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10576 9071 10602 9071 10602 9045 10576 9044 10575 9071 10602 9044 10575 9081 10612 9081 10612 9044 10575 9052 10583 9081 10612 9052 10583 9083 10614 9083 10614 9052 10583 9051 10582 9083 10614 9051 10582 9048 10579 9048 10579 2286 2891 9083 10614 9083 10614 2286 2891 9080 10611 9083 10614 9080 10611 9082 10613 9082 10613 9080 10611 9079 10610 9082 10613 9079 10610 9075 10606 9075 10606 9079 10610 9078 10609 9075 10606 9078 10609 9076 10607 9076 10607 9078 10609 9077 10608 9076 10607 9077 10608 1884 2441 2299 2904 1884 2441 9077 10608 1903 2460 1905 2462 9074 10605 9074 10605 1905 2462 9073 10604 9074 10605 9073 10604 9075 10606 9075 10606 9073 10604 9072 10603 9075 10606 9072 10603 9082 10613 9082 10613 9072 10603 9084 10615 9082 10613 9084 10615 9071 10602 9071 10602 9084 10615 1863 2421 9071 10602 1863 2421 1852 2410 9085 10616 9086 10617 9087 10618 9086 10617 2543 3191 2552 3200 9085 10616 9088 10619 1830 2390 1830 2390 9088 10619 1829 2389 9086 10617 2552 3200 9087 10618 9087 10618 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+ + + + + + + + + 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 + + + + + + + + + + + + + + \ No newline at end of file diff --git a/stretch_description/urdf/stretch_aruco.xacro b/stretch_description/urdf/stretch_aruco.xacro index 602f60ce..7652e0a7 100644 --- a/stretch_description/urdf/stretch_aruco.xacro +++ b/stretch_description/urdf/stretch_aruco.xacro @@ -119,7 +119,7 @@ xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042" rpy="0 0 0" /> + value="0.0000399141592653546" /> + value="0.00000224999999999975" /> + value="0.00000225" /> - - - diff --git a/stretch_description/urdf/stretch_d435i.xacro b/stretch_description/urdf/stretch_d435i.xacro index ff85f306..b32c7c2a 100644 --- a/stretch_description/urdf/stretch_d435i.xacro +++ b/stretch_description/urdf/stretch_d435i.xacro @@ -3,20 +3,11 @@ - + - - + - - + - - - diff --git a/stretch_description/urdf/stretch_description.xacro b/stretch_description/urdf/stretch_description.xacro index 953a6902..eab3baba 100644 --- a/stretch_description/urdf/stretch_description.xacro +++ b/stretch_description/urdf/stretch_description.xacro @@ -1,17 +1,18 @@ + + - + + + - - - diff --git a/stretch_description/urdf/stretch_gripper.xacro b/stretch_description/urdf/stretch_gripper.xacro index 14615d8b..db5ebffc 100644 --- a/stretch_description/urdf/stretch_gripper.xacro +++ b/stretch_description/urdf/stretch_gripper.xacro @@ -2,6 +2,10 @@ + + + + @@ -10,14 +14,14 @@ xyz="-0.0170229132730066 0.0131410320934285 -0.0371614759484659" rpy="0 0 0" /> + value="0.000101902711393094" /> + ixx="0.001" + ixy="0" + ixz="0" + iyy="0.001" + iyz="0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_gripper.dae" /> - - - - - @@ -67,14 +64,14 @@ xyz="0.0945047483510102 0.0124301080924361 -4.44089209850063E-16" rpy="0 0 0" /> + value="0.000476207785199474" /> + izz="0.001" /> + filename="package://stretch_description/meshes/link_gripper_finger_left.dae" scale="${scale_finger_length} 1.0 1.0"/> - - - + - - + + izz="0.001" /> + filename="package://stretch_description/meshes/link_gripper_fingertip_left.dae" /> - - - - + --> @@ -178,14 +166,14 @@ xyz="-0.0945047483510099 -0.0124301080924345 0" rpy="0 0 0" /> - + + izz="0.001" /> + filename="package://stretch_description/meshes/link_gripper_finger_right.dae" scale="${scale_finger_length} 1.0 1.0"/> - - - + - + value="0.000382160037319545" /> + izz="0.001" /> + filename="package://stretch_description/meshes/link_gripper_fingertip_right.dae" /> - - - - + --> - - - diff --git a/stretch_description/urdf/stretch_ignition.xacro b/stretch_description/urdf/stretch_ignition.xacro new file mode 100644 index 00000000..57a2e88c --- /dev/null +++ b/stretch_description/urdf/stretch_ignition.xacro @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/stretch_description/urdf/stretch_ignition_plugins.xacro b/stretch_description/urdf/stretch_ignition_plugins.xacro new file mode 100644 index 00000000..c71ff915 --- /dev/null +++ b/stretch_description/urdf/stretch_ignition_plugins.xacro @@ -0,0 +1,577 @@ + + + + + + + + + + joint_left_wheel + joint_right_wheel + 0.315 + 0.05 + 10 + cmd_vel + odom + base_link + + + + + + joint_trajectory + + joint_arm_l0 + 0 + 3000 + 15 + 1650 + -15 + 15 + -87 + 87 + + joint_arm_l1 + 0 + 3000 + 15 + 1650 + -15 + 15 + -87 + 87 + + joint_arm_l2 + 0 + 3000 + 15 + 1650 + -15 + 15 + -87 + 87 + + joint_arm_l3 + 0 + 3000 + 15 + 1650 + -15 + 15 + -87 + 87 + + joint_lift + 0 + 3000 + 15 + 1650 + -15 + 15 + -87 + 87 + + joint_wrist_yaw + 0 + 3000 + 15 + 1650 + -15 + 15 + -87 + 87 + + joint_gripper_finger_left + 0 + 3000 + 15 + 1650 + -15 + 15 + -87 + 87 + + joint_gripper_finger_right + 0 + 3000 + 15 + 1650 + -15 + 15 + -87 + 87 + + joint_head_pan + 0 + 300 + 2.9 + 10 + -15 + 15 + -50 + 50 + + joint_head_tilt + 0 + 300 + 2.9 + 10 + -15 + 15 + -50 + 50 + + + + + + + + true + + + + + scan + 5.5 + + + + + 2000 + 1 + -3.141592 + 3.141592 + + + 1 + 1 + 0 + 0 + + + + 0.08 + 12.0 + 0.01 + + + 0.0 + 0.001 + + + 1 + false + + + + + + + 1 + 25 + false + imu + + + + + + 0.0 + 0.00003125 + + + + + 0.0 + 0.00003125 + + + + + 0.0 + 0.00003125 + + + + + + + + 0.0 + 0.01 + + + + + 0.0 + 0.01 + + + + + 0.0 + 0.01 + + + + + + + + + 1 + 25 + false + magnetometer + + + + 0.0 + 0.0083 + + + + + 0.0 + 0.0083 + + + + + 0.0 + 0.0083 + + + + + + + + + + + 1 + 100 + false + wrist_imu + + + + + 0.0 + 0.0 + + + + + 0.0 + 0.0 + + + + + 0.0 + 0.0 + + + + + + + + 0.0 + 0.00055 + + + + + 0.0 + 0.00055 + + + + + 0.0 + 0.00055 + + + + + + + + + + + true + + + + true + + + + true + + + + + + 1 + 100 + false + realsense_imu + + + + + 0.0 + 0.001 + + + + + 0.0 + 0.001 + + + + + 0.0 + 0.001 + + + + + + + 0.0 + 0.001 + + + + + 0.0 + 0.001 + + + + + 0.0 + 0.001 + + + + + + + + + + true + + + + true + + + + + 30 + + 1.13446 + + + 554.25469 + 554.25469 + 320.5 + 240.5 + 0 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + 1920 + 1080 + R8G8B8 + + + 0.01 + 300 + + + + 0.1 + 10 + + + + gaussian + 0 + 0.007 + + + + + + + + + true + + + + true + + + + + 30 + + 1.13446 + + + 554.25469 + 554.25469 + 320.5 + 240.5 + 0 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + 1920 + 1080 + R8G8B8 + + + 0.01 + 300 + + + gaussian + 0 + 0.007 + + + + + + + + true + + + + true + + + + + 30 + + 1.13446 + + + 554.25469 + 554.25469 + 320.5 + 240.5 + 0 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + 1920 + 1080 + R8G8B8 + + + 0.01 + 300 + + + gaussian + 0 + 0.007 + + + + + + + + true + + + + true + + + + + 30 + + 1.13446 + + + 554.25469 + 554.25469 + 320.5 + 240.5 + 0 + + + + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 +
0.5 0.5
+ + + 1920 + 1080 + R8G8B8 + + + 0.01 + 300 + + + gaussian + 0 + 0.007 + + + + + + + + + diff --git a/stretch_description/urdf/stretch_laser_range_finder.xacro b/stretch_description/urdf/stretch_laser_range_finder.xacro index af62fb6c..e8848fb8 100644 --- a/stretch_description/urdf/stretch_laser_range_finder.xacro +++ b/stretch_description/urdf/stretch_laser_range_finder.xacro @@ -23,13 +23,8 @@ rpy="0 0 0" /> + filename="package://stretch_description/meshes/laser.dae" /> - - - - - - diff --git a/stretch_description/urdf/stretch_main.xacro b/stretch_description/urdf/stretch_main.xacro index 7d878f2b..adb7a7de 100644 --- a/stretch_description/urdf/stretch_main.xacro +++ b/stretch_description/urdf/stretch_main.xacro @@ -1,6 +1,16 @@ - + + + + + + + + + + + @@ -23,13 +33,8 @@ rpy="0 0 0" /> + filename="package://stretch_description/meshes/base_link.dae" /> - - - + izz="0.001" /> + filename="package://stretch_description/meshes/link_right_wheel.dae" /> - - - + + izz="0.001" /> + filename="package://stretch_description/meshes/link_left_wheel.dae" /> - - - + - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 0 + 0 + 1.0 + 1.0 + + + + + 0 + 0.2 + 1e+13 + 1 + 0.001 + + + + + + + + + + + + + + + + + + + + + + + + + + value="0.05" /> + ixx="0.001" + ixy="0.0" + ixz="0.0" + iyy="0.001" + iyz="0.0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_mast.dae" /> - - - - + @@ -214,14 +309,14 @@ xyz="-0.0547636346252869 0.0380939689802074 0.00933159404448308" rpy="0 0 0" /> + value="0.044820831236007" /> + ixx="0.001" + ixy="0.0" + ixz="0.0" + iyy="0.001" + iyz="0.0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_lift.dae" /> - - - - - - - + xyz="0 0 1" /> + + + + value="0.00676525455789735" /> + ixx="0.001" + ixy="0" + ixz="0" + iyy="0.001" + iyz="0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_arm_l4.dae" /> - - - + value="0.00626921047058405" /> + ixx="0.001" + ixy="0" + ixz="0" + iyy="0.001" + iyz="0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_arm_l3.dae" /> - - - - + xyz="0 0 1" /> + + value="0.00569074368576238" /> + ixx="0.001" + ixy="0" + ixz="0" + iyy="0.001" + iyz="0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_arm_l2.dae" /> - - - - + xyz="0 0 1" /> + + value="0.00511763619538321" /> + ixx="0.001" + ixy="0" + ixz="0" + iyy="0.001" + iyz="0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_arm_l1.dae" /> - - - - + xyz="0 0 1" /> + + value="0.0101241250325294" /> + ixx="0.001" + ixy="0" + ixz="0" + iyy="0.001" + iyz="0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_arm_l0.dae" /> - - - - + xyz="0 0 1" /> + + ixx="0.001" + ixy="0" + ixz="0" + iyy="0.001" + iyz="0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_wrist_yaw.dae" /> - - - - + + value="0.00129454717596498" /> + ixx="0.001" + ixy="0" + ixz="0" + iyy="0.001" + iyz="0" + izz="0.001" /> + filename="package://stretch_description/meshes/link_head.dae" /> - - - + value="0.00035858341182617" /> + ixx="0.0001" + ixy="0" + ixz="0" + iyy="0.0001" + iyz="0" + izz="0.0001" /> + filename="package://stretch_description/meshes/link_head_pan.dae" /> - - - - + xyz="0 0 1" /> + @@ -730,14 +774,14 @@ xyz="0.00920211049011871 -0.0279724762416447 0.0306580436227023" rpy="0 0 0" /> + value="0.000101242408063442" /> + ixx="0.0001" + ixy="0" + ixz="0" + iyy="0.0001" + iyz="0" + izz="0.0001" /> + filename="package://stretch_description/meshes/link_head_tilt.dae" /> - - - - + - - - diff --git a/stretch_description/urdf/stretch_respeaker.xacro b/stretch_description/urdf/stretch_respeaker.xacro index 428b84fb..0e64dc6b 100644 --- a/stretch_description/urdf/stretch_respeaker.xacro +++ b/stretch_description/urdf/stretch_respeaker.xacro @@ -7,7 +7,7 @@ xyz="-0.00078082896792734 0.00765742173486017 -0.0042488298301937" rpy="0 0 0" /> + value="0.0000969129410417277" /> - - - diff --git a/stretch_ignition/CMakeLists.txt b/stretch_ignition/CMakeLists.txt new file mode 100644 index 00000000..52591520 --- /dev/null +++ b/stretch_ignition/CMakeLists.txt @@ -0,0 +1,8 @@ +cmake_minimum_required(VERSION 3.10.2) +project(stretch_ignition) + +find_package(ament_cmake REQUIRED) + +install(DIRECTORY worlds rviz launch DESTINATION share/${PROJECT_NAME}) + +ament_package() diff --git a/stretch_ignition/README.md b/stretch_ignition/README.md new file mode 100644 index 00000000..f65a12f0 --- /dev/null +++ b/stretch_ignition/README.md @@ -0,0 +1,120 @@ +![](../images/banner.png) + +## Overview + +*stretch_ignition* is an implementation of simulating a Stretch robot with [Ignition Gazebo](https://ignitionrobotics.org/) simulator. + +## Details + +The *rviz directory* contains an rviz file that is used for visualizing sensors on rviz with a default configuration. + +The *world* directory contains two different [sdf world files](http://sdformat.org/spec?ver=1.6&elem=world). These files loads Ignition physics and enables sensor plugins to work with igtnition + +* empty_world.sdf: An empty world instance with LIDAR, IMU and Magnetometer sensor plugins loaded +* aws_small_house.sdf: A playground for Stretch with multiple objects to play with. A modified version of [aws_robomaker_small_house_world](https://github.com/aws-robotics/aws-robomaker-small-house-world), where it is ported to Ignition, and more objects are added. This world file also includes the same sensor plugins with empty_world. + +The *launch* directory contains a single launch file *ignition.launch* which spawns the robot with all the sensors ready to use and ignition's internal joint trajectory controllers up and running to control each joint on the robot. The following plugins are loaded as part of this launch file: + +* [libignition-gazebo-joint-state-publisher-system.so](https://ignitionrobotics.org/api/gazebo/5.0/classignition_1_1gazebo_1_1systems_1_1JointStatePublisher.html): Publishes joint states +* [libignition-gazebo-diff-drive-system.so](https://ignitionrobotics.org/api/gazebo/5.0/classignition_1_1gazebo_1_1systems_1_1DiffDrive.html): Enables the robot to take *cmd_vel* commands and drives the base +* [libignition-gazebo-joint-trajectory-controller-system.so](https://ignitionrobotics.org/api/gazebo/5.0/classignition_1_1gazebo_1_1systems_1_1JointTrajectoryController.html): Specifies PID controllers for each joint except the wheel joints (which are drive by diff-drive system) and enables robot to subscribe and execute `joint_trajectory` commands. +* Sensors: Various sensor plugins with noises and parameters configured such that they represent the noise values from the sensor's datahseet. Sensors inlcuded here are base and wrist IMU, LIDAR and Realsense D435i. Note that being a depth camera Realsense D435i can affect decrease simulation's realtime capabilities. Consider removing it by setting *realsense* parameter in *stretch_description.xacro* to false if you do not use it. Additionally you can disable the additional IR and color camera topics without depth information by setting *realsense_extra_topics* to false in *stretch_ignition.xacro* + +All these plugins can be found in *stretch_ignition_plugins.xacro* that is located under *urdf* directory of *stretch_description* package along with other xacro files. + + + +*ignition.launch.py* contains three different launch parameters that can be set from the command line: + +* `use_sim_time`: If true, use simulated clock from the Ignition simulator instead of real time. Defaults to true. +* `rviz`: If true, pop up an rviz instance to ease sensor visualization. Defaults to false. +* `aws`: If true, spawn an aws_robomaker_small_house_world instance with plenty of objects to play around, else spawns an empty world instead. Defaults to false. + +## Ignition Sensors vs Stretch Sensors + +| Sensor | Gazebo | Stretch | Notes | +|:---------------------:|:------------------:|:------------------:|:-----------------:| +| LIDAR | :heavy_check_mark: | :heavy_check_mark: | | +| Base IMU | :heavy_check_mark: | :heavy_check_mark: | | +| Wrist Accelerometer | :heavy_check_mark: | :heavy_check_mark: | Modeled as an IMU | +| Realsense D435i | :heavy_check_mark: | :heavy_check_mark: | | +| Respeaker (Mic Array) | :x: | :heavy_check_mark: | | +| Cliff Sensors | :x: | :heavy_check_mark: | | + +*Notes:* Although there is no microphone in Gazebo, Respeaker can be represented with a ROS node that accesses compputer's microphone. Cliff sensors are not modeled but they can also be represented as 1D LIDAR sensors. See LIDAR definition in *stretch_gazebo.urdf.xacro* file. + +## Setup + +Install Ignition Edifice binaries following [this document](https://ignitionrobotics.org/docs/edifice/install_ubuntu) + +*Import note on Ignition:* + +Ignition wants the following environment variables to set to correctly compile ros_ign (a dependecny of stretch_ignition) and launch the robot correctly with AWS world in the next steps. Consider adding these lines to your bashrc to avoid writing them again in each new terminal instance. + +```bash + export IGNITION_VERSION=edifice + # Please use full absolute paths instead of $COLCON_WS below (for eg: /root/ws_stretch/src/stretch_ros) + export IGN_GAZEBO_RESOURCE_PATH="$COLCON_WS/src/stretch_ros:/$COLCON_WS/src/realsense-ros:/$COLCON_WS/src/aws-robomaker-small-house-world/models" +``` + +Build and source moveit2 from source using [this instructions](https://moveit.ros.org/install-moveit2/source/). Then clone stretch_ros to your colcon workspace. Finally install dependencies and build the packages, with the following set of commands: + +```bash + source ~/ws_moveit/install/setup.bash + cd $COLCON_WS/src + wget https://raw.githubusercontent.com/PickNikRobotics/stretch_ros/ros2/stretch_ros.repos + vcs import < stretch_ros.repos + rosdep install -r --from-paths . --ignore-src --rosdistro foxy -y + cd $COLCON_WS + colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release +``` + +## Ignition - Moveit Controllers vs stretch_core + +At the time of writing this package *ros2_control* has not been ported to Ignition. Thus, actuators are defined as afore-mentioned Ignition controllable objects. Moveit is configured to use five different action servers to control the body parts of stretch in Ignition through the srdf file in *stretch_moveit_config* package. See the section below about moveit for details. Please note that this behaviour is different than *stretch_core* as it works with a single Python interface to control all the joints. + +## Spawning Stretch in Ignition with Empty World + +```bash + # Terminal 1: + ros2 launch stretch_ignition ignition.launch.py rviz:=true + # Terminal 2: + ros2 run teleop_twist_keyboard teleop_twist_keyboard +``` + +This will launch an Rviz instance that visualizes the sensors and an empty world in Ignition with Stretch and load all the controllers. Although, the base will be able to move with the keyboard teleop comamnds, the teleop won't give joint trajectory commands to arm, head or gripper. To move these joints see the next section about *Running Ignition with MoveIt2 and Stretch*. + +![](../images/stretch_ignition_empty.png) + +## Spawning Stretch in Ignition with Small House World + +```bash + # Terminal 1: + ros2 launch stretch_ignition ignition.launch.py rviz:=true aws:=true + # Terminal 2: + ros2 run teleop_twist_keyboard teleop_twist_keyboard +``` +![](../images/stretch_ignition_aws.png) + +This will launch an Rviz instance that visualizes the sensors and an AWS small house world in Ignition with Stretch and load all the controllers. Although, the base will be able to move with the joystick comamnds, the joystick won't give joint trajectory to arm, head or gripper. To move these joints see the next section about *Running Ignition with MoveIt2 and Stretch*. + +## Running Ignition with MoveIt2 and Stretch + +```bash + # Terminal 1: + ros2 launch stretch_ignition ignition.launch.py + # Terminal 2: + ros2 launch stretch_moveit_config demo_ignition.launch.py +``` + +This will launch an Rviz instance that visualizes the joints with markers and an empty world in Ignition with Stretch and load all the controllers. There are pre-defined positions for each joint group for demonstration purposes. There are five joint groups, namely *stretch_arm*, *gripper*, *position*, *mobile_base_arm* and *stretch_head* that can be controlled individually via Motion Planning Rviz plugin. Start and goal positions for joints can be selected similar to [this moveit tutorial](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html#choosing-specific-start-goal-states). A few notes to be kept in mind: + +* Planning group can be changed via *Planning Group* drop down in Planning tab of Motion Planning Rviz plugin. +* Pre-defined start and goal states can be speciified in *Start State* and *Goal State* drop downs in Planning tab of Motion Planning Rviz plugin. +* *stretch_gripper* group does not show markers, and is intended to be controlled via the joints tab that is located in the very right of Motion Planning Rviz plugin. +* When planning with *stretch_head* group make sure you select *Approx IK Solutions* in Planning tab of Motion Planning Rviz plugin. +* Using virtual joints ROS2 and Moveit2 is now capable of making plans for differential drive mobile bases. See [this tutorial](http://moveit2_tutorials.picknik.ai/doc/mobile_base_arm/mobile_base_arm_tutorial.html) for a detailed overview of this new feature. + +![](../images/stretch_ignition_moveit.gif) + +*Note*: All the tests for this package has been done with the binary release of Ignition Edifice on Ubuntu 20.04, using ROS2 Foxy. diff --git a/stretch_ignition/launch/ignition.launch.py b/stretch_ignition/launch/ignition.launch.py new file mode 100644 index 00000000..461b5e8b --- /dev/null +++ b/stretch_ignition/launch/ignition.launch.py @@ -0,0 +1,234 @@ +import os +import yaml +import xacro +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 +from launch.actions import DeclareLaunchArgument +from launch.substitutions import LaunchConfiguration +from launch.conditions import IfCondition, UnlessCondition + +def generate_launch_description(): + + use_sim_time = LaunchConfiguration('use_sim_time', default=True) + rviz_arg = LaunchConfiguration('rviz', default=False) + aws_arg = LaunchConfiguration('aws', default=False) + + robot_description_path = os.path.join(get_package_share_directory("stretch_description"), "urdf", "stretch_ignition.xacro") + robot_description_config = xacro.process_file( + robot_description_path + ) + robot_description = {"robot_description": robot_description_config.toxml()} + + # Robot state publisher + robot_state_publisher = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + name="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + + # Ignition gazebo + pkg_ros_ign_gazebo = get_package_share_directory('ros_ign_gazebo') + pkg_stretch_ignition = get_package_share_directory('stretch_ignition') + empty_world_str = "-r " + os.path.join(pkg_stretch_ignition, 'worlds', 'empty_world.sdf') + empty_gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')), + launch_arguments={'ign_args': empty_world_str}.items(), + condition=UnlessCondition(aws_arg) + ) + + aws_world_str = "-r " + os.path.join(pkg_stretch_ignition, 'worlds', 'aws_small_house.sdf') + aws_gazebo = IncludeLaunchDescription( + PythonLaunchDescriptionSource( + os.path.join(pkg_ros_ign_gazebo, 'launch', 'ign_gazebo.launch.py')), + launch_arguments={'ign_args': aws_world_str}.items(), + condition=IfCondition(aws_arg) + ) + + # RViz + rviz = Node( + package='rviz2', + executable='rviz2', + arguments=['-d', os.path.join(pkg_stretch_ignition, 'rviz', 'stretch_ignition.rviz')], + condition=IfCondition(rviz_arg) + ) + + # Spawn + spawn = Node(package='ros_ign_gazebo', executable='create', + arguments=[ + '-name', 'stretch', + '-topic', 'robot_description', + '-z', '0.1', + ], + output='screen', + ) + + # Ign Bridge + bridge = Node( + package='ros_ign_bridge', + executable='parameter_bridge', + parameters=[{'use_sim_time': use_sim_time}], + arguments=[ + # Velocity commands (ROS2 -> IGN) + '/cmd_vel@geometry_msgs/msg/Twist]ignition.msgs.Twist', + # JointTrajectory bridge (ROS2 -> IGN) + '/joint_trajectory@trajectory_msgs/msg/JointTrajectory]ignition.msgs.JointTrajectory', + # Odometry (IGN -> ROS2) + '/model/stretch/odometry@nav_msgs/msg/Odometry[ignition.msgs.Odometry', + # odom->base_link tf (IGN -> ROS2) + '/model/stretch/tf@tf2_msgs/msg/TFMessage[ignition.msgs.Pose_V', + # Clock (IGN -> ROS2) + '/clock@rosgraph_msgs/msg/Clock[ignition.msgs.Clock', + # Joint states (IGN -> ROS2) + '/world/default/model/stretch/joint_state@sensor_msgs/msg/JointState[ignition.msgs.Model', + # JointTrajectoryProgress bridge (IGN -> ROS2) + '/joint_trajectory_progress@std_msgs/msg/Float32[ignition.msgs.Float', + # Lidar (IGN -> ROS2) + '/scan@sensor_msgs/msg/LaserScan[ignition.msgs.LaserScan', + '/scan/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked', + # Base IMU (IGN -> ROS2) + '/imu@sensor_msgs/msg/Imu[ignition.msgs.IMU', + # Base Magnetometer (IGN -> ROS2) + '/magnetometer@sensor_msgs/msg/MagneticField[ignition.msgs.Magnetometer', + # Wrist Accelerometer (IGN -> ROS2) + '/wrist_imu@sensor_msgs/msg/Imu[ignition.msgs.IMU', + # Realsense IMU + '/realsense_imu@sensor_msgs/msg/Imu[ignition.msgs.IMU', + # Realsense Camera (TODO: Port realsense plugin when ign supports custom plugins) (IGN -> ROS2) + # Realsense Color + '/world/default/model/stretch/link/camera_color_optical_frame/sensor/realsense_d435_color/image@sensor_msgs/msg/Image[ignition.msgs.Image', + '/world/default/model/stretch/link/camera_color_optical_frame/sensor/realsense_d435_color/camera_info@sensor_msgs/msg/CameraInfo[ignition::msgs::CameraInfo', + # Realsense Depth + '/world/default/model/stretch/link/camera_depth_optical_frame/sensor/realsense_d435/depth_image@sensor_msgs/msg/Image[ignition.msgs.Image', + '/world/default/model/stretch/link/camera_depth_optical_frame/sensor/realsense_d435/points@sensor_msgs/msg/PointCloud2[ignition.msgs.PointCloudPacked', + '/world/default/model/stretch/link/camera_depth_optical_frame/sensor/realsense_d435/camera_info@sensor_msgs/msg/CameraInfo[ignition::msgs::CameraInfo', + '/world/default/model/stretch/link/camera_depth_optical_frame/sensor/realsense_d435/image@sensor_msgs/msg/Image[ignition.msgs.Image' + # Realsense IR 1 + '/world/default/model/stretch/link/camera_infra1_optical_frame/sensor/realsense_d435_ir/image@sensor_msgs/msg/Image[ignition.msgs.Image', + '/world/default/model/stretch/link/camera_infra1_optical_frame/sensor/realsense_d435_ir/camera_info@sensor_msgs/msg/CameraInfo[ignition::msgs::CameraInfo', + # Realsense IR 2 + '/world/default/model/stretch/link/camera_infra2_optical_frame/sensor/realsense_d435_ir2/image@sensor_msgs/msg/Image[ignition.msgs.Image', + '/world/default/model/stretch/link/camera_infra2_optical_frame/sensor/realsense_d435_ir2/camera_info@sensor_msgs/msg/CameraInfo[ignition::msgs::CameraInfo', + ], + remappings=[ + ("/model/stretch/tf", "tf"), + ("/world/default/model/stretch/joint_state", "joint_states"), + ("/model/stretch/odometry", "odom"), + ("/imu", "imu/data"), + ("/magnetometer", "mag"), + ("/wrist_imu", "wrist_imu/data"), + # Realsense IMU + ("/realsense_imu", "realsense/imu/data"), + # Realsense Color + ("/world/default/model/stretch/link/camera_color_optical_frame/sensor/realsense_d435_color/image", "/realsense/color/image_raw"), + ("/world/default/model/stretch/link/camera_color_optical_frame/sensor/realsense_d435_color/camera_info", "/realsense/color/camera_info"), + # Realsense Depth + ("/world/default/model/stretch/link/camera_depth_optical_frame/sensor/realsense_d435/camera_info", "/realsense/depth/camera_info"), + ("/world/default/model/stretch/link/camera_depth_optical_frame/sensor/realsense_d435/points", "/realsense/depth/color/points"), + ("/world/default/model/stretch/link/camera_depth_optical_frame/sensor/realsense_d435/depth_image", "/realsense/depth/image_raw"), + ("/world/default/model/stretch/link/camera_depth_optical_frame/sensor/realsense_d435/image", "realsense/depth/color/image_raw"), + # Realsense IR 1 + ("/world/default/model/stretch/link/camera_infra1_optical_frame/sensor/realsense_d435_ir/image", "realsense/infrared/image_raw"), + ("/world/default/model/stretch/link/camera_infra1_optical_frame/sensor/realsense_d435_ir/camera_info", "realsense/infrared/camera_info"), + # Realsense IR 2 + ("/world/default/model/stretch/link/camera_infra2_optical_frame/sensor/realsense_d435_ir2/image", "realsense/infrared2/image_raw"), + ("/world/default/model/stretch/link/camera_infra2_optical_frame/sensor/realsense_d435_ir2/camera_info", "realsense/infrared2/camera_info"), + ], + output='screen' + ) + + # Sensor Static TFs (until we can give frame_id argument in ignition sensor plugins) + lidar_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='lidar_static_transform_publisher', + output='log', + arguments=['0', '0.0', '0.0', '0.0', '0.0', '0.0', 'laser', 'stretch/laser/gpu_lidar']) + imu_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='imu_static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'base_link', 'stretch/base_link/imu']) + mag_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='mag_static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'base_link', 'stretch/base_link/magnetometer']) + wrist_imu_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='wrist_imu_static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'link_wrist_yaw', 'stretch/link_wrist_yaw/wrist_imu']) + realsense_imu_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='realsense_imu_static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'camera_gyro_frame', 'stretch/camera_gyro_frame/realsense_imu']) + realsense_color_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='rgbd_static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0', '0', '0', 'camera_color_optical_frame', 'stretch/camera_color_optical_frame/realsense_d435_color']) + realsense_depth_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='rgbd_static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0', '0', '0', 'camera_depth_optical_frame', 'stretch/camera_depth_optical_frame/realsense_d435']) + realsense_ir_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='rgbd_static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0', '0', '0', 'camera_infra1_optical_frame', 'stretch/camera_infra1_optical_frame/realsense_d435_ir']) + realsense_ir2_static_tf = Node(package='tf2_ros', + executable='static_transform_publisher', + name='rgbd_static_transform_publisher', + output='log', + arguments=['0.0', '0.0', '0.0', '0', '0', '0', 'camera_infra2_optical_frame', 'stretch/camera_infra2_optical_frame/realsense_d435_ir2']) + + # Controllers + # TODO (vatanaksoytezer): Use ros_ign_control when it is ready + stretch_ignition_control_node = Node( + package="stretch_ignition_control", + executable="stretch_ignition_control_action_server", + name="stretch_ignition_control", + output="screen", + ) + + return LaunchDescription( + [ + # Launch Arguments + DeclareLaunchArgument( + 'use_sim_time', + default_value=use_sim_time, + description="If true, use simulated clock"), + DeclareLaunchArgument( + 'rviz', + default_value=rviz_arg, + description="If true, pop up an rviz instance"), + DeclareLaunchArgument( + 'aws', + default_value=aws_arg, + description="If true, opens up an aws_robomaker world instead of an empty world"), + # Nodes and Launches + empty_gazebo, + aws_gazebo, + spawn, + bridge, + robot_state_publisher, + stretch_ignition_control_node, + lidar_static_tf, + imu_static_tf, + mag_static_tf, + wrist_imu_static_tf, + realsense_imu_static_tf, + realsense_color_static_tf, + realsense_depth_static_tf, + realsense_ir_static_tf, + realsense_ir2_static_tf, + rviz, + ] + ) diff --git a/stretch_ignition/package.xml b/stretch_ignition/package.xml new file mode 100644 index 00000000..30c6ca74 --- /dev/null +++ b/stretch_ignition/package.xml @@ -0,0 +1,18 @@ + + + + stretch_ignition + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/stretch_ignition/rviz/stretch_ignition.rviz b/stretch_ignition/rviz/stretch_ignition.rviz new file mode 100644 index 00000000..e7f2acf0 --- /dev/null +++ b/stretch_ignition/rviz/stretch_ignition.rviz @@ -0,0 +1,406 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /RobotModel1/Description Topic1 + Splitter Ratio: 0.5 + Tree Height: 907 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 77; 77; 79 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 50 + Reference Frame: + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_accel_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_accel_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_bottom_screw_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_color_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_gyro_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_gyro_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra1_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_infra2_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_link_phi: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_link_psi: + Alpha: 1 + Show Axes: false + Show Trail: false + caster_link_theta: + Alpha: 1 + Show Axes: false + Show Trail: false + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /realsense/depth/color/points + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /move_base_simple/goal + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 6.55683708190918 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.36786022782325745 + Y: 0.24416948854923248 + Z: 0.861330509185791 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.2852027118206024 + Target Frame: + Value: Orbit (rviz) + Yaw: 0.41906195878982544 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1052 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 1920 + Y: 0 diff --git a/stretch_ignition/worlds/aws_small_house.sdf b/stretch_ignition/worlds/aws_small_house.sdf new file mode 100644 index 00000000..81f5960e --- /dev/null +++ b/stretch_ignition/worlds/aws_small_house.sdf @@ -0,0 +1,759 @@ + + + + + 0 0 -9.8 + + 0.001 + 1.0 + 100 + + + + + + + + + + + + + + ogre2 + + + + + + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + + + + + + + + 1.212301 -1.533438 0.381983 1.57 0.0 0.0 + + + 0.1 + + 0.00389124 + 0 + 0 + 0.000518939 + 0 + 0.00389926 + + + + + + 0.02 + 0.15 + + + + + + + 0.02 + 0.05 + + + + + + + + 1.312301 -1.533438 0.381983 0.000000 0.000000 0.0 + + + 0.1 + + 0.00389124 + 0 + 0 + 0.000518939 + 0 + 0.00389926 + + + 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0.01 + 0.03 + + 0 + 0 0 -1 + + + 7.8582 -1.5905 2.280000 0 -0 0 + 0.5 0.5 0.5 1 + 0.1 0.1 0.1 1 + + 20 + 0.3 + 0.01 + 0.01 + + 0 + 0 0 -1 + + + + diff --git a/stretch_ignition/worlds/empty_world.sdf b/stretch_ignition/worlds/empty_world.sdf new file mode 100644 index 00000000..d4cd8078 --- /dev/null +++ b/stretch_ignition/worlds/empty_world.sdf @@ -0,0 +1,86 @@ + + + + 0.001 + 1.0 + + + + + + + + + + + + + + ogre2 + + + + + + + + + + + + true + 0 0 10 0 0 0 + 0.8 0.8 0.8 1 + 0.2 0.2 0.2 1 + + 1000 + 0.9 + 0.01 + 0.001 + + -0.5 0.1 -0.9 + + + + true + + + + + 0 0 1 + 100 100 + + + + + + + 0 0 1 + 100 100 + + + + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + 0.8 0.8 0.8 1 + + + + + + + diff --git a/stretch_ignition_control/README.md b/stretch_ignition_control/README.md new file mode 100644 index 00000000..e69de29b diff --git a/stretch_ignition_control/package.xml b/stretch_ignition_control/package.xml new file mode 100644 index 00000000..3d535a29 --- /dev/null +++ b/stretch_ignition_control/package.xml @@ -0,0 +1,13 @@ + + + + stretch_ignition_control + 0.0.0 + TODO: Package description + root + TODO: License declaration + + + ament_python + + diff --git a/stretch_ignition_control/resource/stretch_ignition_control b/stretch_ignition_control/resource/stretch_ignition_control new file mode 100644 index 00000000..e69de29b diff --git a/stretch_ignition_control/setup.cfg b/stretch_ignition_control/setup.cfg new file mode 100644 index 00000000..05039e46 --- /dev/null +++ b/stretch_ignition_control/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script-dir=$base/lib/stretch_ignition_control +[install] +install-scripts=$base/lib/stretch_ignition_control diff --git a/stretch_ignition_control/setup.py b/stretch_ignition_control/setup.py new file mode 100644 index 00000000..75b84038 --- /dev/null +++ b/stretch_ignition_control/setup.py @@ -0,0 +1,27 @@ +from setuptools import setup +from glob import glob + +package_name = 'stretch_ignition_control' + +setup( + name=package_name, + version='0.0.0', + packages=[package_name], + data_files=[ + ('share/ament_index/resource_index/packages', ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ('share/' + package_name + '/launch', glob('launch/*.launch.py')), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='root', + maintainer_email='vatanaksoytezer@gmail.com', + description='TODO: Package description', + license='TODO: License declaration', + # tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'stretch_ignition_control_action_server = stretch_ignition_control.stretch_ignition_control_action_server:main' + ], + }, +) diff --git a/stretch_ignition_control/stretch_ignition_control/__init__.py b/stretch_ignition_control/stretch_ignition_control/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/stretch_ignition_control/stretch_ignition_control/stretch_ignition_control_action_server.py b/stretch_ignition_control/stretch_ignition_control/stretch_ignition_control_action_server.py new file mode 100644 index 00000000..354caf99 --- /dev/null +++ b/stretch_ignition_control/stretch_ignition_control/stretch_ignition_control_action_server.py @@ -0,0 +1,56 @@ +from control_msgs.action import FollowJointTrajectory +from trajectory_msgs.msg import JointTrajectory +from trajectory_msgs.msg import MultiDOFJointTrajectory +from geometry_msgs.msg import Twist +import rclpy +from rclpy.action import ActionServer +from rclpy.node import Node +import time + + +class FollowJointTrajectoryActionServer(Node): + + def __init__(self): + super().__init__('follow_joint_trajectory_action_server') + self._joint_trajectory_publisher = self.create_publisher(JointTrajectory, '/joint_trajectory', 10) + self._cmd_vel_publisher = self.create_publisher(Twist, '/cmd_vel', 10) + self._action_server = ActionServer( + self, + FollowJointTrajectory, + '/stretch_controller/follow_joint_trajectory', + self.execute_callback) + + def execute_callback(self, goal_handle): + self.get_logger().info('Executing goal...') + result = FollowJointTrajectory.Result() + trajectory = goal_handle.request.trajectory + multidof_trajectory = goal_handle.request.multi_dof_trajectory + # print(multidof_trajectory) + cmd_vel = Twist() + previous_time_from_start = 0.0 + self._joint_trajectory_publisher.publish(trajectory) + # print(trajectory) + for point in multidof_trajectory.points: + current_time_from_start = point.time_from_start.sec + point.time_from_start.nanosec * 1e-9 + # cmd_vel.linear.x = float(point.velocities[0].linear.x) + # cmd_vel.angular.z = float(point.velocities[0].angular.z) + cmd_vel = point.velocities[0] + # print(cmd_vel) + self._cmd_vel_publisher.publish(cmd_vel) + execution_time = current_time_from_start - previous_time_from_start + # print(execution_time) + time.sleep(execution_time) + previous_time_from_start = current_time_from_start + cmd_vel.linear.x = 0.0 + cmd_vel.angular.z = 0.0 + self._cmd_vel_publisher.publish(cmd_vel) + goal_handle.succeed() + return result + +def main(args=None): + rclpy.init(args=args) + follow_joint_trajectory_action_server = FollowJointTrajectoryActionServer() + rclpy.spin(follow_joint_trajectory_action_server) + +if __name__ == '__main__': + main() diff --git a/stretch_moveit_config/config/stretch_description.srdf b/stretch_moveit_config/config/stretch_description.srdf index 9f7f725d..f9ec6d49 100644 --- a/stretch_moveit_config/config/stretch_description.srdf +++ b/stretch_moveit_config/config/stretch_description.srdf @@ -45,7 +45,7 @@ - + @@ -53,7 +53,7 @@ - + @@ -81,7 +81,7 @@ - + @@ -90,7 +90,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -434,7 +434,10 @@ + until we figure out a better model for the gripper. --> + + + diff --git a/stretch_moveit_config/launch/demo_ignition.launch.py b/stretch_moveit_config/launch/demo_ignition.launch.py new file mode 100644 index 00000000..89feeec3 --- /dev/null +++ b/stretch_moveit_config/launch/demo_ignition.launch.py @@ -0,0 +1,143 @@ +import os +import yaml +from launch import LaunchDescription +from launch_ros.actions import Node +from launch.actions import ExecuteProcess +from ament_index_python.packages import get_package_share_directory +import xacro +import argparse +import sys + +def load_file(package_name, file_path): + package_path = get_package_share_directory(package_name) + absolute_file_path = os.path.join(package_path, file_path) + + try: + with open(absolute_file_path, 'r') as file: + return file.read() + except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + return None + +def load_yaml(package_name, file_path): + package_path = get_package_share_directory(package_name) + absolute_file_path = os.path.join(package_path, file_path) + + try: + with open(absolute_file_path, 'r') as file: + return yaml.safe_load(file) + except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available + return None + + +# Mapping from entry in the stretch_body configuration to joints in the SRDF +CONFIGURATION_TRANSLATION = { + 'lift': ['lift'], + 'wrist_yaw': ['wrist_yaw'], + 'stretch_gripper': ['joint_gripper_finger_left', 'joint_gripper_finger_right'], + 'base': ['position/x', 'position/theta'], + 'arm': ['joint_arm_l0', 'joint_arm_l1', 'joint_arm_l2', 'joint_arm_l3'], + 'head': ['joint_head_pan', 'joint_head_tilt'] +} + +def load_joint_limits_from_config(mode='default'): + """Translate the values from the robot configuration to params to be used by MoveIt.""" + params = {'joint_limits': {}} + try: + from stretch_body.device import Device + d = Device() + for config_name, joint_names in CONFIGURATION_TRANSLATION.items(): + config = d.robot_params[config_name] + config_limits = config['motion'].get(mode, {}) + result = {} + for name, abrev in [('velocity', 'vel'), ('acceleration', 'accel')]: + cfg_name = f'{abrev}_m' + if cfg_name in config_limits: + result[f'has_{name}_limits'] = True + result[f'max_{name}'] = config_limits[cfg_name] + else: + result[f'has_{name}_limits'] = False + for joint_name in joint_names: + params['joint_limits'][joint_name] = dict(result) + except (KeyError, ModuleNotFoundError): + # We may reach here if HELLO_FLEET_ID or HELLO_FLEET_PATH is not set + # or stretch_body.device is not on the PYTHONPATH + # in which case we load the defaults + print('Load from default') + return load_yaml('stretch_moveit_config', 'config/default_joint_limits.yaml') + return params + + +def generate_launch_description(): + parser = argparse.ArgumentParser() + parser.add_argument("--use_fake_controller", default=False, type=eval, choices=[True, False]) + args, _ = parser.parse_known_args([arg for sys_arg in sys.argv[4:] for arg in ('--' + sys_arg).split(':=')]) + + ld = LaunchDescription() + # planning_context + robot_description_config = xacro.process_file(os.path.join(get_package_share_directory('stretch_moveit_config'), + 'config', + 'stretch.xacro'), + ) + robot_description = {'robot_description' : robot_description_config.toxml()} + + robot_description_semantic_config = load_file('stretch_moveit_config', 'config/stretch_description.srdf') + robot_description_semantic = {'robot_description_semantic' : robot_description_semantic_config} + + kinematics_yaml = load_yaml('stretch_moveit_config', 'config/kinematics.yaml') + + joint_limits_yaml = {'robot_description_planning': load_joint_limits_from_config()} + # joint_limits_yaml = load_joint_limits_from_config() + + # Planning Functionality + ompl_planning_pipeline_config = { 'move_group' : { + 'planning_plugin' : 'ompl_interface/OMPLPlanner', + 'request_adapters' : """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""" , + 'start_state_max_bounds_error' : 0.1 } } + ompl_planning_yaml = load_yaml('stretch_moveit_config', 'config/ompl_planning.yaml') + ompl_planning_pipeline_config['move_group'].update(ompl_planning_yaml) + + # Trajectory Execution Functionality + controllers_yaml = load_yaml('stretch_moveit_config', 'config/moveit_simple_controllers.yaml') + # controllers_yaml = load_yaml('stretch_moveit_config', 'config/ros_controllers.yaml') + moveit_controllers = { 'moveit_simple_controller_manager' : controllers_yaml, + 'moveit_controller_manager': 'moveit_simple_controller_manager/MoveItSimpleControllerManager'} + + trajectory_execution = {'allow_trajectory_execution': True, + 'moveit_manage_controllers': False, + 'trajectory_execution.allowed_execution_duration_scaling': 1.2, + 'trajectory_execution.allowed_goal_duration_margin': 0.5, + 'trajectory_execution.allowed_start_tolerance': 0.01} + + planning_scene_monitor_parameters = {"publish_planning_scene": True, + "publish_geometry_updates": True, + "publish_state_updates": True, + "publish_transforms_updates": True} + + # Start the actual move_group node/action server + run_move_group_node = Node(package='moveit_ros_move_group', + executable='move_group', + output='screen', + parameters=[robot_description, + robot_description_semantic, + kinematics_yaml, + joint_limits_yaml, + ompl_planning_pipeline_config, + trajectory_execution, + moveit_controllers, + planning_scene_monitor_parameters]) + ld.add_action(run_move_group_node) + + # RViz + rviz_config_file = get_package_share_directory('stretch_moveit_config') + "/launch/moveit_ignition.rviz" + rviz_node = Node(package='rviz2', + executable='rviz2', + name='rviz2', + output='log', + arguments=['-d', rviz_config_file], + parameters=[robot_description, + robot_description_semantic, + ompl_planning_pipeline_config, + kinematics_yaml]) + ld.add_action(rviz_node) + + return ld \ No newline at end of file diff --git a/stretch_moveit_config/launch/moveit_ignition.rviz b/stretch_moveit_config/launch/moveit_ignition.rviz new file mode 100644 index 00000000..edcd32ee --- /dev/null +++ b/stretch_moveit_config/launch/moveit_ignition.rviz @@ -0,0 +1,880 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + Splitter Ratio: 0.5 + Tree Height: 229 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/PlanningScene + Enabled: true + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + - Class: moveit_rviz_plugin/Trajectory + Color Enabled: false + Enabled: true + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Name: Trajectory + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Robot Description: robot_description + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Value: true + - Acceleration_Scaling_Factor: 0.5 + Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Allow_Approximate_IK: false + MoveIt_Allow_External_Program: false + MoveIt_Allow_Replanning: false + MoveIt_Allow_Sensor_Positioning: false + MoveIt_Planning_Attempts: 10 + MoveIt_Planning_Time: 5 + MoveIt_Use_Cartesian_Path: false + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + MoveIt_Workspace: + Center: + X: 0 + Y: 0 + Z: 0 + Size: + X: 20 + Y: 20 + Z: 2 + Name: MotionPlanning + Planned Path: + Color Enabled: false + Interrupt Display: false + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trail Step Size: 1 + Trajectory Topic: /move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.07999999821186066 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: stretch_arm + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.009999999776482582 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + laser: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l0: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_arm_l4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_inner_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_left_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_right_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_shoulder: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_aruco_top_wrist: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_caster: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_grasp_center: + Alpha: 1 + Show Axes: false + Show Trail: false + link_gripper: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_finger_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_gripper_fingertip_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_pan: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_head_tilt: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_left_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_lift: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_mast: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_right_wheel: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_wrist_yaw: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + respeaker_base: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Velocity_Scaling_Factor: 0.5 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/LaserScan + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: LaserScan + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /scan + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /realsense/depth/points + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 2.4922008514404297 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.028394663706421852 + Y: -0.40694156289100647 + Z: 0.44883888959884644 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.6153979301452637 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.4835832118988037 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1025 + Hide Left Dock: false + Hide Right Dock: false + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Tool Properties: + collapsed: false + Trajectory - Trajectory Slider: + collapsed: false + Views: + collapsed: false + Width: 1853 + X: 67 + Y: 27 diff --git a/stretch_ros.repos b/stretch_ros.repos index 786fe1a9..d44cfd88 100644 --- a/stretch_ros.repos +++ b/stretch_ros.repos @@ -59,3 +59,15 @@ repositories: type: git url: https://github.com/ros-controls/realtime_tools version: foxy-devel + realsense-ros: + type: git + url: https://github.com/vatanaksoytezer/realsense-ros + version: ros2 + ros-ign: + type: git + url: https://github.com/vatanaksoytezer/ros_ign + version: feature/add_system_clock + aws-robomaker-small-house-world: + type: git + url: https://github.com/vatanaksoytezer/aws-robomaker-small-house-world + version: ignition-port