Feat/320 adding opponent cars (#322)

* Updated to work on Noetic * added new csv for track with no holes * updated with better positions * now runs on the track without holes * added inital x and y params * remove sick time package * remove sick time package * added more xacro files * spawns another opponent in gazebo * adds opponent kart files * adds two new csv's * add geometry2 submodule for now * changes path of no holes 4 * adds a 2nd working opponent * updated opponent cars with unique collision spaces * fixes rubberbanding * update pointgrey submodule * point to noetic-devel * Test docker 1 * Test docker 2 * Test docker 4 * Test docker 5 * Test docker 6 * Test docker 7 * Test docker 8 * Test docker 9 * Test docker 10 * remove urdfs Co-authored-by: Daniel <[email protected]>
RoboJackets · Feb 13, 2021 · 73ff7ec · 73ff7ec
1 parent 1aea379
commit 73ff7ec
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diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -126,3 +126,4 @@ workflows:
       - test:
           requires:
             - compile
+
diff --git a/rr_description/CMakeLists.txt b/rr_description/CMakeLists.txt
@@ -14,5 +14,13 @@ catkin_package(
 #        DEPENDS eigen opencv
 )
 
-file(GLOB xacro_files urdf/evgp.urdf.xacro urdf/evgp_opponent.urdf.xacro)
+file(GLOB xacro_files
+        urdf/evgp.urdf.xacro
+        urdf/evgp_opponent.urdf.xacro
+        urdf/opponents/evgp_opponent_0.urdf.xacro
+        urdf/opponents/evgp_opponent_1.urdf.xacro
+        urdf/opponents/evgp_opponent_2.urdf.xacro
+        urdf/opponents/evgp_opponent_3.urdf.xacro
+        urdf/opponents/evgp_opponent_4.urdf.xacro
+        )
 xacro_add_files(${xacro_files} TARGET xacro_files)
diff --git a/rr_description/urdf/.gitignore b/rr_description/urdf/.gitignore
@@ -1,3 +1,4 @@
 # ignore URDF generated from xacro
 evgp.urdf
 evgp_opponent.urdf
+opponents/*.urdf
diff --git a/rr_description/urdf/opponents/evgp_body.urdf.xacro b/rr_description/urdf/opponents/evgp_body.urdf.xacro
@@ -0,0 +1,60 @@
+<robot name="evgp" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="null_inertia">
+        <inertial>
+            <mass value="0.0001"/>
+            <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="mesh_geometry">
+        <geometry>
+            <mesh filename="package://rr_description/meshes/EVGP_robot.STL" scale="0.001 0.001 0.001"/>
+        </geometry>
+    </xacro:macro>
+
+    <xacro:macro name="set_link_color" params="link color">
+        <gazebo reference="${link}">
+            <material>Gazebo/${color}</material>
+        </gazebo>
+    </xacro:macro>
+
+    <xacro:macro name="evgp_body" params="collision_bitmask color">
+
+        <!-- ************************** Links *************************** -->
+
+        <link name="base_footprint">
+            <xacro:null_inertia/>
+        </link>
+
+        <link name="body_visual_origin">
+            <xacro:null_inertia/>
+            <visual>
+                <xacro:mesh_geometry/>
+            </visual>
+            <collision>
+                <xacro:mesh_geometry/>
+            </collision>
+        </link>
+        <xacro:set_link_color link="body_visual_origin" color="${color}"/>
+        <gazebo reference="body_visual_origin">
+            <collision>
+                <surface>
+                    <contact>
+                        <collide_bitmask>${collision_bitmask}</collide_bitmask>
+                    </contact>
+                </surface>
+            </collision>
+        </gazebo>
+
+        <!-- ************************** Joints *************************** -->
+
+        <joint name="base_footprint_to_mesh_origin" type="fixed">
+            <parent link="base_footprint"/>
+            <child link="body_visual_origin"/>
+            <origin xyz="1.45 0.515 -0.051" rpy="${pi/2} 0 ${-pi/2}"/>
+        </joint>
+
+    </xacro:macro>
+
+</robot>
diff --git a/rr_description/urdf/opponents/evgp_opponent_0.urdf.xacro b/rr_description/urdf/opponents/evgp_opponent_0.urdf.xacro
@@ -0,0 +1,11 @@
+<robot name="evgp_opponent" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="evgp_body.urdf.xacro"/>
+
+    <xacro:evgp_body collision_bitmask="0x4" color="Blue"/>
+
+    <gazebo reference="base_footprint">
+        <kinematic>true</kinematic>
+    </gazebo>
+
+</robot>
diff --git a/rr_description/urdf/opponents/evgp_opponent_1.urdf.xacro b/rr_description/urdf/opponents/evgp_opponent_1.urdf.xacro
@@ -0,0 +1,11 @@
+<robot name="evgp_opponent" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="evgp_body.urdf.xacro"/>
+
+    <xacro:evgp_body collision_bitmask="0x8" color="Green"/>
+
+    <gazebo reference="base_footprint">
+        <kinematic>true</kinematic>
+    </gazebo>
+
+</robot>
diff --git a/rr_description/urdf/opponents/evgp_opponent_2.urdf.xacro b/rr_description/urdf/opponents/evgp_opponent_2.urdf.xacro
@@ -0,0 +1,11 @@
+<robot name="evgp_opponent" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="evgp_body.urdf.xacro"/>
+
+    <xacro:evgp_body collision_bitmask="0x10" color="Yellow"/>
+
+    <gazebo reference="base_footprint">
+        <kinematic>true</kinematic>
+    </gazebo>
+
+</robot>
diff --git a/rr_description/urdf/opponents/evgp_opponent_3.urdf.xacro b/rr_description/urdf/opponents/evgp_opponent_3.urdf.xacro
@@ -0,0 +1,11 @@
+<robot name="evgp_opponent" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="evgp_body.urdf.xacro"/>
+
+    <xacro:evgp_body collision_bitmask="0x20" color="Red"/>
+
+    <gazebo reference="base_footprint">
+        <kinematic>true</kinematic>
+    </gazebo>
+
+</robot>
diff --git a/rr_description/urdf/opponents/evgp_opponent_4.urdf.xacro b/rr_description/urdf/opponents/evgp_opponent_4.urdf.xacro
@@ -0,0 +1,11 @@
+<robot name="evgp_opponent" xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:include filename="evgp_body.urdf.xacro"/>
+
+    <xacro:evgp_body collision_bitmask="0x40" color="Purple"/>
+
+    <gazebo reference="base_footprint">
+        <kinematic>true</kinematic>
+    </gazebo>
+
+</robot>
diff --git a/rr_gazebo/config/opponent_trajectory_copycat.csv b/rr_gazebo/config/opponent_trajectory_copycat.csv