Update URDF, fix mecanum sim, fix laser_filter ns, remove tf renaming

README.md

@@ -112,7 +112,7 @@ ros2 launch rosbot_gazebo simulation.launch.py
 | ❌   | ✅   | `gz_world`          | Absolute path to SDF world file. <br/> ***string:*** [`husarion_world.sdf`](https://github.com/husarion/husarion_gz_worlds/blob/main/worlds/husarion_world.sdf)                                    |
 | ❌   | ✅   | `robots`            | Spawning multiple robots at positions with yaw orientations e.g.robots:='robot1={x: 0.0, y: -1.0}; robot2={x: 1.0, y: -1.0};' <br/> ***string:*** `''`                                             |
 | ❌   | ✅   | `x`                 | Initial robot position in the global 'x' axis. <br/> ***float:*** `0.0`                                                                                                                            |
-| ❌   | ✅   | `y`                 | Initial robot position in the global 'y' axis. <br/> ***float:***`-2.0`                                                                                                                           |
+| ❌   | ✅   | `y`                 | Initial robot position in the global 'y' axis. <br/> ***float:*** `2.0`                                                                                                                           |
 | ❌   | ✅   | `z`                 | Initial robot position in the global 'z' axis. <br/> ***float:*** `0.0`                                                                                                                            |
 | ❌   | ✅   | `roll`              | Initial robot 'roll' orientation. <br/> ***float:*** `0.0`                                                                                                                                         |
 | ❌   | ✅   | `pitch`             | Initial robot 'pitch' orientation. <br/> ***float:*** `0.0`                                                                                                                                        |

rosbot_bringup/config/laser_filter.yaml

@@ -5,7 +5,7 @@
       name: box_filter
       type: laser_filters/LaserScanBoxFilter
       params:
-        box_frame: base_link
+        box_frame: <namespace>/base_link
 
         max_x: 0.1
         min_x: -0.12

rosbot_bringup/launch/bringup.launch.py

@@ -29,7 +29,7 @@
 )
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-
+from nav2_common.launch import ReplaceString
 
 def generate_launch_description():
     microros = LaunchConfiguration("microros")
@@ -74,25 +74,24 @@ def generate_launch_description():
         package="robot_localization",
         executable="ekf_node",
         output="screen",
-        parameters=[ekf_config],
-        remappings=[
-            ("/diagnostics", "diagnostics"),
-            ("/tf", "tf"),
-            ("/tf_static", "tf_static"),
-        ],
+        parameters=[ekf_config, {"tf_prefix": namespace}],
+        remappings=[("/diagnostics", "diagnostics")],
         namespace=namespace,
     )
 
     laser_filter_config = PathJoinSubstitution([rosbot_bringup, "config", "laser_filter.yaml"])
+
+    namespace_ext = PythonExpression(["'", namespace, "' + '/' if '", namespace, "' else ''"])
+
+    laser_filter_config = ReplaceString(
+        source_file=laser_filter_config,
+        replacements={'<namespace>/': namespace_ext}
+    )
 
     laser_filter_node = Node(
         package="laser_filters",
         executable="scan_to_scan_filter_chain",
         parameters=[laser_filter_config],
-        remappings=[
-            ("/tf", "tf"),
-            ("/tf_static", "tf_static"),
-        ],
         namespace=namespace,
     )
 

rosbot_controller/config/diff_drive_controller.yaml

@@ -12,9 +12,7 @@
 
 /**/imu_broadcaster:
   ros__parameters:
-    tf_frame_prefix_enable: false
-    use_namespace_as_sensor_name_prefix: true
-
+    tf_frame_prefix_enable: true
     sensor_name: imu
     frame_id: imu_link
     static_covariance_orientation: [1.9e-3, 0.0, 0.0, 0.0, 1.9e-3, 0.0, 0.0, 0.0, 1.9e-3] # Values taken from datasheet
@@ -23,7 +21,7 @@
 
 /**/rosbot_base_controller:
   ros__parameters:
-    tf_frame_prefix_enable: false
+    tf_frame_prefix_enable: true
 
     left_wheel_names: [fl_wheel_joint, rl_wheel_joint]
     right_wheel_names: [fr_wheel_joint, rr_wheel_joint]

rosbot_controller/config/mecanum_drive_controller.yaml

@@ -12,8 +12,7 @@
 
 /**/imu_broadcaster:
   ros__parameters:
-    tf_frame_prefix_enable: false
-    use_namespace_as_sensor_name_prefix: true
+    tf_frame_prefix_enable: true
 
     sensor_name: imu
     frame_id: imu_link
@@ -23,7 +22,7 @@
 
 /**/rosbot_base_controller:
   ros__parameters:
-    tf_frame_prefix_enable: false
+    tf_frame_prefix_enable: true
 
     front_left_wheel_name: fl_wheel_joint
     front_right_wheel_name: fr_wheel_joint

rosbot_controller/launch/controller.launch.py

@@ -51,23 +51,6 @@ def generate_launch_description():
         description="Whether to use mecanum drive controller (otherwise diff drive controller is used)",
     )
 
-    controller_config_name = PythonExpression(
-        [
-            "'mecanum_drive_controller.yaml' if ",
-            mecanum,
-            " else 'diff_drive_controller.yaml'",
-        ]
-    )
-
-    namespace_ext = PythonExpression(
-        ["''", " if '", namespace, "' == '' ", "else ", "'", namespace, "/'"]
-    )
-
-    controller_manager_name = LaunchConfiguration(
-        "controller_manager_name",
-        default=[namespace_ext, "controller_manager"],
-    )
-
     robot_description_content = Command(
         [
             PathJoinSubstitution([FindExecutable(name="xacro")]),
@@ -89,7 +72,11 @@ def generate_launch_description():
     )
     robot_description = {"robot_description": robot_description_content}
 
-    robot_controllers = PathJoinSubstitution(
+    controller_config_name = PythonExpression(
+        ["'mecanum_drive_controller.yaml' if ", mecanum, " else 'diff_drive_controller.yaml'"]
+    )
+
+    controllers_config_file = PathJoinSubstitution(
         [
             FindPackageShare("rosbot_controller"),
             "config",
@@ -100,24 +87,26 @@ def generate_launch_description():
     control_node = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[robot_description, robot_controllers],
+        parameters=[robot_description, controllers_config_file],
         remappings=[
             ("imu_sensor_node/imu", "/_imu/data_raw"),
             ("~/motors_cmd", "/_motors_cmd"),
             ("~/motors_response", "/_motors_response"),
             ("rosbot_base_controller/cmd_vel", "cmd_vel"),
-            ("/tf", "tf"),
-            ("/tf_static", "tf_static"),
         ],
         condition=UnlessCondition(use_sim),
         namespace=namespace,
     )
 
+    namespace_ext = PythonExpression(["'", namespace, "' + '/' if '", namespace, "' else ''"])
+
     robot_state_pub_node = Node(
         package="robot_state_publisher",
         executable="robot_state_publisher",
-        parameters=[robot_description],
-        remappings=[("/tf", "tf"), ("/tf_static", "tf_static")],
+        parameters=[
+            {"robot_description": robot_description_content},
+            {"frame_prefix": namespace_ext},
+        ],
         namespace=namespace,
     )
 
@@ -127,11 +116,11 @@ def generate_launch_description():
         arguments=[
             "joint_state_broadcaster",
             "--controller-manager",
-            controller_manager_name,
+            "controller_manager",
             "--controller-manager-timeout",
             "10",
         ],
-        remappings=[("/tf", "tf"), ("/tf_static", "tf_static")],
+        namespace=namespace,
     )
 
     robot_controller_spawner = Node(
@@ -140,11 +129,11 @@ def generate_launch_description():
         arguments=[
             "rosbot_base_controller",
             "--controller-manager",
-            controller_manager_name,
+            "controller_manager",
             "--controller-manager-timeout",
             "10",
         ],
-        remappings=[("/tf", "tf"), ("/tf_static", "tf_static")],
+        namespace=namespace,
     )
 
     imu_broadcaster_spawner = Node(
@@ -153,11 +142,11 @@ def generate_launch_description():
         arguments=[
             "imu_broadcaster",
             "--controller-manager",
-            controller_manager_name,
+            "controller_manager",
             "--controller-manager-timeout",
             "10",
         ],
-        remappings=[("/tf", "tf"), ("/tf_static", "tf_static")],
+        namespace=namespace,
     )
 
     # spawners expect ros2_control_node to be running

rosbot_description/urdf/body.urdf.xacro

@@ -18,8 +18,8 @@
           <mesh filename="package://rosbot_description/meshes/body.stl" scale="0.001 0.001 0.001" />
         </geometry>
         <origin xyz="0.0 0.0 -0.0173" rpy="${pi/2} 0.0 ${pi/2}" />
-        <material name="White">
-          <color rgba="1.0 1.0 1.0 1.0" />
+        <material name="Black">
+          <color rgba="0.1 0.1 0.1 0.1" />
         </material>
       </visual>
 
@@ -39,7 +39,7 @@
       </inertial>
     </link>
     <gazebo reference="body_link">
-      <material>Gazebo/White</material>
+      <material>Gazebo/Black</material>
     </gazebo>
 
     <joint name="body_to_cover_joint" type="fixed">

rosbot_description/urdf/rosbot.urdf.xacro

@@ -6,7 +6,7 @@
   <xacro:arg name="namespace" default="None" />
 
   <xacro:include filename="$(find rosbot_description)/urdf/rosbot_macro.urdf.xacro" ns="husarion" />
-  <xacro:husarion.rosbot_robot
+  <xacro:husarion.rosbot
     mecanum="$(arg mecanum)"
     use_sim="$(arg use_sim)"
     namespace="$(arg namespace)" />
@@ -16,12 +16,14 @@
       parent_link="cover_link"
       xyz="0.02 0.0 0.0"
       rpy="0.0 0.0 0.0"
-      model="a3" />
+      model="s2"
+      namespace="$(arg namespace)" />
 
-    <xacro:include filename="$(find ros_components_description)/urdf/orbbec_astra.urdf.xacro" ns="camera" />
-    <xacro:camera.orbbec_astra
-      parent_link="camera_mount_link"
-      xyz="0.0 0.0 0.0"
-      rpy="0.0 0.0 0.0" />
+	<xacro:include filename="$(find depthai_descriptions)/urdf/include/depthai_macro.urdf.xacro" ns="camera" />
+	<xacro:camera.depthai_camera camera_name="oak_camera" parent="camera_mount_link"
+		camera_model="OAK-D-PRO" base_frame="oak_camera"
+		cam_pos_x="0.0" cam_pos_y="0.0" cam_pos_z="0.02"
+		cam_roll="0.0" cam_pitch="0.0" cam_yaw="0.0"
+    r="0.2" g="0.2" b="0.2" a="1.0"	rs_compat="false" simulation="$(arg use_sim)" />
 
 </robot>

rosbot_description/urdf/rosbot_macro.urdf.xacro

@@ -1,6 +1,6 @@
 <?xml version='1.0'?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:macro name="rosbot_robot" params="mecanum use_sim namespace">
+  <xacro:macro name="rosbot" params="mecanum use_sim namespace">
 
     <xacro:property name="ns" value="${namespace + '/' if namespace != 'None' else ''}" />
     <xacro:property name="wheel_radius" value="${0.0470 if mecanum else 0.0425}" />
@@ -116,7 +116,6 @@
               <namespace>${namespace}</namespace>
             </xacro:unless>
             <remapping>rosbot_base_controller/cmd_vel:=cmd_vel</remapping>
-            <remapping>/tf:=tf</remapping>
           </ros>
         </plugin>
       </gazebo>

rosbot_description/urdf/wheel.urdf.xacro

@@ -44,15 +44,15 @@
       <xacro:property name="fdir" value="1.0 1.0 0.0" />
     </xacro:if>
     <xacro:if value="${side == 'rl'}">
-      <xacro:property name="x" value="${-wheel_separation_x/2}" />
-      <xacro:property name="y" value="${wheel_separation_y/2}" />
+      <xacro:property name="x" value="${-wheel_separation_x/2.0}" />
+      <xacro:property name="y" value="${wheel_separation_y/2.0}" />
       <xacro:property name="mesh" value="package://rosbot_description/meshes/${wheel_file}_a.dae" />
       <xacro:property name="visual_rotation" value="${0.0}" />
       <xacro:property name="fdir" value="1.0 1.0 0.0" />
     </xacro:if>
     <xacro:if value="${side == 'rr'}">
-      <xacro:property name="x" value="${-wheel_separation_x/2}" />
-      <xacro:property name="y" value="${-wheel_separation_y/2}" />
+      <xacro:property name="x" value="${-wheel_separation_x/2.0}" />
+      <xacro:property name="y" value="${-wheel_separation_y/2.0}" />
       <xacro:property name="mesh" value="package://rosbot_description/meshes/${wheel_file}_b.dae" />
       <xacro:property name="visual_rotation" value="${0.0}" />
       <xacro:property name="fdir" value="1.0 -1.0 0.0" />
@@ -90,21 +90,39 @@
       </inertial>
     </link>
 
-    <xacro:if value="${mecanum}">
-      <gazebo reference="${side}_wheel_link" xmlns:ignition="http://ignitionrobotics.org/schema">
+    <gazebo reference="${side}_wheel_link" xmlns:gz="http://gazeborobotics.org/schema">
+      <xacro:unless value="${mecanum}">
         <collision>
           <surface>
             <friction>
               <ode>
-                <mu>1.0</mu>
-                <mu2>0.0</mu2>
-                <fdir1 ignition:expressed_in="base_link">${fdir}</fdir1>
+                <mu>1</mu>
+                <mu2>1</mu2>
+                <slip1>0.035</slip1>
+                <slip2>0</slip2>
+                <fdir1>0 0 1</fdir1>
               </ode>
             </friction>
           </surface>
         </collision>
-      </gazebo>
-    </xacro:if>
+      </xacro:unless>
+
+      <xacro:if value="${mecanum}">
+        <collision>
+          <surface>
+            <friction>
+              <ode>
+                <mu>0.8</mu>
+                <mu2>0.2</mu2>
+                  <slip1>0.035</slip1>
+                <slip2>0</slip2>
+                <fdir1 gz:expressed_in="base_link">${fdir}</fdir1>
+              </ode>
+            </friction>
+          </surface>
+        </collision>
+      </xacro:if>
+    </gazebo>
 
   </xacro:macro>
 </robot>

rosbot_gazebo/launch/simulation.launch.py

@@ -28,8 +28,8 @@
 
 def generate_launch_description():
     namespace = LaunchConfiguration("namespace")
-    x = LaunchConfiguration("x", default="0.0")
-    y = LaunchConfiguration("y", default="2.0")
+    x = LaunchConfiguration("x", default="-1.0")
+    y = LaunchConfiguration("y", default="-2.0")
     z = LaunchConfiguration("z", default="0.0")
     roll = LaunchConfiguration("roll", default="0.0")
     pitch = LaunchConfiguration("pitch", default="0.0")

rosbot_gazebo/launch/spawn.launch.py

@@ -41,7 +41,7 @@ def generate_launch_description():
     )
 
     declare_x_arg = DeclareLaunchArgument(
-        "x", default_value="0.0", description="Initial robot position in the global 'x' axis."
+        "x", default_value="-1.0", description="Initial robot position in the global 'x' axis."
     )
 
     declare_y_arg = DeclareLaunchArgument(
@@ -128,10 +128,6 @@ def generate_launch_description():
         executable="parameter_bridge",
         name="ros_gz_bridge",
         parameters=[{"config_file": namespaced_gz_remappings_file}],
-        remappings=[
-            ("/tf", "tf"),
-            ("/tf_static", "tf_static"),
-        ],
         namespace=namespace,
     )