Added rule to run
Signed-off-by: Jakub Delicat <jakub.delicat@pwr.edu.pl>
This commit is contained in:
parent
dd00ec1e49
commit
e43458de68
33
Dockerfile
33
Dockerfile
@ -1,33 +0,0 @@
|
||||
ARG ROS_DISTRO=humble
|
||||
FROM delicjusz/ros2aria
|
||||
SHELL ["/bin/bash", "-c"]
|
||||
RUN apt-get update && apt-get install -y \
|
||||
git \
|
||||
python3-colcon-common-extensions \
|
||||
python3-rosdep \
|
||||
build-essential
|
||||
|
||||
WORKDIR /ros2_ws
|
||||
|
||||
COPY src/ /ros2_ws/src/
|
||||
RUN source /opt/ros/$ROS_DISTRO/setup.bash && \
|
||||
rm -rf /etc/ros/rosdep/sources.list.d/20-default.list && \
|
||||
rosdep init && \
|
||||
rosdep update --rosdistro $ROS_DISTRO && \
|
||||
rosdep install -i --from-path src --rosdistro $ROS_DISTRO -y && \
|
||||
colcon build
|
||||
|
||||
|
||||
RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
|
||||
# COPY ros_entrypoint.sh /
|
||||
# ENTRYPOINT ["../ros_entrypoint.sh"]
|
||||
# RUN chmod +x /ros_entrypoint.sh
|
||||
|
||||
# clear ubuntu packages
|
||||
# RUN export SUDO_FORCE_REMOVE=yes && \
|
||||
# apt-get clean && \
|
||||
# apt-get remove -y \
|
||||
# python3-colcon-common-extensions \
|
||||
# python3-rosdep \
|
||||
# build-essential && \
|
||||
# rm -rf /var/lib/apt/lists/*
|
||||
@ -15,4 +15,4 @@ services:
|
||||
ros2 run urg_node urg_node_driver --ros-args -r
|
||||
__ns:=/pioneer${PIONEER_ID} -p
|
||||
laser_frame_id:=pioneer${PIONEER_ID}/laser -p
|
||||
serial_port:=/dev/ttyACM0
|
||||
serial_port:=/dev/hokuyo
|
||||
352
pioneer3dx.urdf
352
pioneer3dx.urdf
@ -1,352 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from src/pioneer_description/urdf/pioneer3dx.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="pioneer3dx" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
|
||||
<!--<include filename="$(find amr_robots_description)/urdf/materials.xacro"/>-->
|
||||
<!-- Chassis -->
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<mass value="3.5"/>
|
||||
<!--<origin xyz="-0.025 0 -0.223"/>-->
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.045 0 0.148"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/chassis.stl"/>
|
||||
</geometry>
|
||||
<material name="ChassisRed">
|
||||
<color rgba="0.851 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.01 0.01 0.01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="top_plate">
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/top.stl"/>
|
||||
</geometry>
|
||||
<material name="TopBlack">
|
||||
<color rgba="0.038 0.038 0.038 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<gazebo reference="top_plate">
|
||||
<!-- material value="Gazebo/Black"/ -->
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<joint name="base_top_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.045 0 0.234"/>
|
||||
<axis xzy="0 0 1"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="top_plate"/>
|
||||
</joint>
|
||||
<link name="front_sonar">
|
||||
<inertial>
|
||||
<mass value="0.0001"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/front_sonar.stl"/>
|
||||
</geometry>
|
||||
<material name="SonarYellow">
|
||||
<color rgba="0.715 0.583 0.210 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<gazebo reference="front_sonar">
|
||||
<material value="Gazebo/Yellow"/>
|
||||
</gazebo>
|
||||
<joint name="base_front_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.198 0 0.208"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front_sonar"/>
|
||||
</joint>
|
||||
<joint name="base_back_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.109 0 0.209"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="back_sonar"/>
|
||||
</joint>
|
||||
<link name="back_sonar">
|
||||
<inertial>
|
||||
<mass value="0"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/back_sonar.stl"/>
|
||||
</geometry>
|
||||
<material name="SonarYellow">
|
||||
<color rgba="0.715 0.583 0.210 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<!-- Caster -->
|
||||
<joint name="base_caster_swivel_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.185 0 0.055"/>
|
||||
<anchor xyz="0 0 0"/>
|
||||
<limit effort="100" k_velocity="0" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="caster_swivel"/>
|
||||
</joint>
|
||||
<link name="caster_swivel">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_swivel.stl"/>
|
||||
</geometry>
|
||||
<material name="caster_swivel">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<gazebo reference="caster_swivel">
|
||||
<material value="Gazebo/Grey"/>
|
||||
</gazebo>
|
||||
<!-- Center Wheel + Hubcap -->
|
||||
<link name="caster_hubcap">
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="caster_swivel">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="caster_hubcap">
|
||||
<material value="Gazebo/Grey"/>
|
||||
</gazebo>
|
||||
<joint name="caster_swivel_hubcap_joint" type="continuous">
|
||||
<origin rpy="0 0 0" xyz="-0.026 0 -0.016"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<anchor xyz="0 0 0"/>
|
||||
<limit effort="100" k_velocity="0" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
<parent link="caster_swivel"/>
|
||||
<child link="caster_wheel"/>
|
||||
</joint>
|
||||
<link name="caster_wheel">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.012411765597" ixy="-0.000711733678" ixz="0.00050272983" iyy="0.015218160428" iyz="-0.000004273467" izz="0.011763977943"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry name="pioneer_geom">
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/caster_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.0375"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="left_hub">
|
||||
<material value="Gazebo/Yellow"/>
|
||||
</gazebo>
|
||||
<joint name="caster_wheel_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="-0.0035 0 -0.001"/>
|
||||
<parent link="caster_wheel"/>
|
||||
<child link="caster_hubcap"/>
|
||||
</joint>
|
||||
<link name="left_hub">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/left_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.09"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_hub_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.15 0.08"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="left_hub"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
</joint>
|
||||
<link name="left_wheel">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/left_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_wheel_joint" type="continuous">
|
||||
<!-- type="continuous" -->
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_hub"/>
|
||||
<child link="left_wheel"/>
|
||||
</joint>
|
||||
<gazebo reference="left_wheel_joint">
|
||||
<material value="Gazebo/Black"/>
|
||||
</gazebo>
|
||||
<link name="right_hub">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/right_hubcap.stl"/>
|
||||
</geometry>
|
||||
<material name="HubcapYellow">
|
||||
<color rgba="1.0 0.811 0.151 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="-1.57079635 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<!--<mesh filename="$(find pioneer_description)/meshes/caster_wheel.stl"/>-->
|
||||
<cylinder length="0.01" radius="0.09"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="right_hub">
|
||||
<material value="Gazebo/Yellow"/>
|
||||
</gazebo>
|
||||
<joint name="right_hub_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.15 0.08"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="right_hub"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
</joint>
|
||||
<link name="right_wheel">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="/home/jdelicat/lab_repos/ros2aria/install/pioneer_description/share/pioneer_description/meshes/right_wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="WheelBlack">
|
||||
<color rgba="0.117 0.117 0.117 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_wheel_joint" type="continuous">
|
||||
<!-- type="continuous" -->
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_hub"/>
|
||||
<child link="right_wheel"/>
|
||||
</joint>
|
||||
<gazebo reference="right_wheel_joint">
|
||||
<material value="Gazebo/Black"/>
|
||||
</gazebo>
|
||||
<link name="laser">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://amr_robots_description/meshes/p3dx_meshes/hokuyo_convex.stl"/>
|
||||
</geometry>
|
||||
<material name="Hokuyo">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.040 0 0.0625"/>
|
||||
<parent link="front_sonar"/>
|
||||
<child link="laser"/>
|
||||
</joint>
|
||||
<link name="camera_frame">
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.095 0.03 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="camera_joint" type="fixed">
|
||||
<axis xyz="0 0 0"/>
|
||||
<origin rpy="0 0 0" xyz="0.040 0 0.1125"/>
|
||||
<parent link="front_sonar"/>
|
||||
<child link="camera_frame"/>
|
||||
</joint>
|
||||
<create>
|
||||
<back_sonar parent="base_link"/>
|
||||
<top_plate parent="base_link"/>
|
||||
</create>
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>100</updateRate>
|
||||
<leftJoint>left_wheel_joint</leftJoint>
|
||||
<rightJoint>right_wheel_joint</rightJoint>
|
||||
<wheelSeparation>0.158</wheelSeparation>
|
||||
<wheelDiameter>0.12</wheelDiameter>
|
||||
<torque>5</torque>
|
||||
<!-- interface:position name="position_iface_0"/ -->
|
||||
<commandTopic>cmd_vel</commandTopic>
|
||||
<robotBaseFrame>base_link</robotBaseFrame>
|
||||
<odometryTopic>odom</odometryTopic>
|
||||
<odometryFrame>odom</odometryFrame>
|
||||
</plugin>
|
||||
<!-- TODO include P3D (ground truth) plugin -->
|
||||
<!-- XXX old urdf included a gazebo_ros_controller_manager plugin with a 1 second update rate -->
|
||||
</gazebo>
|
||||
</robot>
|
||||
@ -1,7 +0,0 @@
|
||||
#!/bin/bash
|
||||
set -e
|
||||
|
||||
# setup ros environment
|
||||
source "/opt/ros/$ROS_DISTRO/setup.bash"
|
||||
source "install/setup.bash"
|
||||
exec "$@"
|
||||
Loading…
Reference in New Issue
Block a user