#32 Added sensors with gazebo bug

lardemua · Apr 22, 2022 · b9669d1 · b9669d1
1 parent b4410f7
commit b9669d1
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Showing 3 changed files with 128 additions and 26 deletions.
diff --git a/atlascar2_bringup/config/rviz_ackermann_VLP.rviz b/atlascar2_bringup/config/rviz_ackermann_VLP.rviz
@@ -7,8 +7,9 @@ Panels:
         - /Global Options1
         - /Status1
         - /RobotModel1
+        - /top_lidar1
       Splitter Ratio: 0.5
-    Tree Height: 684
+    Tree Height: 672
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -63,47 +64,51 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        VLP_lidar:
+        base_footprint:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        VLP_lidar_base_link:
+        base_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        base_footprint:
+        front_left_steer_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        base_link:
+        front_left_wheel_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        front_left_steer_link:
+        front_right_steer_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        front_left_wheel_link:
+        front_right_wheel_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        front_right_steer_link:
+        front_steer_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        front_right_wheel_link:
+        frontal_laser:
           Alpha: 1
           Show Axes: false
           Show Trail: false
           Value: true
-        front_steer_link:
+        frontal_laser_mount_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        left_laser:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -123,6 +128,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        right_laser:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         top_collision:
           Alpha: 1
           Show Axes: false
@@ -137,6 +147,16 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        top_lidar:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        top_lidar_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         top_right_camera:
           Alpha: 1
           Show Axes: false
@@ -158,7 +178,7 @@ Visualization Manager:
       Max Value: 1
       Median window: 5
       Min Value: 0
-      Name: Image
+      Name: left_camera
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
@@ -170,7 +190,7 @@ Visualization Manager:
       Max Value: 1
       Median window: 5
       Min Value: 0
-      Name: Image
+      Name: right_camera
       Normalize Range: true
       Queue Size: 2
       Transport Hint: raw
@@ -185,21 +205,77 @@ Visualization Manager:
       Axis: Z
       Channel Name: intensity
       Class: rviz/PointCloud2
-      Color: 255; 255; 255
-      Color Transformer: Intensity
+      Color: 255; 0; 0
+      Color Transformer: FlatColor
       Decay Time: 0
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
       Min Color: 0; 0; 0
-      Name: PointCloud2
+      Name: top_lidar
       Position Transformer: XYZ
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Spheres
+      Topic: /top_laser/cloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: left_laser
+      Position Transformer: ""
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /left_laser/scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: ""
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: right_laser
+      Position Transformer: ""
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
       Size (m): 0.009999999776482582
       Style: Flat Squares
-      Topic: /lidar_1/velodyne_points
+      Topic: /right_laser/scan
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
@@ -232,7 +308,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 10.545955657958984
+      Distance: 9.280441284179688
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -248,19 +324,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.559796929359436
+      Pitch: 0.3047957420349121
       Target Frame: <Fixed Frame>
-      Yaw: 5.274835109710693
+      Yaw: 0.05983312800526619
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
   Height: 1026
   Hide Left Dock: false
   Hide Right Dock: false
-  Image:
-    collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000034cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000af60000039500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000400000034c000000f901000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002af0000034cfc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0049006d0061006700650100000040000001c00000002201000003fb0000000a0049006d00610067006501000002010000018b0000002201000003fb0000000a005600690065007700730000000102000001ce000000cb01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000078000000052fc0100000002fb0000000800540069006d00650100000000000007800000023601000003fb0000000800540069006d00650100000000000004500000000000000000000003650000034c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000344fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730200000af60000039500000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004400000344000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002af00000344fc0200000005fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001800720069006700680074005f00630061006d0065007200610100000044000001bc0000002201000003fb00000016006c006500660074005f00630061006d0065007200610100000201000001870000002201000003fb0000000a005600690065007700730000000102000001ce000000d301000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077800000052fc0100000002fb0000000800540069006d0065010000000000000778000002ad01000003fb0000000800540069006d006501000000000000045000000000000000000000035d0000034400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -269,6 +343,10 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
-  X: 2806
+  Width: 1912
+  X: 1366
   Y: 0
+  left_camera:
+    collapsed: false
+  right_camera:
+    collapsed: false
diff --git a/atlascar2_bringup/launch/record_sensor_data_sim.launch b/atlascar2_bringup/launch/record_sensor_data_sim.launch
@@ -17,7 +17,7 @@
             /atlascar2/top_left_camera/image_raw/compressed
             /atlascar2/top_right_camera/camera_info
             /atlascar2/top_right_camera/image_raw/compressed
-            /lidar_1/velodyne_points
+            /atlascar2/top_laser/cloud
             /tf
             /tf_static
             /atlascar2/joint_states

diff --git a/atlascar2_description/urdf/atlascar2_ackermann_VLP.urdf.xacro b/atlascar2_description/urdf/atlascar2_ackermann_VLP.urdf.xacro
@@ -6,6 +6,9 @@
     <xacro:include filename="$(find atlascar2_description)/urdf/atlascar2_wheel.urdf.xacro"/>
     <xacro:include filename="$(find pointgrey_camera_description)/urdf/pointgrey_flea3.urdf.xacro"/>
     <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>
+    <xacro:include filename="$(find pointgrey_camera_description)/urdf/pointgrey_flea3.urdf.xacro"/>
+    <xacro:include filename="$(find sick_ldmrs_description)/urdf/sick_ldmrs_macros.urdf.xacro"/>
+    <xacro:include filename="$(find lms1xx)/urdf/sick_lms1xx.urdf.xacro"/>
     <xacro:property name="deg_to_rad" value="0.01745329251994329577"/>
 
     <!-- Constants for robot dimensions -->
@@ -92,7 +95,7 @@
       <child link="top_left_camera"/>
     </joint>
     <!-- top velodyne lidar -->
-    <xacro:VLP-16 name="VLP_lidar" parent="base_link" topic="/lidar_1/velodyne_points">
+    <xacro:VLP-16 name="top_lidar" parent="base_link" topic="/top_laser/cloud">
       <origin xyz="0 0 ${1.35+height_offset}" rpy="0 0 0"/>
     </xacro:VLP-16>
     <!-- joints for ackermann_steering_controller -->
@@ -103,6 +106,27 @@
     <xacro:rear_wheel name="rear" parent="base" radius="${wheel_radius}" thickness="${thickness}">
         <origin xyz="${-length/2+axel_offset_x} 0 0" rpy="${-90 * deg_to_rad} 0 ${-90 * deg_to_rad}"/>
     </xacro:rear_wheel>
+    <!-- laser sensor lms_ldmrs400001 -->
+    <xacro:sick_ldmrs name="frontal_laser"/>
+    <joint name="base_link_to_frontal_laser_mount_link" type="fixed">
+      <origin xyz="${length/2 + length_offset} 0 ${height_offset}" rpy="0 0 0"/>
+      <parent link="base_link"/>
+      <child link="frontal_laser_mount_link"/>
+    </joint>
+    <!-- left lms151 laser -->
+    <xacro:sick_lms1xx frame="left_laser" topic="/left_laser/scan"/>
+    <joint name="base_link_to_left_laser" type="fixed">
+      <origin xyz="${length/2 + length_offset - 0.08} 0.76 ${height_offset+0.27}" rpy="0 0 ${0.7854}"/>
+      <parent link="base_link"/>
+      <child link="left_laser"/>
+    </joint>
+    <!-- right lms151 laser -->
+    <xacro:sick_lms1xx frame="right_laser" topic="/right_laser/scan"/>
+    <joint name="base_link_to_right_laser" type="fixed">
+      <origin xyz="${length/2 + length_offset - 0.08} -0.76 ${height_offset+0.27}" rpy="0 0 ${-0.7854}"/>
+      <parent link="base_link"/>
+      <child link="right_laser"/>
+    </joint>
 
     <!-- Wheels -->
     <xacro:front_wheel_lr name="front_right" parent="base" radius="${wheel_radius}" thickness="${thickness}"