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marjinal1st/move_test

Last active August 29, 2015 14:19
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Robot
Raw
gistfile1.xml
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from robot1_base_02.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="robot1_xacro" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_footprint">
<visual>
<geometry>
<box size="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
<inertial>
<mass value="0.0001"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<gazebo reference="base_footprint">
<material>Gazebo/Green</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0"/>
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<link name="base_link">
<visual>
<geometry>
<box size="0.2 .3 .1"/>
</geometry>
<origin rpy="0 0 1.54" xyz="0 0 0.05"/>
</visual>
<collision>
<geometry>
<box size="0.2 .3 0.1"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<gazebo reference="base_link">
<material value="Gazebo/Red" />
</gazebo>
<link name="wheel_1">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="0.1 0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="Black" />
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<gazebo reference="wheel_1">
<material value="Gazebo/Black" />
</gazebo>
<link name="wheel_2">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="-0.1 0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<gazebo reference="wheel_2">
<material value="Gazebo/Black" />
</gazebo>
<link name="wheel_3">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="0.1 -0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<gazebo reference="wheel_3">
<material value="Gazebo/Black" />
</gazebo>
<link name="wheel_4">
<visual>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
<!-- <origin rpy="0 1.5 0" xyz="-0.1 -0.1 0"/> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.05"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<gazebo reference="wheel_4">
<material value="Gazebo/Black" />
</gazebo>
<joint name="base_to_wheel1" type="continuous">
<parent link="base_link"/>
<child link="wheel_1"/>
<origin rpy="1.5707 0 0" xyz="0.1 0.15 0"/>
<axis xyz="0 0 1"/>
</joint>
<joint name="base_to_wheel2" type="continuous">
<axis xyz="0 0 1"/>
<anchor xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<parent link="base_link"/>
<child link="wheel_2"/>
<origin rpy="1.5707 0 0" xyz="-0.1 0.15 0"/>
</joint>
<joint name="base_to_wheel3" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1"/>
<child link="wheel_3"/>
<origin rpy="1.5707 0 0" xyz="0.1 -0.15 0"/>
</joint>
<joint name="base_to_wheel4" type="continuous">
<parent link="base_link"/>
<axis xyz="0 0 1"/>
<child link="wheel_4"/>
<origin rpy="1.5707 0 0" xyz="-0.1 -0.15 0"/>
</joint>
<!-- Camera -->
<joint name="camera_joint" type="fixed">
<axis xyz="0 1 0" />
<origin xyz=".15 0 .18" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="camera_link"/>
</joint>
<link name="camera_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size=".05 .05 .05"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size=".05 .05 .05"/>
</geometry>
</visual>
<inertial>
<mass value="1e-5" />
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
</inertial>
</link>
<gazebo reference="camera_link">
<material value="Gazebo/Blue" />
</gazebo>
<!-- Camera Gazebo -->
<gazebo reference="camera_link">
<sensor type="camera" name="camera1">
<update_rate>30.0</update_rate>
<camera name="head">
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>800</width>
<height>600</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.02</near>
<far>300</far>
</clip>
<noise>
<type>gaussian</type>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<mean>0.0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>front_camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
</plugin>
</sensor>
</gazebo>
<!-- Laser -->
<!-- Front Laser -->
<joint name="chassis_front_laser_joint" type="fixed">
<axis xyz="0 0 1"/>
<origin rpy="0 0 0" xyz="0.18 0 0.06"/>
<parent link="base_link"/>
<child link="front_laser"/>
</joint>
<link name="front_laser">
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://bazebo/meshes/hokuyo.dae"/>
</geometry>
</visual>
<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>
<gazebo reference="front_laser">
<sensor name="laser" type="ray">
<pose>0 0 0 0 0 0</pose>
<ray>
<scan>
<horizontal>
<!-- The URG-04LX-UG01 has 683 steps with 0.35139 Degree resolution -->
<resolution>1</resolution>
<max_angle>1.0472</max_angle>
<min_angle>-1.0472</min_angle>
<samples>5</samples>
</horizontal>
</scan>
<range>
<min>0.08</min>
<max>5</max>
<resolution>0.01</resolution>
</range>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="laser">
<robotNamespace></robotNamespace>
<topicName>front_laser/scan</topicName>
<frameName>front_laser</frameName>
</plugin>
<!--
<plugin name="laser" filename="libRayPlugin.so" />
-->
<always_on>1</always_on>
<update_rate>30</update_rate>
<visualize>true</visualize>
</sensor>
</gazebo>
<!-- Differential Driver Eklentisi/> -->
<gazebo>
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
<rosDebugLevel>Debug</rosDebugLevel>
<robotNamespace></robotNamespace>
<publishWheelTF>false</publishWheelTF>
<publishWheelJointState>true</publishWheelJointState>
<alwaysOn>false</alwaysOn>
<leftJoint>base_to_wheel4</leftJoint>
<rightJoint>base_to_wheel2</rightJoint>
<wheelSeparation>0.33</wheelSeparation>
<wheelDiameter>0.1</wheelDiameter>
<wheelTorque>5</wheelTorque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometrySource>world</odometrySource>
<robotBaseFrame>base_link</robotBaseFrame>
<updateRate>100.0</updateRate>
</plugin>
</gazebo>
</robot>
Raw
move_test
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from geometry_msgs.msg import Twist
def main():
rospy.init_node("move_test", anonymous=False)
cmd_vel = rospy.Publisher("/rrbot/cmd_vel", Twist, queue_size=10)
r = rospy.Rate(10)
move_cmd = Twist()
move_cmd.linear.x = 0.2
move_cmd.angular.z = 0.0
while not rospy.is_shutdown():
cmd_vel.publish(move_cmd)
r.sleep()
cmd_vel.publish(Twist())
rospy.sleep(1)
if __name__ == "__main__":
main()
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