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🛑 [Local Changes and version] #1

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3 changes: 3 additions & 0 deletions urdf/all_sensors.urdf.xacro
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Expand Up @@ -77,5 +77,8 @@

<!-- Pointgrey Bumblebee -->
<xacro:include filename="$(find robotnik_sensors)/urdf/pointgrey_bumblebee2.urdf.xacro" />

<!-- velodyne VLP16 -->
<xacro:include filename="$(find robotnik_sensors)/urdf/vlp16.urdf.xacro" />

</robot>
155 changes: 155 additions & 0 deletions urdf/vlp16.urdf(bkup).xacro
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<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.1415926535897931" />

<xacro:macro name="vlp16_model" params="name parent *origin">
<joint name="${name}_joint" type="fixed">
<xacro:insert_block name="origin" />
<parent link="${parent}"/>
<child link="${name}_frame"/>
</joint>

<link name="${name}_frame">
<xacro:inertial_sphere mass="0.8" diameter="0.1033" />
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0018500"/>
<geometry>
<cylinder radius="0.0516" length="0.0717"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0018500"/>
<geometry>
<cylinder radius="0.0516" length="0.0717"/>
</geometry>
</collision>
</link>
</xacro:macro>

<xacro:macro name="vlp16" params="name parent *origin ros_topic">
<xacro:vlp16_advanced_parameters name="${name}" parent="${parent}" ros_topic="${ros_topic}" update_rate="10" horizontal_samples="512" vertical_samples="8" min_range="0.45" max_range="100">
<xacro:insert_block name="origin" />
</xacro:vlp16_advanced_parameters>
</xacro:macro>

<xacro:macro name="vlp16_advanced_parameters" params="name parent *origin ros_topic update_rate horizontal_samples vertical_samples min_range max_range">

<xacro:vlp16_model name="${name}" parent="${parent}">
<xacro:insert_block name="origin" />
</xacro:vlp16_model>

<gazebo reference="${name}_frame">
<!-- <sensor type="ray" name="${name}">
<always_on>true</always_on>
<update_rate>${update_rate}</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>${ray_count}</samples>
<resolution>1</resolution>
<min_angle>${min_angle * M_PI/180}</min_angle>
<max_angle>${max_angle * M_PI/180}</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.004</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so">
<topicName>${ros_topic}</topicName>
<frameName>${name}_frame</frameName>
</plugin>
</sensor>-->



<sensor type="ray" name="${name}-VLP16">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>${update_rate}</update_rate>
<ray>
<scan>
<horizontal>
<samples>${horizontal_samples}</samples>
<resolution>1</resolution>
<min_angle>-${M_PI}</min_angle>
<max_angle> ${M_PI}</max_angle>
</horizontal>
<vertical>
<samples>${vertical_samples}</samples>
<resolution>1</resolution>
<min_angle>-${15.0*M_PI/180.0}</min_angle>
<max_angle> ${15.0*M_PI/180.0}</max_angle>
</vertical>
</scan>
<range>
<min>${min_range}</min>
<max>${max_range}</max>
<resolution>0.001</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.0</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
<topicName>${ros_topic}</topicName>
<frameName>${name}_frame</frameName>
<min_range>${min_range}</min_range>
<max_range>${max_range}</max_range>
<gaussianNoise>0.008</gaussianNoise>
</plugin>
</sensor>
</gazebo>
</xacro:macro>

<xacro:macro name="vlp16_gpu" params="name parent *origin ros_topic update_rate ray_count min_angle max_angle">
<xacro:vlp16_model name="${name}" parent="${parent}">
<xacro:insert_block name="origin" />
</xacro:vlp16_model>

<gazebo reference="${name}_frame">
<sensor type="gpu_ray" name="${name}">
<update_rate>${update_rate}</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>${ray_count}</samples>
<resolution>1</resolution>
<min_angle>${min_angle * M_PI/180}</min_angle>
<max_angle>${max_angle * M_PI/180}</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.004</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>${ros_topic}</topicName>
<frameName>${name}_frame</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>

177 changes: 177 additions & 0 deletions urdf/vlp16.urdf.xacro
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<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.1415926535897931" />

<!--xacro:macro name="vlp16_model" params="name parent *origin">
<joint name="${name}_joint" type="fixed"-->
<xacro:macro name="sensor_vlp16" params="prefix parent prefix_topic:='front_laser' *origin">

<link name="${prefix}_link">
</link>
<joint name="${prefix}_joint" type="fixed">
<parent link="${parent}"/>
<child link="${prefix}_link"/>
<xacro:insert_block name="origin" />
</joint>

<joint name="${prefix}_base_joint" type="fixed">
<!--origin xyz="0.00 0 -0.05" rpy="0 0 0"/-->
<origin xyz="0 0 0.004" rpy="0 0 0"/>
<parent link="${prefix}_link"/>
<child link="${prefix}_base_link"/>

</joint>

<link name="${prefix}_base_link">
<!--xacro:inertial_sphere mass="0.8" diameter="0.1033" /-->

<collision>
<origin rpy="0 0 0" xyz="0 0 0.0018500"/>
<geometry>
<cylinder radius="0.0516" length="0.0717"/>
</geometry>
</collision>

<visual>
<origin rpy="0 0 0" xyz="0 0 0.0018500"/>
<geometry>
<cylinder radius="0.0516" length="0.0717"/>
</geometry>
</visual>

<inertial>
<mass value="0.8" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.08" iyz="0" izz="0.08" />
</inertial>

</link>
</xacro:macro>

<xacro:macro name="vlp16" params="name parent *origin ros_topic">
<xacro:vlp16_advanced_parameters name="${name}" parent="${parent}" ros_topic="${ros_topic}" update_rate="10" horizontal_samples="512" vertical_samples="8" min_range="0.45" max_range="100">
<xacro:insert_block name="origin" />
</xacro:vlp16_advanced_parameters>
</xacro:macro>

<xacro:macro name="vlp16_advanced_parameters" params="name parent *origin ros_topic update_rate horizontal_samples vertical_samples min_range max_range">

<xacro:vlp16_model name="${name}" parent="${parent}">
<xacro:insert_block name="origin" />
</xacro:vlp16_model>

<gazebo reference="${name}_frame">
<!-- <sensor type="ray" name="${name}">
<always_on>true</always_on>
<update_rate>${update_rate}</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>${ray_count}</samples>
<resolution>1</resolution>
<min_angle>${min_angle * M_PI/180}</min_angle>
<max_angle>${max_angle * M_PI/180}</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.004</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_laser.so">
<topicName>${ros_topic}</topicName>
<frameName>${name}_frame</frameName>
</plugin>
</sensor>-->



<sensor type="ray" name="${name}-VLP16">
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<update_rate>${update_rate}</update_rate>
<ray>
<scan>
<horizontal>
<samples>${horizontal_samples}</samples>
<resolution>1</resolution>
<min_angle>-${M_PI}</min_angle>
<max_angle> ${M_PI}</max_angle>
</horizontal>
<vertical>
<samples>${vertical_samples}</samples>
<resolution>1</resolution>
<min_angle>-${15.0*M_PI/180.0}</min_angle>
<max_angle> ${15.0*M_PI/180.0}</max_angle>
</vertical>
</scan>
<range>
<min>${min_range}</min>
<max>${max_range}</max>
<resolution>0.001</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.0</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_laser_controller" filename="libgazebo_ros_velodyne_laser.so">
<topicName>${ros_topic}</topicName>
<frameName>${name}_frame</frameName>
<min_range>${min_range}</min_range>
<max_range>${max_range}</max_range>
<gaussianNoise>0.008</gaussianNoise>
</plugin>
</sensor>
</gazebo>
</xacro:macro>

<xacro:macro name="vlp16_gpu" params="name parent *origin ros_topic update_rate ray_count min_angle max_angle">
<xacro:vlp16_model name="${name}" parent="${parent}">
<xacro:insert_block name="origin" />
</xacro:vlp16_model>

<gazebo reference="${name}_frame">
<sensor type="gpu_ray" name="${name}">
<update_rate>${update_rate}</update_rate>
<pose>0 0 0 0 0 0</pose>
<visualize>false</visualize>
<ray>
<scan>
<horizontal>
<samples>${ray_count}</samples>
<resolution>1</resolution>
<min_angle>${min_angle * M_PI/180}</min_angle>
<max_angle>${max_angle * M_PI/180}</max_angle>
</horizontal>
</scan>
<range>
<min>0.2</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.004</stddev>
</noise>
</ray>
<plugin name="gazebo_ros_${name}_controller" filename="libgazebo_ros_gpu_laser.so">
<topicName>${ros_topic}</topicName>
<frameName>${name}_frame</frameName>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
</robot>