Setting max_velocities/accelerations for X1 and X2 #453
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Signed-off-by: Carlos Aguero <caguero@openrobotics.org>
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Signed-off-by: Nate Koenig <nate@openrobotics.org>
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* Submitted models/robotika kloubak sensor config 1 (#381) * Model submission for Kloubak sensor configuration 1 from Robotika * Kloubak URDF ver0 * Robotika Kloubak URDF ver1 * Robotika Kloubak - scale material parameters to 0..1 * Kloubak specification.md ver0 * Robotika Kloubak - update specification.md * Robotika Kloubak - fix also urdf/model.xacro (range 0..1) * Branch for pull request #431 * Robotika Kloubak K2 - fixes (lidar, odometry, battery power_load, ...) * Adjustment to route front and rear DiffDrive odometry to the appropriate topics. * Robotika Kloubak K2 - update specification * Robotika Kloubak K2 - update specification2 * Robotika Kloubak K2 - update specification3 * Update specifications.md with magnetometer and added optical frame publishers Signed-off-by: Nate Koenig <nate@openrobotics.org> * Updating tf Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix spawning Signed-off-by: Nate Koenig <nate@openrobotics.org> * Updated to use photogrammetry meshes Signed-off-by: Nate Koenig <nate@openrobotics.org> * Download model Signed-off-by: Nate Koenig <nate@openrobotics.org> * 60 minutes of charge Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: md <devnull@localhost> Co-authored-by: Martin Dlouhy <md@robotika.cz> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Model submission for Freyja sensor configuration 1 from Robotika (#382) * Model submission for Freyja sensor configuration 1 from Robotika * Model submission for Freyja sensor configuration 1 from Robotika (FIXUP specification.md) * Update info about Freyja communication (LoRa) * Freyja - fix camera center * Robotika Freyja - fix filename model.urdf * Robotika Freyja - fix materials to be in parameters in range 0..1 * Robotika Freyja - fix mount parts of the wheel * Branch for pull request #423 * Virtual Freyja fixes * Virtual Freyja - fix power_load to reflect much longer durability * Adjustment of battery life to 240 minutes. * update model to use tf2 static pose messages, and added a better xacro file Signed-off-by: Nate Koenig <nate@openrobotics.org> * spacing Signed-off-by: Nate Koenig <nate@openrobotics.org> * Download model Signed-off-by: Nate Koenig <nate@openrobotics.org> * Updated thumbnails and battery life Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: md <devnull@localhost> Co-authored-by: Martin Dlouhy <md@robotika.cz> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Model submission for QAV500 sensor configuration 1 by Marble (#385) * creating qav500 branch * working on qav500 * working on qav500. I need to remember to commit during the day * Commented out bridge logger * One functioning pico flexx camera pointing up * added bottom tof * modified position of downward tof camera * Added xacro file and modified description. Modified model.sdf to remove local links to URI * modified descriptions in model.config and package.xml * Added point clouds to tof cameras * Modified files to load properly in rviz. Added description on package * Remove husky folder * Update IMU to reflect terms for Microstrain 3DM-GX5-15 * Started editing the specs and package.xml * Adding specifications file * updated price in spec file * Small update to specs to add Intel Nuc * modified inertia of vehicle * Added light, needs fix * modifying motor paramters * Reverted to original motor parameters * Reverted motor parameters. Fixed ghost drone * Branch for pull request #428 * Removed scientific notation in model.sdf IMU settings * updated ouster lidar model * Reduce the resolution of the rgbd camera on the qav500 to help the simulator go a little faster. * Fix the wideness of the light to mirror that on the ground vehicles * Edited the velocity controller for the qav500 so that it holds yaw better and has a little more umph to it. * fixed issue with tof point clouds not publishing * updated to be compatible with latest OSRF changes * Updated from OS1 gen 2 to OS1 gen 1 * marble_qav500 updated lidar rate from 15 to 20 to reflect actual sensor configuration * updated IMU to X1 model * Model maximum linear velocity limited to 4m/s and battery life is limited to 10 minutes until validation data is provided. * Readjusted OS1-64 to align with specification sheet for vertical FoV (+-22.5 degrees). * Revert "Readjusted OS1-64 to align with specification sheet for vertical FoV (+-22.5 degrees)." This reverts commit e7e26b5. OS1-64 generation 1 is actually +-16.6 degrees. * clarifications to specifications.md * added optical frame publisher * added bridge_logger back in * Model pr 428 -Improved UAV drift && Updated camera topic names (#467) * making qav500 fly better * renamed certain qav500 camera topics * tweaking max velocities and accels Co-authored-by: Derek Vasquez <derekavasquez@gmail.com> Co-authored-by: Derek Vasquez <46568730+dsquez@users.noreply.github.com> * reset model's max linear velocity to 4m/s * Updated model, thumbnails, and added to download scipt Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: derekvasquez <devnull@localhost> Co-authored-by: Neil Johnson <neil.johnson@ssci.com> Co-authored-by: hector_escobar <hector.escobar@ssci.com> Co-authored-by: Neil Johnson <njohnson@ssci.com> Co-authored-by: Neil Johnson <realdealneil@gmail.com> Co-authored-by: bfotheri <fotheringhambrett@gmail.com> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> Co-authored-by: Ashton Larkin <ashton@larkinfam.com> Co-authored-by: Derek Vasquez <derekavasquez@gmail.com> Co-authored-by: Derek Vasquez <46568730+dsquez@users.noreply.github.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Model submission for CERBERUS ANYmal sensor configuration 1 from RSL-ETH Zurich (#383) * Model submission for CERBERUS ANYmal sensor configuration 1 from RSL-ETH Zurich. * update readme * Branch for pull request #434 * add new plugin and adjusted launch files * remove old laser * cleanup files for renaming * renaming * rename and adjust plugin package * update REDME * add gas sensor, enable battery plugin * change camera parameters * add noise, fix camera pose * recompile plugin * reduce noise std dev * change parameter name * adjust realsense position * Corrected adjusted power_load to set battery life to 70 minutes. * Use `<spawn>` instead of `<plugin>` Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add static pose publisher Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Add optical frame, rename downward_realsense/depth/image_raw to downward_realsense/depth The rename makes DepthCloud in Rviz work without any topic relays Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Minor tweak Signed-off-by: Addisu Z. Taddese <addisu@openrobotics.org> * Minor tweaks and added to download script Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Marco Tranzatto <marcot@ethz.ch> Co-authored-by: zsamuel <zsamuel@leggedrobotics.com> Co-authored-by: Angela Maio <50143934+angelacmaio@users.noreply.github.com> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Model Submission for Marble HD2 sensor configuration 1 (#387) * test commit * Close branch submitted_models/marble_husky_sensor_config_1. * Added files for husky. Name will need to be changed * creating hd2 branch * Downward facing facing is there * working on qav500 * Got all sensor positioned and represented visually up to the pan tilt tower. That comes next * Model sdf now has the gimbal pan, still unsure of how to control it though * Until the joints can be tested this is where the marble hsuky model will get * Got the joint state controller and publisher added in. Pan/Tilt can be controlled using ignition messages. * More works needs to be done on bridges to control gimbal, but commented out in progress work is available in vehicle_topics.launch for the marble husky * adding hd2. stl of tracked vehicle is in * We can now command the gimbal pan/tilt using ros topics as long as you use the modified version of ros_ign_bridge committed under pull request 64 * Rudimentary visuals done * Fixed the joint publisher. Topic shows up in ros as /<vehicle name>/joint_state. * hd2 model in. Working on sensors * Removing non-hd2 vehicles from this branch * Update sdf file, add test_gimbal script, add specifications.md file, and remove CU_MARBLE folder * Added the xacro file for rviz * added a file * Started over on sdf file by starting with husky file and just replacing the base_link model. Added specfications.md file (which needs to be updated). Add some missing mesh files. * Updated sensor description in package.xml * Got the pan/tilt and all vehicle topics working, I think. Need to go over all sensors and make sure they work. Also added scripts for echoing the current pan and tilt angles * Added urdf file (xacro) for rviz * Updated the IMU model to match the specs from datasheet for Microstrain 3DM-GX5-25 used in Marble ground vehicles * Updated IMU model to Microstrain 3DM-GX5-25 as in HD2. Added link to datasheet for IMU in specifications.md file * Add pan and tilt echoing scripts * Updated and completed specifications.md file for husky * Put in four wheels and modified the differential drive system * Updated package.xml, specifications.md, and added Build instructions for ros_ign_bridge * Couple of edits to description files. * added tracks. modified sensor placement * Updated the xacro * Update cost info in specs. * Update cost info * Fixed 3d Lidar obstructions * Get rid of garbage file... * Fixed position of lidar and plate sensor * Fixed urdf and xacro * Updated xacro/urdf file * Fixing inertia gimbal problems * Fixing gimbal inertia * Fixing gimbal inertia, using rod inertia formulas * Fixing gimbal inertia, using rod inertia formulas, and correct tabbing * Updated intertias using rod formulas * Branch for pull request #427 * Branch for pull request #426 * Fix scientific notation in husky model.sdf file * Removed scientific notation in model.sdf file IMU settings * reduce the resolution of the husky cameras. At 720p, everything is really slow * Updated ouster lidar sensor model * Updated ouster lidar model * Reduce resolution of cameras on hd2 to 640x480 to help simulation work smoother. * Changed the forward and downward facing rgbd cameras to use a lower resolution (which matches the model for d435i cameras which have selectable resolutions). Also, updated the scaled focal length parameters for all cameras which were previously wrong. * Removed husky files from hd2 branch. These should be the other branch, not here. * Fix the parameters for the lights (mount angle and bean width) * updated to work on newest OSRF code * Updated from OS1 gen 2 to OS1 gen 1 * updated IMU to X1 model * Weight updated to be 75 lbs total * Corrected typo in model.sdf * Adjusted power_load to reduce battery life to 60 minutes. * Updated vehicle params based on PR feedback (depth topics, vel limits, uncommented logger (#463) * remove trailing chars Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Model pr 427 - Updated custom ign bridge build instructions as per request (#466) * Updated vehicle params based on PR feedback (depth topics, vel limits, uncommented logger * updated instructions for building ros ign bridge * force control for gimbal Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Updated mesh Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: bfotheri <fotheringhambrett@gmail.com> Co-authored-by: derekvasquez <devnull@localhost> Co-authored-by: derek knowles <derek.knowles@ssci.com> Co-authored-by: Neil Johnson <neil.johnson@ssci.com> Co-authored-by: Neil Johnson <njohnson@ssci.com> Co-authored-by: hector_escobar <hector.escobar@ssci.com> Co-authored-by: Neil Johnson <realdealneil@gmail.com> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Model submission for Husky sensor configuration 1 by Marble (#384) * test commit * Close branch submitted_models/marble_husky_sensor_config_1. * Added files for husky. Name will need to be changed * creating hd2 branch * Downward facing facing is there * working on qav500 * Got all sensor positioned and represented visually up to the pan tilt tower. That comes next * Model sdf now has the gimbal pan, still unsure of how to control it though * Until the joints can be tested this is where the marble hsuky model will get * Got the joint state controller and publisher added in. Pan/Tilt can be controlled using ignition messages. * More works needs to be done on bridges to control gimbal, but commented out in progress work is available in vehicle_topics.launch for the marble husky * adding hd2. stl of tracked vehicle is in * We can now command the gimbal pan/tilt using ros topics as long as you use the modified version of ros_ign_bridge committed under pull request 64 * Rudimentary visuals done * Fixed the joint publisher. Topic shows up in ros as /<vehicle name>/joint_state. * hd2 model in. Working on sensors * Removing non-hd2 vehicles from this branch * Update sdf file, add test_gimbal script, add specifications.md file, and remove CU_MARBLE folder * Added the xacro file for rviz * added a file * Started over on sdf file by starting with husky file and just replacing the base_link model. Added specfications.md file (which needs to be updated). Add some missing mesh files. * Updated sensor description in package.xml * Got the pan/tilt and all vehicle topics working, I think. Need to go over all sensors and make sure they work. Also added scripts for echoing the current pan and tilt angles * Added urdf file (xacro) for rviz * Updated the IMU model to match the specs from datasheet for Microstrain 3DM-GX5-25 used in Marble ground vehicles * Updated IMU model to Microstrain 3DM-GX5-25 as in HD2. Added link to datasheet for IMU in specifications.md file * Add pan and tilt echoing scripts * Updated and completed specifications.md file for husky * Put in four wheels and modified the differential drive system * Updated package.xml, specifications.md, and added Build instructions for ros_ign_bridge * Couple of edits to description files. * added tracks. modified sensor placement * Updated the xacro * Update cost info in specs. * Update cost info * Fixed 3d Lidar obstructions * Get rid of garbage file... * Fixed position of lidar and plate sensor * Fixed urdf and xacro * Updated xacro/urdf file * Fixing inertia gimbal problems * Fixing gimbal inertia * Fixing gimbal inertia, using rod inertia formulas * Fixing gimbal inertia, using rod inertia formulas, and correct tabbing * Updated intertias using rod formulas * Branch for pull request #427 * Branch for pull request #426 * Fix scientific notation in husky model.sdf file * Removed scientific notation in model.sdf file IMU settings * reduce the resolution of the husky cameras. At 720p, everything is really slow * Updated ouster lidar sensor model * Updated ouster lidar model * Reduce resolution of cameras on hd2 to 640x480 to help simulation work smoother. * Changed the forward and downward facing rgbd cameras to use a lower resolution (which matches the model for d435i cameras which have selectable resolutions). Also, updated the scaled focal length parameters for all cameras which were previously wrong. * Reduce resolution of forward and downward rgbd cameras to help simulator run faster. Also, fix the scaled focal lengths on all 3 rgbd cameras to match reality * Removing hd2 from husky branch. It shouldn't be here. * Fix the mount angle and sweep angle of the light, and fix the pose of the down-pointing camera (the pose seems to have been deleted at some point, so we are simply restoring it) * updated with master * changing from OS1 gen 2 to OS1 gen 1 * updated IMU to X1 model * Updated branch based on recommended PR changes (#464) * Made changes based on pull request comments * Update spawner.rb to fix negative accel limit * updated instructions for building ros ign bridge * Update spawner.rb Co-authored-by: Carlos Agüero <cen.aguero@gmail.com> * Added to download script Signed-off-by: Nate Koenig <nate@openrobotics.org> * Change pan/tilt joints to be controlled by force commands. Signed-off-by: Carlos Aguero <caguero@openrobotics.org> * Tweak gimbal limits Signed-off-by: Carlos Aguero <caguero@openrobotics.org> * Merged and added missing download Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: bfotheri <fotheringhambrett@gmail.com> Co-authored-by: derekvasquez <devnull@localhost> Co-authored-by: derek knowles <derek.knowles@ssci.com> Co-authored-by: Neil Johnson <neil.johnson@ssci.com> Co-authored-by: Neil Johnson <njohnson@ssci.com> Co-authored-by: hector_escobar <hector.escobar@ssci.com> Co-authored-by: Neil Johnson <realdealneil@gmail.com> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Carlos Agüero <cen.aguero@gmail.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Carlos Aguero <caguero@openrobotics.org> * Model submission for m100 sensor configuration 1 from CERBERUS. (#386) * Model submission for m100 sensor configuration 1 from CERBERUS. * Branch for pull request #432 * fix: + camera intrinsic + gas sensor + lidar vertical resolution * minor fix * another fix * Updates to m100 model submission (#470) * Remove .orig file Signed-off-by: Michael Carroll <michael@openrobotics.org> * Add support for efficient pose publisher Signed-off-by: Michael Carroll <michael@openrobotics.org> * Add optical frame publisher Signed-off-by: Michael Carroll <michael@openrobotics.org> * Update spawner syntax Signed-off-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: pdepetris <pdepetris@nevada.unr.edu> Co-authored-by: tiralonghipol <tiralonghipol@gmail.com> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Added model to download Signed-off-by: Nate Koenig <nate@openrobotics.org> * Setting max_velocities/accelerations for X1 and X2 (#453) * Setting max_velocities/accelerations for X1 and X2. Signed-off-by: Carlos Aguero <caguero@openrobotics.org> * Added to other launch files Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Carlos Aguero <caguero@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Robotika Kloubak model updates (#472) * Fixed the ign topic transport topic mapping for the front and rear odometry on the Robotika Kloubak model. * Adjusted camera placement to correct field of view. * Update Marble HD2 gimbal meshes and sensor pose (#471) * update marble hd2 meshes Signed-off-by: Ian Chen <ichen@osrfoundation.org> * add some friction to pan joint Signed-off-by: Ian Chen <ichen@osrfoundation.org> * Websocket (#474) * websockets Signed-off-by: Nate Koenig <nate@openrobotics.org> * Working on websockets Signed-off-by: Nate Koenig <nate@openrobotics.org> * Added SSL Signed-off-by: Nate Koenig <nate@openrobotics.org> * Remove branch Signed-off-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> * Update Marble And Kloubak models. (#473) * Updated specifications and added missing optical frames Signed-off-by: Nate Koenig <nate@openrobotics.org> * Fix kloubak axle and wheel positions Signed-off-by: Nate Koenig <nate@openrobotics.org> * New mesh with axel submesh Signed-off-by: Nate Koenig <nate@openrobotics.org> * bridge tof camera info Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: md <devnull@localhost> Co-authored-by: Martin Dlouhy <md@robotika.cz> Co-authored-by: acschang <61025344+acschang@users.noreply.github.com> Co-authored-by: Arthur Schang <arthur.schang@parsons.com> Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Neil Johnson <neil.johnson@ssci.com> Co-authored-by: hector_escobar <hector.escobar@ssci.com> Co-authored-by: Neil Johnson <njohnson@ssci.com> Co-authored-by: Neil Johnson <realdealneil@gmail.com> Co-authored-by: bfotheri <fotheringhambrett@gmail.com> Co-authored-by: Ashton Larkin <ashton@larkinfam.com> Co-authored-by: Derek Vasquez <derekavasquez@gmail.com> Co-authored-by: Derek Vasquez <46568730+dsquez@users.noreply.github.com> Co-authored-by: Marco Tranzatto <marcot@ethz.ch> Co-authored-by: zsamuel <zsamuel@leggedrobotics.com> Co-authored-by: Angela Maio <50143934+angelacmaio@users.noreply.github.com> Co-authored-by: Addisu Z. Taddese <addisu@openrobotics.org> Co-authored-by: derek knowles <derek.knowles@ssci.com> Co-authored-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Carlos Agüero <cen.aguero@gmail.com> Co-authored-by: Carlos Aguero <caguero@openrobotics.org> Co-authored-by: pdepetris <pdepetris@nevada.unr.edu> Co-authored-by: tiralonghipol <tiralonghipol@gmail.com> Co-authored-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: Carlos Agüero <caguero@osrfoundation.org>
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Velocity and accelerations limits for X1 and X2.