Skip to content

Lucas S. files for the April tags environment #107

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 10 commits into
base: kinetic-devel
Choose a base branch
from
Open

Lucas S. files for the April tags environment #107

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
10 commits
Select commit Hold shift + click to select a range
f970b60
Added April tags environment files.
LucasJSch Oct 15, 2019
f6e7a5e
Modified create_base.xacro for spawning the April Tag on the robot.
LucasJSch Oct 15, 2019
07abfeb
Addressed some changes for better visualizing April tags.
LucasJSch Oct 16, 2019
6e050da
Addressed some of the requested changes.
LucasJSch Oct 17, 2019
1d40759
Deleted unncessary lights from world file.
LucasJSch Oct 18, 2019
1e4a6f0
Addressed some requested changes.
LucasJSch Oct 18, 2019
4455664
Addressed requested changes.
LucasJSch Oct 21, 2019
c198d4c
Reduced environment size and adjusted camera rotation.
LucasJSch Oct 21, 2019
3ed9810
Addressed requested changes.
LucasJSch Oct 23, 2019
6e19b46
Merge branch 'kinetic-devel' into LucasJS-world
LucasJSch Oct 23, 2019
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 6 additions & 8 deletions ca_description/urdf/april_tag.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,25 +1,23 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">

<xacro:macro name="april_tag">
<xacro:macro name="april_tag" params="name_prefix *origin">

<xacro:property name="april_tag_z_offset" value="0.3"/>

<link name="april_tag_link">
<link name="${name_prefix}_april_tag_link">
<visual>
Copy link
Member

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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?

Copy link
Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

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?

<origin xyz=" 0 0 ${april_tag_z_offset}" rpy="0 0 0" />
<geometry>
<box size="0.5 0.5 0.05" />
</geometry>
</visual>
</link>

<joint name="april_tag_joint" type="fixed">
<joint name="${name_prefix}_april_tag_joint" type="fixed">
<parent link="base_link" />
<child link="april_tag_link"/>
<child link="${name_prefix}_april_tag_link"/>
<xacro:insert_block name="origin"/>
</joint>

<gazebo reference="april_tag_link">
<gazebo reference="${name_prefix}_april_tag_link">
<visual>
<material>
<script>
Expand Down
4 changes: 3 additions & 1 deletion ca_description/urdf/create_base.xacro
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,9 @@
<xacro:create_wheel prefix="right" y_offset="${wheel_separation / -2}" wheel_radius="${wheel_radius}" wheel_width="${wheel_width}"/>
<xacro:caster_wheel/>

<xacro:april_tag/>
<xacro:april_tag name_prefix="create1">
<origin xyz=" 0 0 0.3" rpy="0 0 0" />
</xacro:april_tag>

<!-- Simulation sensors -->
<xacro:sim_create_base/>
Expand Down
2 changes: 0 additions & 2 deletions ca_gazebo/launch/create_april_tags.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,6 @@
<param name="create2/amcl/initial_pose_x" value="-5"/>
<param name="create2/amcl/initial_pose_y" value="-5"/>
<param name="create2/amcl/initial_pose_a" value="1"/>

<env name="GAZEBO_MODEL_PATH" value="$(find ca_gazebo)/models"/>

<include file="$(find ca_gazebo)/launch/create_empty_world.launch">
<arg name="env" value="april_tags"/>
Expand Down
5 changes: 5 additions & 0 deletions ca_gazebo/models/create_april_tags/materials/model.config
View file
Open in desktop
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>
24 changes: 0 additions & 24 deletions ..._tags/materials/scripts/apriltag.material → ...erials/scripts/create_april_tags.material
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,6 @@ material AprilTag0
{
pass
{
ambient 1.0 1.0 1.0 1.0
diffuse 1.0 1.0 1.0 1.0
specular 1.0 1.0 1.0 1.0 12.5

texture_unit
{
texture apriltag0.png
Expand All @@ -22,10 +18,6 @@ material AprilTag1
{
pass
{
ambient 1.0 1.0 1.0 1.0
diffuse 1.0 1.0 1.0 1.0
specular 1.0 1.0 1.0 1.0 12.5

texture_unit
{
texture apriltag1.png
Expand All @@ -40,10 +32,6 @@ material AprilTag2
{
pass
{
ambient 1.0 1.0 1.0 1.0
diffuse 1.0 1.0 1.0 1.0
specular 1.0 1.0 1.0 1.0 12.5

texture_unit
{
texture apriltag2.png
Expand All @@ -58,10 +46,6 @@ material AprilTag3
{
pass
{
ambient 1.0 1.0 1.0 1.0
diffuse 1.0 1.0 1.0 1.0
specular 1.0 1.0 1.0 1.0 12.5

texture_unit
{
texture apriltag3.png
Expand All @@ -76,10 +60,6 @@ material AprilTag4
{
pass
{
ambient 1.0 1.0 1.0 1.0
diffuse 1.0 1.0 1.0 1.0
specular 1.0 1.0 1.0 1.0 12.5

texture_unit
{
texture apriltag4.png
Expand All @@ -94,10 +74,6 @@ material AprilTag5
{
pass
{
ambient 1.0 1.0 1.0 1.0
diffuse 1.0 1.0 1.0 1.0
specular 1.0 1.0 1.0 1.0 12.5

texture_unit
{
texture apriltag5.png
Expand Down
6 changes: 5 additions & 1 deletion ca_gazebo/models/create_april_tags/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,11 @@
<name>Lucas S. april tags assignment house</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>
<description></description>
<author>
<name>Lucas</name>
<email>[email protected]</email>
</author>
<description>April tags environment</description>
<models>
<uri>model://create_april_tags</uri>
</models>
Expand Down
8 changes: 3 additions & 5 deletions ca_gazebo/models/create_april_tags/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -39,7 +39,7 @@
</geometry>
<material>
<script>
<uri>model://create_april_tags/materials/scripts/apriltag.material </uri>
<uri>model://create_april_tags/materials/scripts/create_april_tags.material </uri>
<name>AprilTag2</name>
</script>
</material>
Expand All @@ -61,8 +61,7 @@
</geometry>
<material>
<script>
<uri>model://create_april_tags/materials/scripts </uri>
<uri>model://create_april_tags/materials/textures </uri>
<uri>model://create_april_tags/materials/scripts/create_april_tags.material </uri>
<name>AprilTag3</name>
</script>
</material>
Expand All @@ -84,8 +83,7 @@
</geometry>
<material>
<script>
<uri>model://create_april_tags/materials/scripts </uri>
<uri>model://create_april_tags/materials/textures </uri>
<uri>model://create_april_tags/materials/scripts/create_april_tags.material </uri>
<name>AprilTag4</name>
</script>
</material>
Expand Down
12 changes: 4 additions & 8 deletions ca_gazebo/models/create_camera/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<sdf version='1.6'>
<model name='camera'>
<static>true</static>
<link name='link'>
<link name='camera_link'>
<visual name='visual'>
<geometry>
<box>
Expand All @@ -12,9 +12,7 @@
</visual>
<sensor name='apriltag_camera' type='camera'>
<camera>
<save enabled="false">
<path>/tmp/camera_save_tutorial</path>
</save>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>5760</width>
Expand All @@ -29,9 +27,9 @@
<update_rate>50</update_rate>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<updateRate>30</updateRate>
<cameraName>/apriltag_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<imageTopicName>camera_output_image</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
Expand All @@ -44,6 +42,4 @@
</sensor>
</link>
</model>


</sdf>
</sdf>
2 changes: 1 addition & 1 deletion ca_gazebo/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@

<export>
<gazebo_ros gazebo_media_path="${prefix}"/>
<gazebo_ros gazebo_model_path="${prefix}/models:${prefix}/models/create_autorace:${prefix}/models/create_house"/>
<gazebo_ros gazebo_model_path="${prefix}/models:${prefix}/models/create_autorace:${prefix}/models/create_house:${prefix}/models/create_april_tags"/>
<gazebo_ros plugin_path="${prefix}/lib:${prefix}/models/create_autorace/gazebo_traffic_plugin"/>
</export>
</package>
4 changes: 2 additions & 2 deletions ca_gazebo/worlds/empty.world
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<sdf version="1.6">
<world name="default">
<!-- A global light source -->
<--include>
<include>
<uri>model://sun</uri>
</include>

Expand All @@ -14,7 +14,7 @@
<physics type="ode">
<real_time_update_rate>1000.0</real_time_update_rate>
<max_step_size>0.001</max_step_size>
<real_time_factor>10</real_time_factor>
<real_time_factor>1</real_time_factor>
<ode>
<solver>
<type>quick</type>
Expand Down