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Lucas S. files for the April tags environment #107
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f970b60
Added April tags environment files.
LucasJSch f6e7a5e
Modified create_base.xacro for spawning the April Tag on the robot.
LucasJSch 07abfeb
Addressed some changes for better visualizing April tags.
LucasJSch 6e050da
Addressed some of the requested changes.
LucasJSch 1d40759
Deleted unncessary lights from world file.
LucasJSch 1e4a6f0
Addressed some requested changes.
LucasJSch 4455664
Addressed requested changes.
LucasJSch c198d4c
Reduced environment size and adjusted camera rotation.
LucasJSch 3ed9810
Addressed requested changes.
LucasJSch 6e19b46
Merge branch 'kinetic-devel' into LucasJS-world
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,34 @@ | ||
| <?xml version="1.0" ?> | ||
| <robot xmlns:xacro="http://ros.org/wiki/xacro"> | ||
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| <xacro:macro name="april_tag" params="name_prefix base_link *origin"> | ||
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| <link name="${name_prefix}_april_tag_link"> | ||
| <visual> | ||
| <geometry> | ||
| <box size="0.5 0.5 0.05" /> | ||
| </geometry> | ||
| </visual> | ||
| </link> | ||
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| <joint name="${name_prefix}_april_tag_joint" type="fixed"> | ||
| <parent link="${base_link}" /> | ||
| <child link="${name_prefix}_april_tag_link"/> | ||
| <xacro:insert_block name="origin"/> | ||
| </joint> | ||
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| <gazebo reference="${name_prefix}_april_tag_link"> | ||
| <visual> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts </uri> | ||
| <uri>model://create_april_tags/materials/textures </uri> | ||
| <name>AprilTag5</name> | ||
| </script> | ||
| </material> | ||
| </visual> | ||
| </gazebo> | ||
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| </xacro:macro> | ||
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| </robot> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| <launch> | ||
| <arg name="env" default="april_tags"/> | ||
| <param name="create1/amcl/initial_pose_x" value="3"/> | ||
| <param name="create1/amcl/initial_pose_y" value="3"/> | ||
| <param name="create1/amcl/initial_pose_a" value="1"/> | ||
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| <include file="$(find ca_gazebo)/launch/create_empty_world.launch"> | ||
| <arg name="env" value="april_tags"/> | ||
| </include> | ||
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| <node pkg="tf" type="static_transform_publisher" name="camera_link_broadcaster" args="0 0 16 3.14159 3.14159 0 map camera_link 20" /> | ||
| <include file="$(find apriltag_ros)/launch/continuous_detection.launch"/> | ||
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| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,5 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>Config file for not having 'missing .config file' issue.</name> | ||
| <version>1.0</version> | ||
| </model> |
83 changes: 83 additions & 0 deletions
83
ca_gazebo/models/create_april_tags/materials/scripts/create_april_tags.material
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,83 @@ | ||
| material AprilTag0 | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture apriltag0.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| material AprilTag1 | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture apriltag1.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| material AprilTag2 | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture apriltag2.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| material AprilTag3 | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture apriltag3.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
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| material AprilTag4 | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture apriltag4.png | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
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| material AprilTag5 | ||
| { | ||
| technique | ||
| { | ||
| pass | ||
| { | ||
| texture_unit | ||
| { | ||
| texture apriltag5.png | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>Lucas S. april tags assignment house</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <author> | ||
| <name>Lucas</name> | ||
| <email>[email protected]</email> | ||
| </author> | ||
| <description>April tags environment</description> | ||
| <models> | ||
| <uri>model://create_april_tags</uri> | ||
| </models> | ||
| </model> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,92 @@ | ||
| <?xml version='1.0'?> | ||
| <sdf version='1.6'> | ||
| <model name='create_april_tags'> | ||
| <static>1</static> | ||
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| <link name='AprilTag1'> | ||
| <pose>4 4 0 0 0 0</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='AprilTag1_Visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.5 0.5 0.05 </size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts </uri> | ||
| <uri>model://create_april_tags/materials/textures </uri> | ||
| <name>AprilTag1</name> | ||
| </script> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| </link> | ||
|
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| <link name='AprilTag2'> | ||
| <pose>4 -4 0 0 0 0</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='AprilTag2_Visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.5 0.5 0.05 </size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts/create_april_tags.material </uri> | ||
| <name>AprilTag2</name> | ||
| </script> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| </link> | ||
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| <link name='AprilTag3'> | ||
| <pose>-4 4 0 0 0 0</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='AprilTag3_Visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.5 0.5 0.05 </size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts/create_april_tags.material </uri> | ||
| <name>AprilTag3</name> | ||
| </script> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| </link> | ||
|
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| <link name='AprilTag4'> | ||
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|
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| <pose>-4 -4 0 0 0 0</pose> | ||
| <self_collide>0</self_collide> | ||
| <kinematic>0</kinematic> | ||
| <visual name='AprilTag4_Visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.5 0.5 0.05 </size> | ||
| </box> | ||
| </geometry> | ||
| <material> | ||
| <script> | ||
| <uri>model://create_april_tags/materials/scripts/create_april_tags.material </uri> | ||
| <name>AprilTag4</name> | ||
| </script> | ||
| </material> | ||
| <cast_shadows>1</cast_shadows> | ||
| <transparency>0</transparency> | ||
| </visual> | ||
| </link> | ||
|
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| </model> | ||
| </sdf> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>Lucas S. camera</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <description></description> | ||
| <models> | ||
| <uri>model://camera</uri> | ||
| </models> | ||
| </model> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| <?xml version='1.0'?> | ||
| <sdf version='1.6'> | ||
| <model name='camera'> | ||
| <static>true</static> | ||
| <link name='camera_link'> | ||
| <visual name='visual'> | ||
| <geometry> | ||
| <box> | ||
| <size>0.1 0.1 0.1</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| <sensor name='apriltag_camera' type='camera'> | ||
| <camera> | ||
| <horizontal_fov>1.047</horizontal_fov> | ||
| <image> | ||
| <width>480</width> | ||
| <height>270</height> | ||
| </image> | ||
| <clip> | ||
| <near>0.1</near> | ||
| <far>50</far> | ||
| </clip> | ||
| </camera> | ||
| <always_on>1</always_on> | ||
| <update_rate>50</update_rate> | ||
| <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> | ||
| <alwaysOn>true</alwaysOn> | ||
| <updateRate>30</updateRate> | ||
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|
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| <cameraName>/apriltag_camera</cameraName> | ||
| <imageTopicName>camera_output_image</imageTopicName> | ||
| <cameraInfoTopicName>camera_info</cameraInfoTopicName> | ||
| <frameName>camera_link</frameName> | ||
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|
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| <hackBaseline>0.07</hackBaseline> | ||
| <distortionK1>0.0</distortionK1> | ||
| <distortionK2>0.0</distortionK2> | ||
| <distortionK3>0.0</distortionK3> | ||
| <distortionT1>0.0</distortionT1> | ||
| <distortionT2>0.0</distortionT2> | ||
| </plugin> | ||
| </sensor> | ||
| </link> | ||
| </model> | ||
| </sdf> | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>Lucas S. four walls</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <description></description> | ||
| <models> | ||
| <uri>model://create_four_walls</uri> | ||
| </models> | ||
| </model> |
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I just realized about this. Is the visual tag mandatory? Since you only want to apply a texture, do you need to create this visual block?
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If I delete this, the Apriltag doesn't appear. This xacro corresponds to the Apriltag of the robot.
How can a texture be applied if there is no visual object to apply it to?