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Add a simple Octomap scenario for the Crazyflie 2.0 #49
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,89 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="mav_name" default="crazyflie2"/> | ||
| <!-- Pay attention that the world sampling time is line with the one used in the | ||
| controller algorithm--> | ||
| <arg name="world_name" default="octomap"/> | ||
| <arg name="enable_logging" default="false" /> | ||
| <arg name="enable_ground_truth" default="true" /> | ||
| <arg name="log_file" default="$(arg mav_name)" /> | ||
| <arg name="paused" value="true"/> | ||
| <arg name="debug" default="false"/> | ||
| <arg name="gui" default="true"/> | ||
| <arg name="enable_vi_sensor" default="true"/> | ||
| <!-- The following line causes gzmsg and gzerr messages to be printed to the console | ||
| (even when Gazebo is started through roslaunch) --> | ||
| <arg name="verbose" default="false"/> | ||
| <!-- Enables the Internal Model Controller disabling the Mellinger and the Position ones --> | ||
| <arg name="enable_internal_model_controller" default="true"/> | ||
| <arg name="debug_rviz" default="false" /> | ||
| <arg name="config" default="true" /> | ||
| <arg unless="$(arg debug_rviz)" name="launch_prefix" value="" /> | ||
| <arg if="$(arg debug_rviz)" name="launch_prefix" value="gdb --ex run --args" /> | ||
| <arg unless="$(arg config)" name="command_args" value="" /> | ||
| <arg if="$(arg config)" name="command_args" value="-d $(find rotors_gazebo)/rviz/crazyflie_octomap.rviz" /> | ||
|
|
||
| <!-- The following lines simulate the world in Gazebo. The physic engine properties | ||
| are set up in the file "basic_crazyflie.world" file --> | ||
| <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/> | ||
| <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/> | ||
| <include file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
| <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name)_crazyflie.world" /> | ||
| <arg name="debug" value="$(arg debug)" /> | ||
| <arg name="paused" value="$(arg paused)"/> | ||
| <arg name="gui" value="$(arg gui)" /> | ||
| <arg name="verbose" value="$(arg verbose)"/> | ||
| </include> | ||
|
|
||
| <group ns="$(arg mav_name)"> | ||
| <!-- The following lines simulate the Crazyflie dynamics --> | ||
| <include file="$(find rotors_gazebo)/launch/spawn_mav_crazyflie.launch"> | ||
| <arg name="mav_name" value="$(arg mav_name)" /> | ||
| <arg name="model" value="$(find rotors_description)/urdf/mav_generic_odometry_sensor.gazebo" /> | ||
| <arg name="enable_logging" value="$(arg enable_logging)" /> | ||
| <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> | ||
| <arg name="enable_vi_sensor" value="$(arg enable_vi_sensor)"/> | ||
| <!-- As for the Mellinger and Position controllers in the "crazyflie2_hovering_example.launch" file --> | ||
| <arg name="enable_internal_model_controller" value="$(arg enable_internal_model_controller)" /> | ||
| <arg name="log_file" value="$(arg log_file)"/> | ||
| <arg name="x" value="-0.5"/> | ||
| </include> | ||
| <!-- The Crazyflie controller --> | ||
| <node name="position_controller_node" pkg="rotors_control" type="position_controller_node" output="screen"> | ||
| <!-- Enabling internal model controller--> | ||
| <param name="enable_internal_model_controller" value="$(arg enable_internal_model_controller)" /> | ||
| <!-- Crazyflie file parameters used within the Internal Model Controller controller --> | ||
| <rosparam command="load" file="$(find rotors_gazebo)/resource/crazyflie_parameters.yaml" /> | ||
| <rosparam command="load" file="$(find rotors_gazebo)/resource/$(arg mav_name).yaml" /> | ||
| <!-- Loading Internal Model Controller's parameters --> | ||
| <rosparam command="load" file="$(find rotors_gazebo)/resource/crazyflie_internal_model_controller.yaml" /> | ||
| </node> | ||
| <!-- Enable/Disable the trajectory generator - If the position_controller is activated, the hovering_example will be executed, | ||
| otherwise the spline generator and the Mellinger's controller will be run--> | ||
| <node name="hovering_example_spline" pkg="rotors_gazebo" type="hovering_example_spline" output="screen" > | ||
| <rosparam command="load" file="$(find rotors_gazebo)/resource/spline_trajectory.yaml" /> | ||
| </node> | ||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> | ||
| <node name="quaternion_to_rpy" pkg="rotors_gazebo" type="quaternion_to_rpy" output="screen" > | ||
| <remap from="odometry" to="odometry_sensor1/odometry" /> | ||
| </node> | ||
|
|
||
| <!-- Octomap Server --> | ||
| <node pkg="octomap_server" type="octomap_server_node" name="octomap_server"> | ||
| <param name="resolution" value="0.05" /> | ||
| <param name="frame_id" type="string" value="world" /> | ||
| <!-- maximum range to integrate (speedup!) --> | ||
| <param name="sensor_model/max_range" value="5.0" /> | ||
| <param name="filter_ground" value="false" /> <!-- who knows where the floor is? --> | ||
| <param name="base_frame_id" value="base_link" /> <!-- needs to be set, even if not used --> | ||
| <!-- data source to integrate (PointCloud2) --> | ||
| <remap from="cloud_in" to="/$(arg mav_name)/vi_sensor/camera_depth/depth/points" /> | ||
| </node> | ||
|
|
||
| <!-- Visualisation RVIZ --> | ||
| <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" | ||
| args="$(arg command_args)" output="screen" /> | ||
|
|
||
| </group> | ||
| </launch> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,130 @@ | ||
| Panels: | ||
| - Class: rviz/Displays | ||
| Help Height: 78 | ||
| Name: Displays | ||
| Property Tree Widget: | ||
| Expanded: | ||
| - /Global Options1 | ||
| - /Status1 | ||
| - /MarkerArray1 | ||
| - /MarkerArray1/Status1 | ||
| Splitter Ratio: 0.5 | ||
| Tree Height: 728 | ||
| - Class: rviz/Selection | ||
| Name: Selection | ||
| - Class: rviz/Tool Properties | ||
| Expanded: | ||
| - /2D Pose Estimate1 | ||
| - /2D Nav Goal1 | ||
| - /Publish Point1 | ||
| Name: Tool Properties | ||
| Splitter Ratio: 0.5886790156364441 | ||
| - Class: rviz/Views | ||
| Expanded: | ||
| - /Current View1 | ||
| Name: Views | ||
| Splitter Ratio: 0.5 | ||
| - Class: rviz/Time | ||
| Experimental: false | ||
| Name: Time | ||
| SyncMode: 0 | ||
| SyncSource: "" | ||
| Preferences: | ||
| PromptSaveOnExit: true | ||
| Toolbars: | ||
| toolButtonStyle: 2 | ||
| Visualization Manager: | ||
| Class: "" | ||
| Displays: | ||
| - Alpha: 0.5 | ||
| Cell Size: 1 | ||
| Class: rviz/Grid | ||
| Color: 160; 160; 164 | ||
| Enabled: true | ||
| Line Style: | ||
| Line Width: 0.029999999329447746 | ||
| Value: Lines | ||
| Name: Grid | ||
| Normal Cell Count: 0 | ||
| Offset: | ||
| X: 0 | ||
| Y: 0 | ||
| Z: 0 | ||
| Plane: XY | ||
| Plane Cell Count: 10 | ||
| Reference Frame: <Fixed Frame> | ||
| Value: true | ||
| - Class: rviz/MarkerArray | ||
| Enabled: true | ||
| Marker Topic: /crazyflie2/occupied_cells_vis_array | ||
| Name: MarkerArray | ||
| Namespaces: | ||
| map: true | ||
| Queue Size: 100 | ||
| Value: true | ||
| Enabled: true | ||
| Global Options: | ||
| Background Color: 48; 48; 48 | ||
| Default Light: true | ||
| Fixed Frame: world | ||
| Frame Rate: 30 | ||
| Name: root | ||
| Tools: | ||
| - Class: rviz/Interact | ||
| Hide Inactive Objects: true | ||
| - Class: rviz/MoveCamera | ||
| - Class: rviz/Select | ||
| - Class: rviz/FocusCamera | ||
| - Class: rviz/Measure | ||
| - Class: rviz/SetInitialPose | ||
| Theta std deviation: 0.2617993950843811 | ||
| Topic: /initialpose | ||
| X std deviation: 0.5 | ||
| Y std deviation: 0.5 | ||
| - Class: rviz/SetGoal | ||
| Topic: /move_base_simple/goal | ||
| - Class: rviz/PublishPoint | ||
| Single click: true | ||
| Topic: /clicked_point | ||
| Value: true | ||
| Views: | ||
| Current: | ||
| Class: rviz/Orbit | ||
| Distance: 3.799877882003784 | ||
| Enable Stereo Rendering: | ||
| Stereo Eye Separation: 0.05999999865889549 | ||
| Stereo Focal Distance: 1 | ||
| Swap Stereo Eyes: false | ||
| Value: false | ||
| Focal Point: | ||
| X: 0 | ||
| Y: 0 | ||
| Z: 0 | ||
| Focal Shape Fixed Size: true | ||
| Focal Shape Size: 0.05000000074505806 | ||
| Invert Z Axis: false | ||
| Name: Current View | ||
| Near Clip Distance: 0.009999999776482582 | ||
| Pitch: 0.785398006439209 | ||
| Target Frame: <Fixed Frame> | ||
| Value: Orbit (rviz) | ||
| Yaw: 0.785398006439209 | ||
| Saved: ~ | ||
| Window Geometry: | ||
| Displays: | ||
| collapsed: false | ||
| Height: 1025 | ||
| Hide Left Dock: false | ||
| Hide Right Dock: false | ||
| QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000363000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cc0000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 | ||
| Selection: | ||
| collapsed: false | ||
| Time: | ||
| collapsed: false | ||
| Tool Properties: | ||
| collapsed: false | ||
| Views: | ||
| collapsed: false | ||
| Width: 1853 | ||
| X: 67 | ||
| Y: 27 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| <?xml version="1.0" ?> | ||
| <?xml-model href="http://sdformat.org/schemas/root.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <sdf version="1.4"> | ||
| <world name="default"> | ||
| <include> | ||
| <uri>model://ground_plane</uri> | ||
| </include> | ||
| <include> | ||
| <uri>model://sun</uri> | ||
| </include> | ||
| <include> | ||
| <uri>model://small_box</uri> | ||
| </include> | ||
|
|
||
| <!-- Only one ROS interface plugin is required per world, as any other plugin can connect a Gazebo | ||
| topic to a ROS topic (or vise versa). --> | ||
| <plugin name="ros_interface_plugin" filename="librotors_gazebo_ros_interface_plugin.so"/> | ||
|
|
||
| <!-- coordinate system {--> | ||
| <spherical_coordinates> | ||
| <surface_model>EARTH_WGS84</surface_model> | ||
| <latitude_deg>47.3667</latitude_deg> | ||
| <longitude_deg>8.5500</longitude_deg> | ||
| <elevation>500.0</elevation> | ||
| <heading_deg>0</heading_deg> | ||
| </spherical_coordinates> | ||
| <!--}--> | ||
|
|
||
| <!-- physics engine {--> | ||
| <physics name="default_physics" default="0" type='ode'> | ||
| <ode> | ||
| <solver> | ||
| <type>quick</type> | ||
| <iters>1000</iters> | ||
| <sor>1.3</sor> | ||
| </solver> | ||
| <constraints> | ||
| <cfm>0</cfm> | ||
| <erp>0.2</erp> | ||
| <contact_max_correcting_vel>100</contact_max_correcting_vel> | ||
| <contact_surface_layer>0.001</contact_surface_layer> | ||
| </constraints> | ||
| </ode> | ||
| <max_step_size>0.001</max_step_size> | ||
| <real_time_factor>1</real_time_factor> | ||
| <real_time_update_rate>1000</real_time_update_rate> | ||
| <magnetic_field>6.0e-06 2.3e-05 -4.2e-05</magnetic_field> | ||
| <gravity>0 0 -9.8</gravity> | ||
| </physics> | ||
| <!--}--> | ||
|
|
||
| <!-- turn off shadows {--> | ||
| <scene> | ||
| <shadows>false</shadows> | ||
| <sky> | ||
| <clouds/> | ||
| </sky> | ||
| </scene> | ||
| <!--}--> | ||
|
|
||
| </world> | ||
| </sdf> |
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