mirror of
https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
synced 2025-09-15 13:08:35 +08:00
add launch files
This commit is contained in:
Darby Lim
parent
e616bb6006
commit
fc608d5d8b
@ -43,7 +43,7 @@ find_package(turtlebot3 REQUIRED)
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################################################################################
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# Install
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################################################################################
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install(DIRECTORY models rviz worlds
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install(DIRECTORY models rviz worlds launch
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DESTINATION share/${PROJECT_NAME}/
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)
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38
turtlebot3_gazebo/launch/empty_world.launch.py
Normal file
38
turtlebot3_gazebo/launch/empty_world.launch.py
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@ -0,0 +1,38 @@
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# /*******************************************************************************
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# * Copyright 2019 ROBOTIS CO., LTD.
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# *
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# * Licensed under the Apache License, Version 2.0 (the "License");
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# * you may not use this file except in compliance with the License.
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# * You may obtain a copy of the License at
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# *
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# * http://www.apache.org/licenses/LICENSE-2.0
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# *
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# * Unless required by applicable law or agreed to in writing, software
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# * distributed under the License is distributed on an "AS IS" BASIS,
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# * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# * See the License for the specific language governing permissions and
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# * limitations under the License.
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# *******************************************************************************/
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# /* Author: Darby Lim */
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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import launch.actions
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import launch_ros.actions
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def generate_launch_description():
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use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time', default='true')
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world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', 'empty.world')
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return LaunchDescription([
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launch.actions.ExecuteProcess(
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cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so'],
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output='screen'),
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launch.actions.ExecuteProcess(
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cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time],
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output='screen'),
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])
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38
turtlebot3_gazebo/launch/turtlebot3_world.launch.py
Normal file
38
turtlebot3_gazebo/launch/turtlebot3_world.launch.py
Normal file
@ -0,0 +1,38 @@
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# /*******************************************************************************
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# * Copyright 2019 ROBOTIS CO., LTD.
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# *
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# * Licensed under the Apache License, Version 2.0 (the "License");
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# * you may not use this file except in compliance with the License.
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# * You may obtain a copy of the License at
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# *
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# * http://www.apache.org/licenses/LICENSE-2.0
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# *
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# * Unless required by applicable law or agreed to in writing, software
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# * distributed under the License is distributed on an "AS IS" BASIS,
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# * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# * See the License for the specific language governing permissions and
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# * limitations under the License.
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# *******************************************************************************/
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# /* Author: Darby Lim */
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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import launch.actions
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import launch_ros.actions
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def generate_launch_description():
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use_sim_time = launch.substitutions.LaunchConfiguration('use_sim_time', default='true')
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world = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'worlds', 'turtlebot3.world')
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return LaunchDescription([
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launch.actions.ExecuteProcess(
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cmd=['gazebo', '--verbose', world, '-s', 'libgazebo_ros_init.so'],
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output='screen'),
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launch.actions.ExecuteProcess(
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cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time],
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output='screen'),
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])
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454
turtlebot3_gazebo/worlds/empty.world
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454
turtlebot3_gazebo/worlds/empty.world
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@ -0,0 +1,454 @@
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<?xml version="1.0"?>
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<sdf version="1.6">
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<world name="default">
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<include>
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<uri>model://sun</uri>
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</include>
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<scene>
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<shadows>false</shadows>
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</scene>
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<gui fullscreen='0'>
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<camera name='user_camera'>
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<pose frame=''>0.319654 -0.235002 9.29441 0 1.5138 0.009599</pose>
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<view_controller>orbit</view_controller>
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<projection_type>perspective</projection_type>
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</camera>
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</gui>
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<physics type="ode">
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<real_time_update_rate>1000.0</real_time_update_rate>
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<max_step_size>0.001</max_step_size>
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<real_time_factor>1</real_time_factor>
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<ode>
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<solver>
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<type>quick</type>
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<iters>150</iters>
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<precon_iters>0</precon_iters>
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<sor>1.400000</sor>
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<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0.00001</cfm>
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<erp>0.2</erp>
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<contact_max_correcting_vel>2000.000000</contact_max_correcting_vel>
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<contact_surface_layer>0.01000</contact_surface_layer>
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</constraints>
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</ode>
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</physics>
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<model name="turtlebot3">
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<pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
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<link name="base_footprint"/>
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<link name="base_link">
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<inertial>
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<pose>-0.032 0 0.070 0 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>1.0</mass>
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</inertial>
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<collision name="base_collision">
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<pose>-0.032 0 0.070 0 0 0</pose>
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<geometry>
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<box>
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<size>0.140 0.140 0.140</size>
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</box>
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</geometry>
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</collision>
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<visual name="base_visual">
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<pose>-0.032 0 0 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_burger/meshes/burger_base.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="imu_link">
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<sensor name="tb3_imu" type="imu">
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<always_on>true</always_on>
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<update_rate>200</update_rate>
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<imu>
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<angular_velocity>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>2e-4</stddev>
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</noise>
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</z>
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</angular_velocity>
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<linear_acceleration>
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<x>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</x>
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<y>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</y>
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<z>
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<noise type="gaussian">
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<mean>0.0</mean>
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<stddev>1.7e-2</stddev>
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</noise>
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</z>
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</linear_acceleration>
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</imu>
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<plugin name="turtlebot3_imu" filename="libgazebo_ros_imu_sensor.so">
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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<argument>~/out:=imu</argument>
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</ros>
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</plugin>
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</sensor>
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</link>
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<link name="base_scan">
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<inertial>
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<pose>-0.020 0 0.161 0 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.125</mass>
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</inertial>
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<collision name="lidar_sensor_collision">
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<pose>-0.020 0 0.161 0 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.0508</radius>
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<length>0.055</length>
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</cylinder>
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</geometry>
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</collision>
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<visual name="lidar_sensor_visual">
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<pose>-0.032 0 0.171 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_burger/meshes/lds.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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<sensor name="hls_lfcd_lds" type="ray">
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<always_on>true</always_on>
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<visualize>true</visualize>
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<pose>-0.032 0 0.171 0 0 0</pose>
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<update_rate>5</update_rate>
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<ray>
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<scan>
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<horizontal>
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<samples>360</samples>
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<resolution>1.000000</resolution>
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<min_angle>0.000000</min_angle>
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<max_angle>6.280000</max_angle>
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</horizontal>
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</scan>
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<range>
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<min>0.120000</min>
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<max>3.5</max>
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<resolution>0.015000</resolution>
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</range>
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<noise>
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<type>gaussian</type>
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<mean>0.0</mean>
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<stddev>0.01</stddev>
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</noise>
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</ray>
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<plugin name="turtlebot3_laserscan" filename="libgazebo_ros_ray_sensor.so">
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<ros>
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<!-- <namespace>/tb3</namespace> -->
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<argument>~/out:=scan</argument>
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</ros>
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<output_type>sensor_msgs/LaserScan</output_type>
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<frame_name>base_scan</frame_name>
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</plugin>
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</sensor>
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</link>
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<link name="wheel_left_link">
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<inertial>
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<pose>0 0.08 0.023 -1.57 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.1</mass>
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</inertial>
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<collision name="wheel_left_collision">
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<pose>0 0.08 0.023 -1.57 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.033</radius>
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<length>0.018</length>
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</cylinder>
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</geometry>
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<surface>
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<!-- This friction pamareter don't contain reliable data!! -->
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+5</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="wheel_left_visual">
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<pose>0 0.08 0.023 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_burger/meshes/left_tire.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name="wheel_right_link">
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<inertial>
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<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
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<inertia>
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<ixx>0.001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.001</iyy>
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<iyz>0.000</iyz>
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<izz>0.001</izz>
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</inertia>
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<mass>0.1</mass>
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</inertial>
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<collision name="wheel_right_collision">
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<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
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<geometry>
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<cylinder>
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<radius>0.033</radius>
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<length>0.018</length>
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</cylinder>
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</geometry>
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<surface>
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<!-- This friction pamareter don't contain reliable data!! -->
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<friction>
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<ode>
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<mu>100000.0</mu>
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<mu2>100000.0</mu2>
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<fdir1>0 0 0</fdir1>
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<slip1>0.0</slip1>
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<slip2>0.0</slip2>
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</ode>
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</friction>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+5</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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<visual name="wheel_right_visual">
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<pose>0.0 -0.08 0.023 0 0 0</pose>
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<geometry>
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<mesh>
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<uri>model://turtlebot3_burger/meshes/right_tire.dae</uri>
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<scale>0.001 0.001 0.001</scale>
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</mesh>
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</geometry>
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</visual>
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</link>
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<link name='caster_back_link'>
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<pose>-0.081 0 -0.004 0 0 0</pose>
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<inertial>
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<mass>0.001</mass>
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<inertia>
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<ixx>0.00001</ixx>
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<ixy>0.000</ixy>
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<ixz>0.000</ixz>
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<iyy>0.00001</iyy>
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<iyz>0.000</iyz>
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<izz>0.00001</izz>
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</inertia>
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</inertial>
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<collision name='collision'>
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<geometry>
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<sphere>
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<radius>0.005000</radius>
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</sphere>
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</geometry>
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<surface>
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<contact>
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<ode>
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<soft_cfm>0</soft_cfm>
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<soft_erp>0.2</soft_erp>
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<kp>1e+5</kp>
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<kd>1</kd>
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<max_vel>0.01</max_vel>
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<min_depth>0.001</min_depth>
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</ode>
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</contact>
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</surface>
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</collision>
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</link>
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<joint name="base_joint" type="fixed">
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<parent>base_footprint</parent>
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<child>base_link</child>
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<pose>0.0 0.0 0.010 0 0 0</pose>
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</joint>
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<joint name="wheel_left_joint" type="revolute">
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<parent>base_link</parent>
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<child>wheel_left_link</child>
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<pose>0.0 0.08 0.023 -1.57 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<joint name="wheel_right_joint" type="revolute">
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<parent>base_link</parent>
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<child>wheel_right_link</child>
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<pose>0.0 -0.08 0.023 -1.57 0 0</pose>
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<axis>
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<xyz>0 0 1</xyz>
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</axis>
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</joint>
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<joint name='caster_back_joint' type='ball'>
|
||||
<parent>base_link</parent>
|
||||
<child>caster_back_link</child>
|
||||
</joint>
|
||||
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>imu_link</child>
|
||||
<pose>-0.032 0 0.068 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<joint name="lidar_joint" type="fixed">
|
||||
<parent>base_link</parent>
|
||||
<child>base_scan</child>
|
||||
<pose>-0.032 0 0.171 0 0 0</pose>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<plugin name="turtlebot3_diff_drive" filename="libgazebo_ros_diff_drive.so">
|
||||
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
</ros>
|
||||
|
||||
<update_rate>30</update_rate>
|
||||
|
||||
<!-- wheels -->
|
||||
<left_joint>wheel_left_joint</left_joint>
|
||||
<right_joint>wheel_right_joint</right_joint>
|
||||
|
||||
<!-- kinematics -->
|
||||
<wheel_separation>0.160</wheel_separation>
|
||||
<wheel_diameter>0.066</wheel_diameter>
|
||||
|
||||
<!-- limits -->
|
||||
<max_wheel_torque>20</max_wheel_torque>
|
||||
<max_wheel_acceleration>1.0</max_wheel_acceleration>
|
||||
|
||||
<command_topic>cmd_vel</command_topic>
|
||||
|
||||
<!-- output -->
|
||||
<publish_odom>true</publish_odom>
|
||||
<publish_odom_tf>true</publish_odom_tf>
|
||||
<publish_wheel_tf>false</publish_wheel_tf>
|
||||
|
||||
<odometry_topic>odom</odometry_topic>
|
||||
<odometry_frame>odom</odometry_frame>
|
||||
<robot_base_frame>base_footprint</robot_base_frame>
|
||||
|
||||
</plugin>
|
||||
|
||||
<plugin name="turtlebot3_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
|
||||
<ros>
|
||||
<!-- <namespace>/tb3</namespace> -->
|
||||
<argument>~/out:=joint_states</argument>
|
||||
</ros>
|
||||
<update_rate>30</update_rate>
|
||||
<joint_name>wheel_left_joint</joint_name>
|
||||
<joint_name>wheel_right_joint</joint_name>
|
||||
</plugin>
|
||||
|
||||
</model>
|
||||
|
||||
</world>
|
||||
</sdf>
|
||||
@ -1,18 +1,4 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--
|
||||
Gazebo ROS turtlebot3 demo
|
||||
|
||||
Run teleop node:
|
||||
|
||||
ros2 run turtlebot3_teleop turtlebot3_teleop_key
|
||||
|
||||
Try sending commands:
|
||||
|
||||
ros2 topic pub /tb3/cmd_vel geometry_msgs/Twist '{linear: {x: 1.0}}' -1
|
||||
|
||||
ros2 topic pub /tb3/cmd_vel geometry_msgs/Twist '{angular: {z: 0.1}}' -1
|
||||
|
||||
-->
|
||||
<sdf version="1.6">
|
||||
<world name="default">
|
||||
|
||||
Loading…
Reference in New Issue
Block a user