Merge pull request #1174 from erwincoumans/master
add MIT racecar and examples/python/examples/racecar.py, fix compile issue/warning
This commit is contained in:
erwincoumans
GitHub
BIN
data/racecar/meshes/chassis.STL
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data/racecar/meshes/chassis.STL
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68
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11
data/racecar/meshes/cone.mtl
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11
data/racecar/meshes/cone.mtl
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@@ -0,0 +1,11 @@
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# Blender MTL File: 'None'
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# Material Count: 1
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newmtl material_1
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125
data/racecar/meshes/cone.obj
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125
data/racecar/meshes/cone.obj
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# Blender v2.71 (sub 0) OBJ File: ''
|
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# www.blender.org
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mtllib cone.mtl
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usemtl material_1
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253
data/racecar/meshes/hokuyo.dae
Normal file
253
data/racecar/meshes/hokuyo.dae
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File diff suppressed because one or more lines are too long
20
data/racecar/meshes/hokuyo.mtl
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20
data/racecar/meshes/hokuyo.mtl
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@@ -0,0 +1,20 @@
|
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# Blender MTL File: 'None'
|
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# Material Count: 2
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newmtl black-material
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|
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2473
data/racecar/meshes/hokuyo.obj
Normal file
2473
data/racecar/meshes/hokuyo.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/left_front_wheel.STL
Normal file
BIN
data/racecar/meshes/left_front_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/left_front_wheel.dae
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68
data/racecar/meshes/left_front_wheel.dae
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File diff suppressed because one or more lines are too long
11
data/racecar/meshes/left_front_wheel.mtl
Normal file
11
data/racecar/meshes/left_front_wheel.mtl
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@@ -0,0 +1,11 @@
|
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# Blender MTL File: 'None'
|
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# Material Count: 1
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|
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newmtl None
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|
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map_Kd wheel.jpg
|
||||
3978
data/racecar/meshes/left_front_wheel.obj
Normal file
3978
data/racecar/meshes/left_front_wheel.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/left_rear_wheel.STL
Normal file
BIN
data/racecar/meshes/left_rear_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/left_rear_wheel.dae
Normal file
68
data/racecar/meshes/left_rear_wheel.dae
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File diff suppressed because one or more lines are too long
11
data/racecar/meshes/left_rear_wheel.mtl
Normal file
11
data/racecar/meshes/left_rear_wheel.mtl
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@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
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# Material Count: 1
|
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|
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newmtl None
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|
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illum 2
|
||||
map_Kd wheel.jpg
|
||||
3979
data/racecar/meshes/left_rear_wheel.obj
Normal file
3979
data/racecar/meshes/left_rear_wheel.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/left_steering_hinge.STL
Normal file
BIN
data/racecar/meshes/left_steering_hinge.STL
Normal file
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68
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Normal file
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Normal file
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Normal file
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Normal file
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BIN
data/racecar/meshes/right_front_wheel.STL
Normal file
BIN
data/racecar/meshes/right_front_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/right_front_wheel.dae
Normal file
68
data/racecar/meshes/right_front_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
11
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Normal file
11
data/racecar/meshes/right_front_wheel.mtl
Normal file
@@ -0,0 +1,11 @@
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Normal file
3625
data/racecar/meshes/right_front_wheel.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
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Normal file
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Normal file
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Normal file
68
data/racecar/meshes/right_rear_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
11
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Normal file
11
data/racecar/meshes/right_rear_wheel.mtl
Normal file
@@ -0,0 +1,11 @@
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3625
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Normal file
3625
data/racecar/meshes/right_rear_wheel.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/right_steering_hinge.STL
Normal file
BIN
data/racecar/meshes/right_steering_hinge.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/right_steering_hinge.dae
Normal file
68
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Normal file
File diff suppressed because one or more lines are too long
506
data/racecar/meshes/walker_racecourse.dae
Normal file
506
data/racecar/meshes/walker_racecourse.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
data/racecar/meshes/wheel.jpg
Normal file
BIN
data/racecar/meshes/wheel.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
485
data/racecar/racecar.urdf
Normal file
485
data/racecar/racecar.urdf
Normal file
@@ -0,0 +1,485 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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||||
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- inertial parameter macros -->
|
||||
<!-- geometry macros -->
|
||||
<!-- transmission macros -->
|
||||
<!-- Add chassis and it's inertia link -->
|
||||
<link name="base_link"/>
|
||||
<link name="chassis">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/chassis.STL"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="base_link_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis"/>
|
||||
</joint>
|
||||
<link name="chassis_inertia">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
|
||||
<mass value="4.0"/>
|
||||
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_inertia_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="chassis_inertia"/>
|
||||
</joint>
|
||||
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||
<link name="left_rear_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
robot
|
||||
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_rear_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_rear_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_rear_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_rear_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||
<link name="right_rear_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_rear_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_rear_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_rear_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_rear_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||
<link name="left_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_steering_hinge_joint" type="revolute">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||
<link name="right_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_steering_hinge_joint" type="continuous">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="left_front_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_steering_hinge"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="right_front_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_steering_hinge"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add Hokuyo laser scanner -->
|
||||
<link name="laser">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.130"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hokuyo.obj"/>
|
||||
<material name="grey"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="laser"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- zed camera -->
|
||||
<link name="zed_camera_link">
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="zed_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="zed_camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||
</joint>
|
||||
<!-- zed camera lenses -->
|
||||
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||
<link name="camera_link">
|
||||
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="zed_camera_right_link">
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="zed_camera_left_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<joint name="zed_camera_right_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="zed_camera_right_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- Add the remaining xacros -->
|
||||
<!-- Gazebo references -->
|
||||
<gazebo reference="chassis">
|
||||
<mu1 value="0.0"/>
|
||||
<mu2 value="0.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<material>Gazebo/Blue</material>
|
||||
</gazebo>
|
||||
<gazebo reference="left_rear_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="right_rear_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="left_front_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="0 0 1"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="right_front_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="0 0 1"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<!-- Gazebo plugins -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/racecar</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo reference="laser">
|
||||
<material>Gazebo/Grey</material>
|
||||
<sensor name="hokuyo_sensor" type="ray">
|
||||
<pose>0 0 0.0124 0 0 0</pose>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>40</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1081</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-2.3561944902</min_angle>
|
||||
<max_angle>2.3561944902</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.1</min>
|
||||
<max>10.0</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
|
||||
<topicName>/scan</topicName>
|
||||
<frameName>laser</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="camera_link">
|
||||
<sensor name="zed_camera_left_sensor" type="camera">
|
||||
<update_rate>30.0</update_rate>
|
||||
<!-- math.atan(320 / 687.8065795898438) * 2 -->
|
||||
<camera name="zed_camera_left_camera">
|
||||
<horizontal_fov>0.8709216071359963</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>B8G8R8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>/camera/zed</cameraName>
|
||||
<imageTopicName>rgb/image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0</hackBaseline>
|
||||
<!-- set this to 0.12 for the second camera -->
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<material name="white">
|
||||
<color rgba="1. 1. 1. 1.0"/>
|
||||
</material>
|
||||
<material name="black">
|
||||
<color rgba="0. 0. 0. 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
|
||||
44
examples/pybullet/examples/racecar.py
Normal file
44
examples/pybullet/examples/racecar.py
Normal file
@@ -0,0 +1,44 @@
|
||||
import pybullet as p
|
||||
import time
|
||||
|
||||
cid = p.connect(p.SHARED_MEMORY)
|
||||
if (cid<0):
|
||||
p.connect(p.GUI)
|
||||
|
||||
p.resetSimulation()
|
||||
p.setGravity(0,0,-10)
|
||||
|
||||
useRealTimeSim = 1
|
||||
|
||||
#for video recording (works best on Mac and Linux, not well on Windows)
|
||||
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
|
||||
p.setRealTimeSimulation(useRealTimeSim) # either this
|
||||
#p.loadURDF("plane.urdf")
|
||||
p.loadSDF("stadium.sdf")
|
||||
|
||||
car = p.loadURDF("racecar/racecar.urdf")
|
||||
for i in range (p.getNumJoints(car)):
|
||||
print (p.getJointInfo(car,i))
|
||||
|
||||
wheels = [2,3,5,7]
|
||||
steering = [4,6]
|
||||
|
||||
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-10,10,0)
|
||||
maxForceSlider = p.addUserDebugParameter("maxForce",0,10,10)
|
||||
steeringSlider = p.addUserDebugParameter("steering",-0.5,0.5,0)
|
||||
while (True):
|
||||
maxForce = p.readUserDebugParameter(maxForceSlider)
|
||||
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
|
||||
steeringAngle = p.readUserDebugParameter(steeringSlider)
|
||||
#print(targetVelocity)
|
||||
|
||||
for wheel in wheels:
|
||||
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=maxForce)
|
||||
|
||||
for steer in steering:
|
||||
p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
|
||||
|
||||
steering
|
||||
if (useRealTimeSim==0):
|
||||
p.stepSimulation()
|
||||
time.sleep(0.01)
|
||||
@@ -4850,9 +4850,10 @@ static PyObject* pybullet_createMultiBody(PyObject* self, PyObject* args, PyObje
|
||||
b3SharedMemoryCommandHandle commandHandle = b3CreateMultiBodyCommandInit(sm);
|
||||
double basePosition[3]={0,0,0};
|
||||
double baseOrientation[4]={0,0,0,1};
|
||||
int baseIndex;
|
||||
pybullet_internalSetVectord(basePosObj,basePosition);
|
||||
pybullet_internalSetVector4d(baseOrnObj,baseOrientation);
|
||||
int baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
|
||||
baseIndex = b3CreateMultiBodyBase(commandHandle,baseMass,baseCollisionShapeIndex,baseVisualShapeIndex,basePosition,baseOrientation);
|
||||
if (useMaximalCoordinates>0)
|
||||
{
|
||||
b3CreateMultiBodyUseMaximalCoordinates(commandHandle);
|
||||
|
||||
@@ -450,7 +450,7 @@ void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBod
|
||||
btAssert( !"called btParallelFor in non-threadsafe build. enable BT_THREADSAFE" );
|
||||
body.forLoop( iBegin, iEnd );
|
||||
|
||||
#endif #else // #if BT_THREADSAFE
|
||||
#endif// #if BT_THREADSAFE
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -151,4 +151,4 @@ btITaskScheduler* btGetPPLTaskScheduler();
|
||||
void btParallelFor( int iBegin, int iEnd, int grainSize, const btIParallelForBody& body );
|
||||
|
||||
|
||||
#endif //BT_THREADS_H
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user