From 65964f1b4e4cb582a0e7cc0a7fd6fa1ac97d7398 Mon Sep 17 00:00:00 2001 From: Valerio Magnago Date: Fri, 7 Apr 2023 17:03:07 +0200 Subject: [PATCH 1/4] Add traxxas summit car model. Closes: MAILA-24 --- stage/models/traxxas_summit/car.model | 41 ++++++++++++++++++ stage/models/traxxas_summit/footprint.png | Bin 0 -> 40554 bytes .../models/traxxas_summit/summit_top_view.jpg | Bin 0 -> 238885 bytes stage/models/{tx2.model => tx2/car.model} | 2 +- stage/worlds/simple_field/main.world | 4 +- stage/worlds/willow_garage/main.world | 4 +- 6 files changed, 46 insertions(+), 5 deletions(-) create mode 100644 stage/models/traxxas_summit/car.model create mode 100644 stage/models/traxxas_summit/footprint.png create mode 100644 stage/models/traxxas_summit/summit_top_view.jpg rename stage/models/{tx2.model => tx2/car.model} (99%) diff --git a/stage/models/traxxas_summit/car.model b/stage/models/traxxas_summit/car.model new file mode 100644 index 0000000..cfdbb3d --- /dev/null +++ b/stage/models/traxxas_summit/car.model @@ -0,0 +1,41 @@ +# Stage simulator model of 'tx2-auto-3' +# Credits: https://github.com/pokusew/f1tenth-rewrite/tree/main/src/storage/stage + + +# These relative path should be specified respect to the `main.world` file see: +# https://github.com/Mailamaca/stage/issues/1 +include "../../sensors/ust10lx.ranger" +# include "../../sensors/simcam.camera" + + +define car position +( + # size + size [0.563 0.470 0.200] + origin [0.172828879 0 0 0] + gui_nose 1 + + bitmap "../../models/traxxas_summit/footprint.png" + + # kinematic model + drive "diff" + + # type of localization + localization "gps" + # gps = absolute + # odom = relative + + # [ xmin xmax ymin ymax zmin zmax amin amax ] + velocity_bounds [-1.5 1.5 0 0 0 0 -90 90] + + # LiDAR + # position in metres, the centre of rotation offset must be added + # and initial position + ust10lx ( pose [ 0.0 0 0.25 0 ] size [ 0.05 0.05 0.035 ] ) + + # Camera + # temporary disabled so we can run simulation without GUI (and camera requires GUI) + # simcam ( pose [ -0.1375 0 0.175 0 ] size [ 0.025 0.09 0.025 ] ) + + stack_children 0 +) diff --git a/stage/models/traxxas_summit/footprint.png 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a/package.xml b/package.xml index 0f64bb1..3ebd655 100644 --- a/package.xml +++ b/package.xml @@ -12,6 +12,8 @@ ament_lint_auto ament_lint_common + stage_ros2 + ament_cmake From 659c5cafeab025907c41d671a54476a5bb7df934 Mon Sep 17 00:00:00 2001 From: Valerio Magnago Date: Fri, 7 Apr 2023 17:20:00 +0200 Subject: [PATCH 3/4] Cleanup models. --- stage/models/traxxas_summit/car.model | 6 +- stage/models/tx2/car.model | 165 -------------------------- stage/sensors/ust10lx.ranger | 5 +- 3 files changed, 7 insertions(+), 169 deletions(-) delete mode 100644 stage/models/tx2/car.model diff --git a/stage/models/traxxas_summit/car.model b/stage/models/traxxas_summit/car.model index cfdbb3d..c2252d2 100644 --- a/stage/models/traxxas_summit/car.model +++ b/stage/models/traxxas_summit/car.model @@ -1,5 +1,4 @@ -# Stage simulator model of 'tx2-auto-3' -# Credits: https://github.com/pokusew/f1tenth-rewrite/tree/main/src/storage/stage +# Stage simulator model of 'traxxas-summit' # These relative path should be specified respect to the `main.world` file see: @@ -20,6 +19,9 @@ define car position # kinematic model drive "diff" + # update frequency + update_interval 20 + # type of localization localization "gps" # gps = absolute diff --git a/stage/models/tx2/car.model b/stage/models/tx2/car.model deleted file mode 100644 index 2493728..0000000 --- a/stage/models/tx2/car.model +++ /dev/null @@ -1,165 +0,0 @@ -# Stage simulator model of 'tx2-auto-3' -# Credits: https://github.com/pokusew/f1tenth-rewrite/tree/main/src/storage/stage - - -# These relative path should be specified respect to the `main.world` file see: -# https://github.com/Mailamaca/stage/issues/1 -include "../../sensors/ust10lx.ranger" -# include "../../sensors/simcam.camera" - -define car position -( - # size - size [0.565 0.29 0.175] - origin [-0.165 0 0 0] - gui_nose 1 - - # body - block - ( - points 12 - point[0] [16.43 7.25] - point[1] [16.43 9.71] - point[2] [14 12.76] - point[3] [14 16.25] - point[4] [16.43 19.29] - point[5] [16.43 21.75] - point[6] [36.63 21.75] - point[7] [39.35 17.86] - point[8] [45 16.59] - point[9] [45 12.41] - point[10] [39.35 11.14] - point[11] [36.63 7.25] - z [1 8.5] - ) - - # Wheel - block - ( - points 4 - point[0] [7.5 0] - point[1] [7.5 6] - point[2] [18 6] - point[3] [18 0] - z [0 10.5] - color "black" - ) - - # Wheel - block - ( - points 4 - point[0] [7.5 23] - point[1] [7.5 29] - point[2] [18 29] - point[3] [18 23] - z [0 10.5] - color "black" - ) - - # Wheel - block - ( - points 4 - point[0] [39.5 23] - point[1] [39.5 29] - point[2] [50 29] - point[3] [50 23] - z [0 10.5] - color "black" - ) - - # Wheel - block - ( - points 4 - point[0] [39.5 0] - point[1] [39.5 6] - point[2] [50 6] - point[3] [50 0] - z [0 10.5] - color "black" - ) - - # Front bumper - block - ( - points 4 - point[0] [54.5 4.75] - point[1] [54.5 24.25] - point[2] [56.5 24.25] - point[3] [56.5 4.75] - z [9 12] - color "black" - ) - - # Rear bumper - block - ( - points 4 - point[0] [0 6] - point[1] [0 23] - point[2] [0.5 23] - point[3] [0.5 6] - z [9 12] - color "black" - ) - - # Lidar base (underneath) - block - ( - points 4 - point[0] [28.5 12] - point[1] [28.5 17] - point[2] [33.5 17] - point[3] [33.5 12] - z [8.5 10.5] - color "blue" - ) - - # Lidar base (lidar part) - block - ( - points 4 - point[0] [28.5 12] - point[1] [28.5 17] - point[2] [33.5 17] - point[3] [33.5 12] - z [10.5 14] - color "black" - ) - - # lidar - block - ( - points 4 - point[0] [28.5 12] - point[1] [28.5 17] - point[2] [33.5 17] - point[3] [33.5 12] - z [14 17.5] - color "orange" - ) - - # kinematic model - drive "car" - - # type of localization - localization "gps" - # gps = absolute - # odom = relative - - # wheel distance - wheelbase 0.32 - - # LiDAR - # position in metres, the centre of rotation offset must be added - # and initial position - ust10lx ( pose [ -0.12 0 0.1575 0 ] size [ 0.05 0.05 0.035 ] ) - - # Camera - # temporary disabled so we can run simulation without GUI (and camera requires GUI) - # simcam ( pose [ -0.1375 0 0.175 0 ] size [ 0.025 0.09 0.025 ] ) - - stack_children 0 -) diff --git a/stage/sensors/ust10lx.ranger b/stage/sensors/ust10lx.ranger index 413cc15..bd0d436 100644 --- a/stage/sensors/ust10lx.ranger +++ b/stage/sensors/ust10lx.ranger @@ -3,11 +3,12 @@ define ust10lx ranger ( sensor( - range [ 0.0 10.0 ] - fov 270.0 + range [ 0.0 12.0 ] + fov 3600.0 samples 3243 ) # generic model properties color "orange" + update_interval 100 # sensor frequency [ms] ) From ff5619ff533341b2d3335f173dcad10872f0e91c Mon Sep 17 00:00:00 2001 From: Valerio Magnago Date: Fri, 7 Apr 2023 17:29:25 +0200 Subject: [PATCH 4/4] Fill holes in the bumpber. --- stage/models/traxxas_summit/footprint.png | Bin 40554 -> 39733 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/stage/models/traxxas_summit/footprint.png b/stage/models/traxxas_summit/footprint.png index 55a968056364b93ce46062686fb0ea3ae10db0c7..fe0703c833524e7276e8120e356fdc3e8411350b 100644 GIT binary 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