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Shuhei KozasaShota Aoki
Shuhei Kozasa
and
Shota Aoki
authored
LiDARの追加 (#38)
* Update descriptions * Adds stl data of multi LIDAR mount * Adds xacro if for lds and rplidar. * Adds macro lidar_multi_mount * Adds macro lidar_multi_sensor * Update README. Adds License description * Adds stl file for LDS * Update specs * Update collision size * Adjust positions * Add colors * Adds legs for LDS * fix typo * Adds lidar parameter to macro lidar_multi_sensor. * Adds RPLIDAR thing * Adds lidar parameter to macro lidar_multi_sensor * Adds if statement. rplidar is to be added * Update README * Update file name * Update links * Update lidar macro * update macro names * Adds RPLIDAR macros * Update specs for RPLIDAR * Updates the position of LDS and the length of its legs * Updates RPLIDAR's position * Adds a command that displays the lidar mounted on the robot. * Replace material color to black * Adds leg visual macro for the lidars * Remove comments * Update urdf/raspimouse.urdf.xacro Co-authored-by: Shota Aoki <s.aoki@rt-net.jp> * Adjust the collision size and position of the LIDARs * Remove comment * Adjusts the size of the collision of the multi_lidar_mount * Adjust the inertial position * Adjust the inertial height of each LIDAR * LiDARマウントの重心位置を修正 Co-authored-by: Shota Aoki <s.aoki@rt-net.jp>
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‎README.md‎

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@@ -32,12 +32,20 @@ source install/setup.bash
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## How to Use
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Display a Raspberry Pi Mouse robot model on RViz2 with the following comand:
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Display a Raspberry Pi Mouse robot model on RViz2 with the following command:
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```sh
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ros2 launch raspimouse_description display.launch.py
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```
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You can also display a LiDAR mounted robot model with the following command:
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```sh
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ros2 launch raspimouse_description display.launch.py lidar:=rplidar
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```
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The `lidar` option supports `urg`, `lds`, and `rplidar`.
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## LICENSE
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(C) 2016-2021 RT Corporation
@@ -48,3 +56,6 @@ Unless attributed otherwise, everything in this repository is under the MIT lice
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### Acknowledgements
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Special thanks to https://gbiggs.github.io/rosjp_urdf_tutorial_text/index.html
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The file [robotis_lds01.stl](./meshes/stl/robotis_lds01.stl) is released from ROBOTIS and licensed under the [Apache License 2.0](https://github.com/ROBOTIS-GIT/turtlebot3/blob/a3c515b350a752b93ed8de4a009442e80e9d787d/LICENSE).
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The original file is released in [turtlebot3_description package](https://github.com/ROBOTIS-GIT/turtlebot3/blob/a3c515b350a752b93ed8de4a009442e80e9d787d/turtlebot3_description/meshes/sensors/lds.stl).

‎launch/display.launch.py‎

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@@ -28,7 +28,7 @@ def generate_launch_description():
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declare_arg_lidar = DeclareLaunchArgument(
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'lidar',
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default_value='none',
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description='Set "none" or "urg".')
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description='Set "none", "urg", "lds", or "rplidar".')
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declare_arg_lidar_frame = DeclareLaunchArgument(
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'lidar_frame',
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default_value='laser',

‎meshes/stl/RasPiMouse_MultiLiDARMount.stl‎

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‎meshes/stl/robotis_lds01.stl‎

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‎urdf/body/option.urdf.xacro‎

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</geometry>
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</visual>
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<collision>
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<!-- <geometry> -->
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<!-- <mesh filename="package://raspimouse_description/meshes/dae/body/raspimouse_top_plate.dae"/> -->
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<!-- </geometry> -->
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<origin rpy="0 0 0" xyz="0.005 0 0.0435" />
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<geometry>
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<box size="0.117 0.080 0.087" />
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</link>
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</xacro:macro>
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<xacro:macro name="lidar_multi_mount" params="prefix parent *joint_origin">
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<joint name="${prefix}_joint" type="fixed">
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<xacro:insert_block name="joint_origin" />
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<parent link="${parent}" />
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<child link="${prefix}_link" />
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</joint>
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<link name="${prefix}_link">
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<visual>
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<geometry>
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<mesh filename="package://raspimouse_description/meshes/stl/RasPiMouse_MultiLiDARMount.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="Light Black">
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<color rgba="0.2 0.2 0.2 1.0" />
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0.0 0 0.002" />
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<geometry>
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<box size="0.135 0.095 0.005" />
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</geometry>
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</collision>
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<inertial>
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<origin xyz="0 0 0.002" />
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<mass value="0.04"/>
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<xacro:box_inertia m="0.04" x="0.13" y="0.1" z="0.002" />
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</inertial>
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</link>
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</xacro:macro>
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</robot>

‎urdf/raspimouse.urdf.xacro‎

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<xacro:arg name="robot_namespace" default="/" />
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<xacro:arg name="diffdrive_namespace" default="/" />
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<xacro:arg name="sensor_namespace" default="raspimouse_on_gazebo" />
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<material name="black">
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<color rgba="0.2 0.2 0.2 1.0"/>
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</material>
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<xacro:include filename="$(find raspimouse_description)/urdf/common.xacro" />
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<xacro:include filename="$(find raspimouse_description)/urdf/body/body.urdf.xacro" />
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</xacro:lidar_urg_sensor>
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</xacro:if>
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<xacro:if value="${'$(arg lidar)' == 'lds'}">
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<xacro:lidar_multi_mount prefix="lds_multi_mount" parent="base_link">
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<origin xyz="0 0 0.0855" rpy="0 0 0" />
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</xacro:lidar_multi_mount>
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<xacro:lidar_lds_sensor sensor_link_name="$(arg lidar_frame)" parent="$(arg lidar)_multi_mount_link">
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<origin xyz="0.0 0.0 0.0345" rpy="0 0 3.14" />
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</xacro:lidar_lds_sensor>
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</xacro:if>
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<xacro:if value="${'$(arg lidar)' == 'rplidar'}">
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<xacro:lidar_multi_mount prefix="rplidar_multi_mount" parent="base_link">
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<origin xyz="0 0 0.0855" rpy="0 0 0" />
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</xacro:lidar_multi_mount>
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<xacro:lidar_rp_sensor sensor_link_name="$(arg lidar_frame)" parent="$(arg lidar)_multi_mount_link">
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<origin xyz="0.0 0.0 0.0445" rpy="0 0 3.14"/> <!-- The LIDAR is about 13cm from the ground-->
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</xacro:lidar_rp_sensor>
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</xacro:if>
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<!-- =============== Gazebo =============== -->
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<xacro:lidar_gazebo sensor_link_name="$(arg lidar_frame)" base_rad="0" rad_range="4.71" min_range="0.10" max_range="5.6" />
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</xacro:if>
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<xacro:if value="${'$(arg lidar)' == 'lds'}">
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<xacro:lidar_gazebo sensor_link_name="$(arg lidar_frame)" base_rad="0" rad_range="6.28" min_range="0.12" max_range="3.50" />
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</xacro:if>
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<xacro:if value="${'$(arg lidar)' == 'rplidar'}">
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<xacro:lidar_gazebo sensor_link_name="$(arg lidar_frame)" base_rad="0" rad_range="6.28" min_range="0.15" max_range="12" />
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</xacro:if>
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<!-- DiffDriveController -->
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<xacro:diffdrive_gazebo publish_tf="$(arg tf)" publish_jointstate="$(arg jointstate)"
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robot_namespace="$(arg diffdrive_namespace)" />

‎urdf/sensors/lidar.urdf.xacro‎

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<xacro:arg name="laser_visual" default="false"/>
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<xacro:macro name="lidar_legs" params="length radius z_pos">
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<visual>
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<origin xyz="0.035 0.025 ${z_pos}" rpy="0 0 0" />
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<geometry>
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<cylinder length="${length}" radius="${radius}" />
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</geometry>
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<material name="black" />
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</visual>
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<visual>
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<origin xyz="0.035 -0.025 ${z_pos}" rpy="0 0 0" />
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<geometry>
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<cylinder length="${length}" radius="${radius}" />
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</geometry>
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<material name="black" />
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</visual>
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<visual>
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<origin xyz="-0.022 0.031 ${z_pos}" rpy="0 0 0" />
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<geometry>
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<cylinder length="${length}" radius="${radius}" />
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</geometry>
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<material name="black" />
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</visual>
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<visual>
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<origin xyz="-0.022 -0.031 ${z_pos}" rpy="0 0 0" />
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<geometry>
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<cylinder length="${length}" radius="${radius}" />
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</geometry>
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<material name="black" />
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</visual>
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</xacro:macro>
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<xacro:macro name="lidar_urg_sensor" params="sensor_link_name parent *joint_origin">
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<joint name="${sensor_link_name}_joint" type="fixed">
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<xacro:insert_block name="joint_origin"/>
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</geometry>
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</visual>
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<collision>
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<!-- <geometry> -->
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<!-- <mesh filename="package://raspimouse_description/meshes/dae/sensor/urg_optical_axis_center_origin.dae"/> -->
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<!-- </geometry> -->
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<origin xyz="0 0 -0.01815" />
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<geometry>
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<cylinder radius="0.025" length="0.070"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="0.160" />
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<mass value="0.16" />
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<origin xyz="0 0 0" />
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<xacro:cylinder_inertia m="0.16" r="0.025" h="0.07" />
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</inertial>
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</link>
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</xacro:macro>
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<xacro:macro name="lidar_lds_sensor" params="sensor_link_name parent *joint_origin">
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<joint name="${sensor_link_name}_joint" type="fixed">
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<xacro:insert_block name="joint_origin"/>
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<parent link="${parent}"/>
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<child link="${sensor_link_name}"/>
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</joint>
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<link name="${sensor_link_name}">
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<visual>
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<geometry>
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<mesh filename="package://raspimouse_description/meshes/stl/robotis_lds01.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="black"/>
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</visual>
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<xacro:lidar_legs length="0.019" radius="0.005" z_pos="-0.0228"/>
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<collision>
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<geometry>
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<cylinder radius="0.035" length="0.040"/>
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</geometry>
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<origin xyz="0 0 -0.008" />
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</collision>
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<inertial>
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<mass value="0.160" />
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<origin xyz="0 0 0" />
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<xacro:cylinder_inertia m="0.16" r="0.025" h="0.03" />
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</inertial>
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</link>
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</xacro:macro>
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<xacro:macro name="lidar_rp_sensor" params="sensor_link_name parent *joint_origin">
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<joint name="${sensor_link_name}_joint" type="fixed">
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<xacro:insert_block name="joint_origin"/>
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<parent link="${parent}"/>
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<child link="${sensor_link_name}"/>
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</joint>
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<link name="${sensor_link_name}">
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<visual>
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<geometry>
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<mesh filename="package://raspimouse_description/meshes/stl/robotis_lds01.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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<material name="black"/>
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</visual>
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<xacro:lidar_legs length="0.027" radius="0.003" z_pos="-0.028"/>
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<collision>
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<geometry>
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<cylinder radius="0.036" length="0.042"/>
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</geometry>
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<origin xyz="0 0 -0.008" />
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</collision>
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<inertial>
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<mass value="0.160" />
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<origin xyz="0 0 0" />
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<xacro:cylinder_inertia m="0.16" r="0.025" h="0.03" />
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</inertial>
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</link>
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</xacro:macro>
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</robot>

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