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Add a VI sensor for the Crazyflie withouth shape and visual part #48
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76 changes: 76 additions & 0 deletions
76
rotors_gazebo/launch/crazyflie2_internal_model_controller_vi_sensor.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,76 @@ | ||
| <?xml version="1.0"?> | ||
| <launch> | ||
| <arg name="mav_name" default="crazyflie2"/> | ||
| <!-- Pay attention that the world sampling time is line with the one used in the | ||
| controller algorithm--> | ||
| <arg name="world_name" default="basic"/> | ||
| <arg name="enable_logging" default="false" /> | ||
| <arg name="enable_ground_truth" default="true" /> | ||
| <arg name="log_file" default="$(arg mav_name)" /> | ||
| <arg name="paused" value="true"/> | ||
| <arg name="debug" default="false"/> | ||
| <arg name="gui" default="true"/> | ||
| <arg name="enable_vi_sensor" default="true"/> | ||
| <!-- The following line causes gzmsg and gzerr messages to be printed to the console | ||
| (even when Gazebo is started through roslaunch) --> | ||
| <arg name="verbose" default="false"/> | ||
| <!-- Enables the Internal Model Controller disabling the Mellinger and the Position ones --> | ||
| <arg name="enable_internal_model_controller" default="true"/> | ||
| <arg name="debug_rviz" default="false" /> | ||
| <arg name="config" default="true" /> | ||
| <arg unless="$(arg debug_rviz)" name="launch_prefix" value="" /> | ||
| <arg if="$(arg debug_rviz)" name="launch_prefix" value="gdb --ex run --args" /> | ||
| <arg unless="$(arg config)" name="command_args" value="" /> | ||
| <arg if="$(arg config)" name="command_args" value="-d $(find rotors_gazebo)/rviz/crazyflie_vi_sensor.rviz" /> | ||
|
|
||
| <!-- The following lines simulate the world in Gazebo. The physic engine properties | ||
| are set up in the file "basic_crazyflie.world" file --> | ||
| <env name="GAZEBO_MODEL_PATH" value="${GAZEBO_MODEL_PATH}:$(find rotors_gazebo)/models"/> | ||
| <env name="GAZEBO_RESOURCE_PATH" value="${GAZEBO_RESOURCE_PATH}:$(find rotors_gazebo)/models"/> | ||
| <include file="$(find gazebo_ros)/launch/empty_world.launch"> | ||
| <arg name="world_name" value="$(find rotors_gazebo)/worlds/$(arg world_name)_crazyflie.world" /> | ||
| <arg name="debug" value="$(arg debug)" /> | ||
| <arg name="paused" value="$(arg paused)"/> | ||
| <arg name="gui" value="$(arg gui)" /> | ||
| <arg name="verbose" value="$(arg verbose)"/> | ||
| </include> | ||
|
|
||
| <group ns="$(arg mav_name)"> | ||
| <!-- The following lines simulate the Crazyflie dynamics --> | ||
| <include file="$(find rotors_gazebo)/launch/spawn_mav_crazyflie.launch"> | ||
| <arg name="mav_name" value="$(arg mav_name)" /> | ||
| <arg name="model" value="$(find rotors_description)/urdf/mav_generic_odometry_sensor.gazebo" /> | ||
| <arg name="enable_logging" value="$(arg enable_logging)" /> | ||
| <arg name="enable_ground_truth" value="$(arg enable_ground_truth)" /> | ||
| <arg name="enable_vi_sensor" value="$(arg enable_vi_sensor)"/> | ||
| <!-- As for the Mellinger and Position controllers in the "crazyflie2_hovering_example.launch" file --> | ||
| <arg name="enable_internal_model_controller" value="$(arg enable_internal_model_controller)" /> | ||
| <arg name="log_file" value="$(arg log_file)"/> | ||
| </include> | ||
| <!-- The Crazyflie controller --> | ||
| <node name="position_controller_node" pkg="rotors_control" type="position_controller_node" output="screen"> | ||
| <!-- Enabling internal model controller--> | ||
| <param name="enable_internal_model_controller" value="$(arg enable_internal_model_controller)" /> | ||
| <!-- Crazyflie file parameters used within the Internal Model Controller controller --> | ||
| <rosparam command="load" file="$(find rotors_gazebo)/resource/crazyflie_parameters.yaml" /> | ||
| <rosparam command="load" file="$(find rotors_gazebo)/resource/$(arg mav_name).yaml" /> | ||
| <!-- Loading Internal Model Controller's parameters --> | ||
| <rosparam command="load" file="$(find rotors_gazebo)/resource/crazyflie_internal_model_controller.yaml" /> | ||
| </node> | ||
| <!-- Enable/Disable the trajectory generator - If the position_controller is activated, the hovering_example will be executed, | ||
| otherwise the spline generator and the Mellinger's controller will be run--> | ||
| <node name="hovering_example_spline" pkg="rotors_gazebo" type="hovering_example_spline" output="screen" > | ||
| <rosparam command="load" file="$(find rotors_gazebo)/resource/spline_trajectory.yaml" /> | ||
| </node> | ||
| <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> | ||
| <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> | ||
| <node name="quaternion_to_rpy" pkg="rotors_gazebo" type="quaternion_to_rpy" output="screen" > | ||
| <remap from="odometry" to="odometry_sensor1/odometry" /> | ||
| </node> | ||
|
|
||
| <!-- Visualisation RVIZ --> | ||
| <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" | ||
| args="$(arg command_args)" output="screen" /> | ||
|
|
||
| </group> | ||
| </launch> |
1 change: 1 addition & 0 deletions
1
rotors_gazebo/launch/mav_hovering_example_with_vi_sensor.launch
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,178 @@ | ||
| Panels: | ||
| - Class: rviz/Displays | ||
| Help Height: 78 | ||
| Name: Displays | ||
| Property Tree Widget: | ||
| Expanded: | ||
| - /Global Options1 | ||
| - /Status1 | ||
| - /Pose1 | ||
| - /PointCloud21/Status1 | ||
| Splitter Ratio: 0.5 | ||
| Tree Height: 567 | ||
| - Class: rviz/Selection | ||
| Name: Selection | ||
| - Class: rviz/Tool Properties | ||
| Expanded: | ||
| - /2D Pose Estimate1 | ||
| - /2D Nav Goal1 | ||
| - /Publish Point1 | ||
| Name: Tool Properties | ||
| Splitter Ratio: 0.588679016 | ||
| - Class: rviz/Views | ||
| Expanded: | ||
| - /Current View1 | ||
| Name: Views | ||
| Splitter Ratio: 0.5 | ||
| - Class: rviz/Time | ||
| Experimental: false | ||
| Name: Time | ||
| SyncMode: 0 | ||
| SyncSource: Image | ||
| 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: 0.0299999993 | ||
| Value: Lines | ||
| Name: Grid | ||
| Normal Cell Count: 0 | ||
| Offset: | ||
| X: 0 | ||
| Y: 0 | ||
| Z: 0 | ||
| Plane: XY | ||
| Plane Cell Count: 10 | ||
| Reference Frame: <Fixed Frame> | ||
| Value: true | ||
| - Alpha: 1 | ||
| Axes Length: 1 | ||
| Axes Radius: 0.100000001 | ||
| Class: rviz/Pose | ||
| Color: 255; 25; 0 | ||
| Enabled: true | ||
| Head Length: 0.300000012 | ||
| Head Radius: 0.100000001 | ||
| Name: Pose | ||
| Shaft Length: 1 | ||
| Shaft Radius: 0.0500000007 | ||
| Shape: Arrow | ||
| Topic: /move_base_simple/goal | ||
| Unreliable: false | ||
| Value: true | ||
| - Class: rviz/Image | ||
| Enabled: true | ||
| Image Topic: /crazyflie2/vi_sensor/camera_depth/camera/image_raw | ||
| Max Value: 1 | ||
| Median window: 5 | ||
| Min Value: 0 | ||
| Name: Image | ||
| Normalize Range: true | ||
| Queue Size: 2 | ||
| Transport Hint: raw | ||
| Unreliable: false | ||
| Value: true | ||
| - Alpha: 1 | ||
| Autocompute Intensity Bounds: true | ||
| Autocompute Value Bounds: | ||
| Max Value: 10 | ||
| Min Value: -10 | ||
| Value: true | ||
| Axis: Z | ||
| Channel Name: intensity | ||
| Class: rviz/PointCloud2 | ||
| Color: 255; 255; 255 | ||
| Color Transformer: RGB8 | ||
| Decay Time: 0 | ||
| Enabled: true | ||
| Invert Rainbow: false | ||
| Max Color: 255; 255; 255 | ||
| Max Intensity: 4096 | ||
| Min Color: 0; 0; 0 | ||
| Min Intensity: 0 | ||
| Name: PointCloud2 | ||
| Position Transformer: XYZ | ||
| Queue Size: 10 | ||
| Selectable: true | ||
| Size (Pixels): 3 | ||
| Size (m): 0.00999999978 | ||
| Style: Flat Squares | ||
| Topic: /crazyflie2/vi_sensor/camera_depth/depth/points | ||
| Unreliable: false | ||
| Use Fixed Frame: true | ||
| Use rainbow: true | ||
| 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 | ||
| Topic: /initialpose | ||
| - 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: 12.8602066 | ||
| Enable Stereo Rendering: | ||
| Stereo Eye Separation: 0.0599999987 | ||
| 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: 0.0500000007 | ||
| Invert Z Axis: false | ||
| Name: Current View | ||
| Near Clip Distance: 0.00999999978 | ||
| Pitch: 0.785398006 | ||
| Target Frame: <Fixed Frame> | ||
| Value: Orbit (rviz) | ||
| Yaw: 0.785398006 | ||
| Saved: ~ | ||
| Window Geometry: | ||
| Camera: | ||
| collapsed: false | ||
| Displays: | ||
| collapsed: false | ||
| Height: 1056 | ||
| Hide Left Dock: false | ||
| Hide Right Dock: false | ||
| Image: | ||
| collapsed: false | ||
| QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c6000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000252000000ca0000001600000016fb0000000a0049006d00610067006501000002f4000000ca0000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 | ||
| Selection: | ||
| collapsed: false | ||
| Time: | ||
| collapsed: false | ||
| Tool Properties: | ||
| collapsed: false | ||
| Views: | ||
| collapsed: false | ||
| Width: 1855 | ||
| X: 65 | ||
| Y: 24 |