ライントレース用のコースを作成 (#74)

* ライントレース用のコースを作成 * コースを地面より0.01浮かせる * 動作周期を修正 Co-authored-by: Shota Aoki <[email protected]> * ラズパイマウスの初期位置を指定する引数を追加 * ラズパイマウスの初期位置をlaunchファイルから指定できるように変更 * モデル作成者の名前を変更 * blenderのモデルの作成者を変更 * コースモデルの大きさを修正 * コースモデルのスケールを修正 * コースモデルの作成者名を変更 * パネルの寸法が分かる名称に変更 * ワールド名を柔軟なものに変更 * 線の幅を4cmに変更 * READMEにモデル一覧を追加 --------- Co-authored-by: Shota Aoki <[email protected]>
rt-net · Nov 17, 2023 · 78b5a51 · 78b5a51
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diff --git a/README.en.md b/README.en.md
@@ -93,6 +93,29 @@ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
 
+## Model data list
+
+### course_curve_50x50cm
+Curve course panel for line following.
+Panel size is 50 cm x 50 cm and line width is 4 cm.
+
+![](./raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve.jpg)
+
+### course_straight_50x50cm
+Straight course panel for line following.
+Panel size is 50 cm x 50 cm and line width is 4 cm.
+
+![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg)
+
+### cube_*cm_color-name
+Each cube is 5 cm, 7.5 cm, 10 cm, and 15 cm on a side.
+The cube colors are red, yellow, blue, and green.
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png)
+
+### daeファイルについて
+The dae file is edited in Blender 4.0.
+
 ## License
 
 This repository is licensed under the MIT license, see [LICENSE]( ./LICENSE ).  

diff --git a/README.md b/README.md
@@ -93,6 +93,31 @@ ros2 launch raspimouse_ros2_examples object_tracking.launch.py mouse:=false use_
 
 ![](https://rt-net.github.io/images/raspberry-pi-mouse/raspimouse_sim_object_tracking.gif)
 
+## モデルデータ一覧
+
+### course_curve_50x50cm
+
+ライントレース用の曲線コースパネルです。
+パネルサイズは50cm x 50cm、線の幅は4cmです。
+
+![](./raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve.jpg)
+
+### course_straight_50x50cm
+
+ライントレース用の直線コースパネルです。
+パネルサイズは50cm x 50cm、線の幅は4cmです。
+
+![](./raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg)
+
+### cube_*cm_color-name
+それぞれ一辺5cm、7.5cm、10cm、15cmの立方体です。
+色は赤、黄、青、緑です。
+
+![](https://rt-net.github.io/images/raspberry-pi-mouse/color_objects.png)
+
+### daeファイルについて
+daeファイルはBlender 4.0で編集しています。
+
 ## ライセンス
 
 このリポジトリはMITライセンスに基づいて公開されています。  

diff --git a/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py b/raspimouse_gazebo/launch/raspimouse_with_emptyworld.launch.py
@@ -50,6 +50,18 @@ def generate_launch_description():
         'world_name',
         default_value=get_package_share_directory('raspimouse_gazebo')+'/worlds/empty_world.sdf',
         description='Set world name.')
+    declare_arg_spawn_x = DeclareLaunchArgument(
+        'spawn_x',
+        default_value='0.0',
+        description='Set initial position x.')
+    declare_arg_spawn_y = DeclareLaunchArgument(
+        'spawn_y',
+        default_value='0.0',
+        description='Set initial position y.')
+    declare_arg_spawn_z = DeclareLaunchArgument(
+        'spawn_z',
+        default_value='0.02',
+        description='Set initial position z.')
 
     env = {'IGN_GAZEBO_SYSTEM_PLUGIN_PATH': os.environ['LD_LIBRARY_PATH'],
            'IGN_GAZEBO_RESOURCE_PATH': os.path.dirname(
@@ -71,6 +83,9 @@ def generate_launch_description():
         output='screen',
         arguments=['-topic', '/robot_description',
                    '-name', 'raspimouse',
+                   '-x', LaunchConfiguration('spawn_x'),
+                   '-y', LaunchConfiguration('spawn_y'),
+                   '-z', LaunchConfiguration('spawn_z'),
                    '-allow_renaming', 'true'],
     )
 
@@ -140,6 +155,9 @@ def generate_launch_description():
         declare_arg_lidar_frame,
         declare_arg_use_rgb_camera,
         declare_arg_world_name,
+        declare_arg_spawn_x,
+        declare_arg_spawn_y,
+        declare_arg_spawn_z,
         ign_gazebo,
         ignition_spawn_entity,
         robot_state_publisher,

diff --git a/raspimouse_gazebo/launch/raspimouse_with_line_follower_field.launch.py b/raspimouse_gazebo/launch/raspimouse_with_line_follower_field.launch.py
@@ -0,0 +1,51 @@
+# The MIT License (MIT)
+#
+# Copyright 2023 RT Corporation <[email protected]>
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy of
+# this software and associated documentation files (the "Software"), to deal in
+# the Software without restriction, including without limitation the rights to
+# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+# the Software, and to permit persons to whom the Software is furnished to do so,
+# subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+# FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+# COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+# IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+# CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch_ros.actions import SetParameter
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+
+
+def generate_launch_description():
+    world_file = os.path.join(
+        get_package_share_directory('raspimouse_gazebo'),
+        'worlds',
+        'line_follower_field1.sdf')
+    world_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource([
+            get_package_share_directory('raspimouse_gazebo'),
+            '/launch/raspimouse_with_emptyworld.launch.py']),
+        launch_arguments={
+            'world_name': world_file,
+            'spawn_x': '0.0',
+            'spawn_y': '0.0',
+            'spawn_z': '0.02'
+            }.items()
+    )
+
+    return LaunchDescription([
+        SetParameter(name='use_sim_time', value=True),
+        world_launch
+    ])
diff --git a/raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve.jpg b/raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve.jpg
diff --git a/raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve_50x50cm.dae b/raspimouse_gazebo/models/course_curve_50x50cm/meshes/course_curve_50x50cm.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>YusukeKato</author>
+      <authoring_tool>Blender 4.0.0 commit date:2023-11-13, commit time:17:26, hash:878f71061b8e</authoring_tool>
+    </contributor>
+    <created>2023-11-16T14:58:23</created>
+    <modified>2023-11-16T14:58:23</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="course_curve_jpg-surface">
+          <surface type="2D">
+            <init_from>course_curve_jpg</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="course_curve_jpg-sampler">
+          <sampler2D>
+            <source>course_curve_jpg-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="course_curve_jpg-sampler" texcoord="Plane-mesh-map-0"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="course_curve_jpg" name="course_curve_jpg">
+      <init_from>course_curve.jpg</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Plane-mesh" name="Plane">
+      <mesh>
+        <source id="Plane-mesh-positions">
+          <float_array id="Plane-mesh-positions-array" count="12">-0.5 -0.5 0 0.5 -0.5 0 -0.5 0.5 0 0.5 0.5 0</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-positions-array" count="4" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-normals">
+          <float_array id="Plane-mesh-normals-array" count="3">0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-normals-array" count="1" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Plane-mesh-map-0">
+          <float_array id="Plane-mesh-map-0-array" count="12">1.00069e-4 0.9999001 0.9998998 9.998e-5 0.9998999 0.9998998 1.00069e-4 0.9999001 9.998e-5 1.00131e-4 0.9998998 9.998e-5</float_array>
+          <technique_common>
+            <accessor source="#Plane-mesh-map-0-array" count="6" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Plane-mesh-vertices">
+          <input semantic="POSITION" source="#Plane-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_001-material" count="2">
+          <input semantic="VERTEX" source="#Plane-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Plane-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Plane-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 1 0 3 3 0 4 2 0 5</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Plane" name="Plane" type="NODE">
+        <matrix sid="transform">0.5 0 0 0 0 0.5 0 0 0 0 0.5 0 0 0 0 1</matrix>
+        <instance_geometry url="#Plane-mesh" name="Plane">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="Plane-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/raspimouse_gazebo/models/course_curve_50x50cm/model.config b/raspimouse_gazebo/models/course_curve_50x50cm/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>course_curve_50x50cm</name>
+  <version>1.0</version>
+  <sdf version="1.5">model.sdf</sdf>
+
+  <author>
+    <name>YusukeKato</name>
+    <email>[email protected]</email>
+  </author>
+
+  <description>
+    line follower course
+  </description>
+</model>
diff --git a/raspimouse_gazebo/models/course_curve_50x50cm/model.sdf b/raspimouse_gazebo/models/course_curve_50x50cm/model.sdf
@@ -0,0 +1,34 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <model name="course_curve_50x50cm">
+    <static>true</static>
+    <link name="link">
+      <collision name="collision">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://course_curve_50x50cm/meshes/course_curve_50x50cm.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+        <surface>
+          <friction>
+            <ode>
+              <mu>0.9</mu>
+              <mu2>0.9</mu2>
+            </ode>
+          </friction>
+        </surface>
+      </collision>
+      <visual name="visual">
+        <pose>0 0 0 0 0 0</pose>
+        <geometry>
+          <mesh>
+            <uri>model://course_curve_50x50cm/meshes/course_curve_50x50cm.dae</uri>
+            <scale>1 1 1</scale>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg b/raspimouse_gazebo/models/course_straight_50x50cm/meshes/course_straight.jpg