From 0144abde82bb2bbbd2cc683d888b2085a7299f7e Mon Sep 17 00:00:00 2001 From: Giuseppe Silano Date: Wed, 13 May 2020 18:39:44 +0200 Subject: [PATCH] Add a simple Octomap scenario for the Crazyflie 2.0 #49 --- rotors_comm/CHANGELOG.rst | 2 +- rotors_control/CHANGELOG.rst | 2 +- rotors_description/CHANGELOG.rst | 2 +- rotors_evaluation/CHANGELOG.rst | 2 +- rotors_gazebo/CHANGELOG.rst | 4 +- .../launch/crazyflie2_octomap.launch | 89 ++++++++++++ rotors_gazebo/rviz/crazyflie_octomap.rviz | 130 ++++++++++++++++++ rotors_gazebo/worlds/octomap_crazyflie.world | 62 +++++++++ rotors_gazebo_plugins/CHANGELOG.rst | 2 +- rotors_joy_interface/CHANGELOG.rst | 2 +- rotors_simulator/CHANGELOG.rst | 2 +- rqt_rotors/CHANGELOG.rst | 2 +- 12 files changed, 291 insertions(+), 10 deletions(-) create mode 100644 rotors_gazebo/launch/crazyflie2_octomap.launch create mode 100644 rotors_gazebo/rviz/crazyflie_octomap.rviz create mode 100644 rotors_gazebo/worlds/octomap_crazyflie.world diff --git a/rotors_comm/CHANGELOG.rst b/rotors_comm/CHANGELOG.rst index f650feb..4364130 100644 --- a/rotors_comm/CHANGELOG.rst +++ b/rotors_comm/CHANGELOG.rst @@ -2,7 +2,7 @@ Changelog for package rotors_comm ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- 4.0.12 (2020-05-02) diff --git a/rotors_control/CHANGELOG.rst b/rotors_control/CHANGELOG.rst index a0147df..7ade6c3 100644 --- a/rotors_control/CHANGELOG.rst +++ b/rotors_control/CHANGELOG.rst @@ -2,7 +2,7 @@ Changelog for package rotors_control ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- 4.0.12 (2020-05-02) diff --git a/rotors_description/CHANGELOG.rst b/rotors_description/CHANGELOG.rst index a696391..31ce81b 100644 --- a/rotors_description/CHANGELOG.rst +++ b/rotors_description/CHANGELOG.rst @@ -2,7 +2,7 @@ Changelog for package rotors_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- 4.0.12 (2020-05-02) diff --git a/rotors_evaluation/CHANGELOG.rst b/rotors_evaluation/CHANGELOG.rst index a53392f..96d5022 100644 --- a/rotors_evaluation/CHANGELOG.rst +++ b/rotors_evaluation/CHANGELOG.rst @@ -2,7 +2,7 @@ Changelog for package rotors_evaluation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- 4.0.12 (2020-05-02) diff --git a/rotors_gazebo/CHANGELOG.rst b/rotors_gazebo/CHANGELOG.rst index c77ef76..f8e8893 100644 --- a/rotors_gazebo/CHANGELOG.rst +++ b/rotors_gazebo/CHANGELOG.rst @@ -2,9 +2,9 @@ Changelog for package rotors_gazebo ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- -* Fixed issue related to the world file #50 +* Add a simple scenario in which using the Octomap plugin with the Crazyflie 2.0 * Contributors: Giuseppe Silano 4.0.12 (2020-05-02) diff --git a/rotors_gazebo/launch/crazyflie2_octomap.launch b/rotors_gazebo/launch/crazyflie2_octomap.launch new file mode 100644 index 0000000..fed9855 --- /dev/null +++ b/rotors_gazebo/launch/crazyflie2_octomap.launch @@ -0,0 +1,89 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rotors_gazebo/rviz/crazyflie_octomap.rviz b/rotors_gazebo/rviz/crazyflie_octomap.rviz new file mode 100644 index 0000000..29c451a --- /dev/null +++ b/rotors_gazebo/rviz/crazyflie_octomap.rviz @@ -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: + 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: + 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 diff --git a/rotors_gazebo/worlds/octomap_crazyflie.world b/rotors_gazebo/worlds/octomap_crazyflie.world new file mode 100644 index 0000000..c878bfa --- /dev/null +++ b/rotors_gazebo/worlds/octomap_crazyflie.world @@ -0,0 +1,62 @@ + + + + + + model://ground_plane + + + model://sun + + + model://small_box + + + + + + + + EARTH_WGS84 + 47.3667 + 8.5500 + 500.0 + 0 + + + + + + + + quick + 1000 + 1.3 + + + 0 + 0.2 + 100 + 0.001 + + + 0.001 + 1 + 1000 + 6.0e-06 2.3e-05 -4.2e-05 + 0 0 -9.8 + + + + + + false + + + + + + + + diff --git a/rotors_gazebo_plugins/CHANGELOG.rst b/rotors_gazebo_plugins/CHANGELOG.rst index d9520a2..dc2defa 100644 --- a/rotors_gazebo_plugins/CHANGELOG.rst +++ b/rotors_gazebo_plugins/CHANGELOG.rst @@ -2,7 +2,7 @@ Changelog for package rotors_gazebo_plugins ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- 4.0.12 (2020-05-02) diff --git a/rotors_joy_interface/CHANGELOG.rst b/rotors_joy_interface/CHANGELOG.rst index ff6cbd3..171fc0c 100644 --- a/rotors_joy_interface/CHANGELOG.rst +++ b/rotors_joy_interface/CHANGELOG.rst @@ -2,7 +2,7 @@ Changelog for package rotors_joy_interface ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- 4.0.12 (2020-05-02) diff --git a/rotors_simulator/CHANGELOG.rst b/rotors_simulator/CHANGELOG.rst index d5e57ac..e3aa959 100644 --- a/rotors_simulator/CHANGELOG.rst +++ b/rotors_simulator/CHANGELOG.rst @@ -2,7 +2,7 @@ Changelog for package rotors_simulator ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- 4.0.12 (2020-05-02) diff --git a/rqt_rotors/CHANGELOG.rst b/rqt_rotors/CHANGELOG.rst index af9c248..c2eb757 100644 --- a/rqt_rotors/CHANGELOG.rst +++ b/rqt_rotors/CHANGELOG.rst @@ -2,7 +2,7 @@ Changelog for package rqt_rotors ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -4.0.13 (2020-05-12) +4.0.13 (2020-05-13) ------------------- 4.0.12 (2020-05-02)