Skip to content
This repository was archived by the owner on Feb 21, 2021. It is now read-only.

[Issue 745] Added support for roomba robot #755

Merged
aitormf merged 2 commits into from
Apr 7, 2017
Merged

[Issue 745] Added support for roomba robot #755

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
639bee6
[issue #745] Added support for new robot: iRobot Roomba
fqez Apr 4, 2017
7aa084c
[issue #745] Modified model of roomba. Changed meshes uri
fqez Apr 4, 2017
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions src/drivers/gazeboserver/gazebo-setup.sh
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,5 +6,5 @@
# JdeRobot resources
export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:/usr/local/share/jderobot/gazebo/models:/usr/local/share/jderobot/gazebo/worlds
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/usr/local/share/jderobot/gazebo/models
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/local/share/jderobot/gazebo/plugins/pioneer:/usr/local/share/jderobot/gazebo/plugins/nao:/usr/local/share/jderobot/gazebo/plugins/kinect:/usr/local/share/jderobot/gazebo/plugins/quadrotor:/usr/local/share/jderobot/gazebo/plugins/turtlebot:/usr/local/share/jderobot/gazebo/plugins/flyingkinect:/usr/local/share/jderobot/gazebo/plugins/car:/usr/local/share/jderobot/gazebo/plugins/f1
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/jderobot:/usr/local/share/jderobot/gazebo/plugins/pioneer:/usr/local/share/jderobot/gazebo/plugins/nao:/usr/local/share/jderobot/gazebo/plugins/kinect:/usr/local/share/jderobot/gazebo/plugins/quadrotor:/usr/local/share/jderobot/gazebo/plugins/turtlebot:/usr/local/share/jderobot/gazebo/plugins/flyingkinect:/usr/local/share/jderobot/gazebo/plugins/car:/usr/local/share/jderobot/gazebo/plugins/f1
export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/usr/local/share/jderobot/gazebo/plugins/pioneer:/usr/local/share/jderobot/gazebo/plugins/nao:/usr/local/share/jderobot/gazebo/plugins/kinect:/usr/local/share/jderobot/gazebo/plugins/quadrotor:/usr/local/share/jderobot/gazebo/plugins/turtlebot:/usr/local/share/jderobot/gazebo/plugins/flyingkinect:/usr/local/share/jderobot/gazebo/plugins/car:/usr/local/share/jderobot/gazebo/plugins/f1:/usr/local/share/jderobot/gazebo/plugins/roomba
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/jderobot:/usr/local/share/jderobot/gazebo/plugins/pioneer:/usr/local/share/jderobot/gazebo/plugins/nao:/usr/local/share/jderobot/gazebo/plugins/kinect:/usr/local/share/jderobot/gazebo/plugins/quadrotor:/usr/local/share/jderobot/gazebo/plugins/turtlebot:/usr/local/share/jderobot/gazebo/plugins/flyingkinect:/usr/local/share/jderobot/gazebo/plugins/car:/usr/local/share/jderobot/gazebo/plugins/f1:/usr/local/share/jderobot/gazebo/plugins/roomba
Binary file added src/drivers/gazeboserver/models/roomba/materials/textures/create_body.png
View file
Open in desktop
Loading
Sorry, something went wrong. Reload?
Sorry, we cannot display this file.
Sorry, this file is invalid so it cannot be displayed.
348 changes: 348 additions & 0 deletions src/drivers/gazeboserver/models/roomba/meshes/create_body.dae
View file
Open in desktop

Large diffs are not rendered by default.

235 changes: 235 additions & 0 deletions src/drivers/gazeboserver/models/roomba/meshes/hokuyo.dae
View file
Open in desktop

Large diffs are not rendered by default.

19 changes: 19 additions & 0 deletions src/drivers/gazeboserver/models/roomba/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,19 @@
<?xml version="1.0"?>

<model>
<name>iRobot Roomba</name>
<version>1.0</version>
<sdf version="1.5">model.sdf</sdf>

<author>
<name>Nate Koenig</name>
<email>nate@osrfoundation.org</email>
</author>

<description>
A model of the iRobot Create.
</description>

<depend>
</depend>
</model>
371 changes: 371 additions & 0 deletions src/drivers/gazeboserver/models/roomba/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,371 @@
<?xml version="1.0" ?>
<sdf version="1.5">
<model name="roomba">

<plugin name='roombaplugin' filename='libroombaplugin.so'>
<alwaysOn>1</alwaysOn>
<updateRate>10.0</updateRate>
<bodyName>base</bodyName>
<left_joint>left_wheel</left_joint>
<right_joint>right_wheel</right_joint>
<!-- Ice configuration -->
<iceConfigFile>roombaplugin.cfg</iceConfigFile>
<!--iceAdapterPort>9000</iceAdapterPort-->
</plugin>
<link name="base">
<inertial>
<pose>0.001453 -0.000453 0.029787 0 0 0</pose>
<inertia>
<ixx>0.058640</ixx>
<ixy>0.000124</ixy>
<ixz>0.000615</ixz>
<iyy>0.058786</iyy>
<iyz>0.000014</iyz>
<izz>1.532440</izz>
</inertia>
<mass>2.234000</mass>
</inertial>
<collision name="base_collision">
<pose>0 0 0.047800 0 0 0</pose>
<geometry>
<mesh>
<uri>model://roomba/meshes/create_body.dae</uri>
</mesh>
</geometry>
</collision>
<visual name="base_visual">
<pose>0 0 0.047800 0 0 0</pose>
<geometry>
<mesh>
<uri>model://roomba/meshes/create_body.dae</uri>
</mesh>
</geometry>
</visual>
<collision name="front_wheel_collision">
<pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
<geometry>
<sphere>
<radius>0.018000</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="front_wheel_visual">
<pose>0.130000 0 0.017000 0 1.570700 1.570700</pose>
<geometry>
<sphere>
<radius>0.009000</radius>
</sphere>
</geometry>
</visual>
<collision name="rear_wheel_collision">
<pose>-0.13 0 0.017 0 1.5707 1.5707</pose>
<geometry>
<sphere>
<radius>0.015000</radius>
</sphere>
</geometry>
<surface>
<friction>
<ode>
<mu>0</mu>
<mu2>0</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="rear_wheel_visual">
<pose>-0.130000 0 0.017000 0 1.570700 1.570700</pose>
<geometry>
<sphere>
<radius>0.007500</radius>
</sphere>
</geometry>
</visual>
<sensor name="bumper" type='contact'>
<contact>
<collision>base_collision</collision>
</contact>
</sensor>
<sensor name="left_cliff_sensor" type="ray">
<pose>0.070000 0.140000 0.027000 0 1.570790 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.010000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
<sensor name="leftfront_cliff_sensor" type="ray">
<pose>0.150000 0.040000 0.027000 0 1.570790 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.010000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
<sensor name="right_cliff_sensor" type="ray">
<pose>0.070000 -0.140000 0.027000 0 1.570790 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.010000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
<sensor name="rightfront_cliff_sensor" type="ray">
<pose>0.150000 -0.040000 0.027000 0 1.570790 0</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.010000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
<sensor name="wall_sensor" type="ray">
<pose>0.090000 -0.120000 0.059000 0 0 -1.000000</pose>
<ray>
<scan>
<horizontal>
<samples>1</samples>
<resolution>1.000000</resolution>
<min_angle>0</min_angle>
<max_angle>0</max_angle>
</horizontal>
</scan>
<range>
<min>0.016000</min>
<max>0.040000</max>
<resolution>0.100000</resolution>
</range>
</ray>
</sensor>
</link>
<link name="left_wheel">
<pose>0 0.130000 0.032000 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.001000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001000</iyy>
<iyz>0</iyz>
<izz>0.001000</izz>
</inertia>
<mass>0.010000</mass>
</inertial>
<collision name="collision">
<pose>0 0 0 0 1.570700 1.570700</pose>
<geometry>
<cylinder>
<radius>0.033000</radius>
<length>0.023000</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 1.570700 1.570700</pose>
<geometry>
<cylinder>
<radius>0.033000</radius>
<length>0.023000</length>
</cylinder>
</geometry>
</visual>
</link>
<link name="right_wheel">
<pose>0 -0.130000 0.032000 0 0 0</pose>
<inertial>
<inertia>
<ixx>0.001000</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.001000</iyy>
<iyz>0</iyz>
<izz>0.001000</izz>
</inertia>
<mass>0.010000</mass>
</inertial>
<collision name="collision">
<pose>0 0 0 0 1.570700 1.570700</pose>
<geometry>
<cylinder>
<radius>0.033000</radius>
<length>0.023000</length>
</cylinder>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
<fdir1>0 0 0</fdir1>
<slip1>0</slip1>
<slip2>0</slip2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<pose>0 0 0 0 1.570700 1.570700</pose>
<geometry>
<cylinder>
<radius>0.033000</radius>
<length>0.023000</length>
</cylinder>
</geometry>
</visual>
</link>
<link name='laser'>
<pose>0.139000 0.000000 0.0752000 0.000000 0.000000 0.000000</pose>
<gravity>0</gravity>
<inertial>
<mass>0.100000</mass>
<inertia>
<ixx>1.000000</ixx>
<ixy>0.000000</ixy>
<ixz>0.000000</ixz>
<iyy>1.000000</iyy>
<iyz>0.000000</iyz>
<izz>1.000000</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<mesh>
<uri>model://roomba/meshes/hokuyo.dae</uri>
</mesh>
</geometry>
</visual>
<collision name='collision-base'>
<pose>0.000000 0.000000 -0.014500 0.000000 0.000000 0.000000</pose>
<geometry>
<box>
<size>0.050000 0.050000 0.041000</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
</collision>
<collision name='collision-top'>
<pose>0.000000 0.000000 0.020500 0.000000 0.000000 0.000000</pose>
<geometry>
<cylinder>
<radius>0.021000</radius>
<length>0.029000</length>
</cylinder>
</geometry>
<max_contacts>10</max_contacts>
</collision>
<sensor name='laser' type='ray'>
<ray>
<scan>
<horizontal>
<samples>180</samples>
<resolution>1.000000</resolution>
<min_angle>-1.570000</min_angle>
<max_angle>1.570000</max_angle>
</horizontal>
</scan>
<range>
<min>0.080000</min>
<max>10.000000</max>
<resolution>0.010000</resolution>
</range>
</ray>
<update_rate>20.000000</update_rate>
<always_on>1</always_on>
<visualize>1</visualize>
</sensor>
<velocity_decay>
<linear>0.000000</linear>
<angular>0.000000</angular>
</velocity_decay>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<joint name="left_wheel" type="revolute">
<parent>base</parent>
<child>left_wheel</child>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<joint name="right_wheel" type="revolute">
<parent>base</parent>
<child>right_wheel</child>
<axis>
<xyz>0 1 0</xyz>
<use_parent_model_frame>true</use_parent_model_frame>
</axis>
</joint>
<joint name='joint_laser' type='fixed'>
<parent>base</parent>
<child>laser</child>
<axis>
<xyz>0 0 0</xyz>
</axis>
</joint>
</model>
</sdf>
Loading