics-Lab/pcd_convert.git
version: main

- git:
local-name: livox_laser_simulation_RO2
uri: https://github.com/stm32f303ret6/livox_laser_simulation_RO2.git
version: main
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